joint-sensor-articulation-root

Code	PS.002
Tags	🔑

Summary

An IsaacJointStateSensor prim must also have PhysicsArticulationRootAPI applied.

Examples

# Invalid: IsaacJointStateSensor without PhysicsArticulationRootAPI
def IsaacJointStateSensor "Robot"
{
}

# Valid: IsaacJointStateSensor with PhysicsArticulationRootAPI on the same prim
def IsaacJointStateSensor "Robot" (
    prepend apiSchemas = ["PhysicsArticulationRootAPI"]
)
{
}

How to comply

• Apply PhysicsArticulationRootAPI to the same prim that uses the IsaacJointStateSensor prim type.

• Typically this is the root prim of the articulated robot.