articulation-not-on-kinematic-body#

Code

JT.ART.003

Version

1.0.0

Validator

latest+

Compatibility

physx

Tags

⛔

Summary#

In PhysX based simulators, like Omniverse Isaac Sim, Articulations are not allowed on kinematic bodies.

Description#

Articulations are only allowed on enabled non-kinematic rigid bodies.

Why is it required?#

  • PhysX interprets the UsdPhysicsArticulationRootAPI as a marker for dynamically simulated reduced coordinate articulations, and kinematic bodies are not dynamically simulated.

Examples#

# Invalid: UsdPhysicsArticulationRootAPI applied to a kinematic body
def Cube "Cube" (
   prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI"]
) {
   bool physics:kinematicEnabled = 1
}

# Valid: UsdPhysicsArticulationRootAPI applied to an enabled rigid body (the Enabled attribute has a default of True)
def Cube "Cube" (
   prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI"]
) {
}

How to comply#

Set the KinematicEnabled attribute of a RigidBodyAPI to False.

For More Information#