articulation-no-nesting#

Code

JT.ART.002

Validator

latest+

Compatibility

openusd

Tags

✅

Summary#

Articulation roots cannot be nested.

Description#

Any prim of the USD scene graph hierarchy may be marked with an UsdPhysicsArticulationRootAPI. This informs the simulation that any joints found in the subtree should preferentially be simulated using a reduced coordinate approach. This should make it possible to uniquely identify a distinguished root body or root joint for the articulation.

Why is it required?#

  • A joint must be a part of exactly one articulation.

Examples#

# Invalid: Nested articulation root
def Xform "Xform" (
   prepend apiSchemas = ["PhysicsArticulationRootAPI"]
)
{
   def Xform "Xform" (
      prepend apiSchemas = ["PhysicsArticulationRootAPI"]
   ) {
   }
}

# Valid: Non-nested articulation root
def Xform "Xform"
{
   def Xform "Xform" (
      prepend apiSchemas = ["PhysicsArticulationRootAPI"]
   ) {
   }
}

How to comply#

Do not apply a UsdPhysicsArticulationRootAPI to a prim that is in a subtree of a prim with UsdPhysicsArticulationRootAPI already applied.

For More Information#