Programatically adding an articulation root

[dan.sandberg]

Hi,

I’m building my robot programatically and would like to add an articulation root to its base. How is this done programatically? Or does this not make sense for some reason?

Thanks!

-Dan

[AlesBorovicka]

Hi,
yes, you should be able to mark it in python code.
Articulation root API is expected either on a parent prim that has the whole rigid body → joints graph (this is typical) or directly on a body or a joint depending if you want to have floating or fixed articulation. The rules are described here:
https://openusd.org/release/api/class_usd_physics_articulation_root_a_p_i.html#details

From python you should just call UsdPhysics.ArticulationRootAPI.Apply(prim)

Regards,
Ales

[dan.sandberg]

Awesome, thank you, I was really stuck on this!