Hello!
I am importing a robot via the URDF importer. When using “Fix Base Link” " the extension automatically adds a root_joint and sets the articulation root to the root_joint (not using “Fix Base Link” will add the articulation root to the first link which is still problematic).
This later creates problems when trying to use functions that believe that the robot links and joints are under the articulation root (such as SingleManipulator and more). I am aware this is supposed to be part of the changes that are introduced here:
However, it is not aligned with much of the function and the way USD from the server is manged with the articulation root settled in the main robot prim. When trying to change the articulation root by hand I keep receiving a number of errors and the robots usually break - Is there any way to safely change the articulation root or is there a different approach I should take when importing URDF?
So now I am actually able to change the articulation root with no errors by deleting it from the root_joint and adding it to the robot’s main prim. However, once I do that and try to test the gains (using the Gain Tuner) I get very noisy results, unlike the near-perfect results I received before making the change (Set stiff gains button to no help). Is there a safer way to change the articulation root?
Example of the gain test results after changing the articulation_root:
