Reconstruct skeleton from Articulation

Omniverse Isaac Sim
1

Isaac Sim Version

4.5.0

Operating System

Windows 11

Topic Description

Given an articulation in isaacsim (isaaclab.assets.articulation.articulation.Articulation), how can I reconstruct the skeleton - say have a hierarchy of joints, with the local offsets?

This seems like something that should be pretty trivial, yet I’m lacking access to information such as
joint local translations and parent-child relationship to reconstruct a skeleton…

3

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