Unexpected bug/change in ArticulationView of Isaac2023.1.1

[rthaker]

I hope this will help:

Enhancements to URDF Importer Articulation in Version 2023.1.1 Ensure Consistent Root Link Designation for Improved Simulation Accuracy

Up until version 2023.1.0, the URDF importer assigned the ArticulationRootAPI to the top-level prim of the articulation structure. The root link was then identified by PhysX through an analysis of the kinematic tree. This practice was revised in version 2023.1.1, whereby the ArticulationRootAPI is now directly associated with the actual root link. For example, in version 2023.1.0, when importing a Franka URDF, the ArticulationRootAPI would be placed on /World/Franka, and PhysX might designate an…