robot-schema-links-exist#
Code |
DJ.009 |
|---|---|
Validator |
CheckStage |
Compatibility |
other |
Tags |
🔑 |
Summary#
Robot schema links must exist and be properly connected to joints for kinematic chain definition.
Description#
Isaac Sim requires link definitions that are connected through joints to form a valid kinematic chain. Links must maintain correct parent-child relationships through joint connections.
Why is it required?#
To establish proper kinematic chain structure for robotics simulation
To ensure links are correctly associated with joints
To support robot model validation and physics simulation
Examples#
# Valid: Proper robot schema with links and joints
over "Robot" (
prepend apiSchemas = ["IsaacRobotAPI"]
)
{
string isaac:namespace (
displayName = "Namespace"
doc = "Namespace of the prim in Isaac Sim"
)
rel isaac:physics:robotLinks = [
</link_0>,
</link_1>,
</link_2>,
]
}
How to comply#
Ensure robot assets have at least one prim with the LinkAPI applied, which is typically required for articulated robots.
Note
Scope: this check is skipped for rigid-body-only assets (those with no UsdPhysicsJoint in the
stage), since vehicles and non-articulated props are not expected to carry the robot-schema LinkAPI.