Has Articulation Root#

Code

BA.001

Validator

Compatibility

Tags

Summary#

The USD stage must contain at least one prim with the UsdPhysicsArticulationRootAPI applied.

Why#

The ArticulationRootAPI is required for proper articulation simulation in physics. Without the articulation root, the physics engine will make assumptions with the robot articulations.

How to comply#

  • Apply PhysicsArticulationRootAPI to the root prim of the articulation hierarchy.

  • Ensure only one ArticulationRootAPI exists per articulated asset.

  • The ArticulationRootAPI should be applied to the prim that serves as the base of the kinematic chain.

Example#

def Xform "Robot" (
    prepend apiSchemas = ["PhysicsArticulationRootAPI"]
)
{
    # Other properties ...
}