Added articulationRootAPI to SDF-USD converter#797
Merged
ahcorde merged 2 commits intoadlarkin/sdf_to_usdfrom Jan 3, 2022
Merged
Added articulationRootAPI to SDF-USD converter#797ahcorde merged 2 commits intoadlarkin/sdf_to_usdfrom
ahcorde merged 2 commits intoadlarkin/sdf_to_usdfrom
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Signed-off-by: ahcorde <ahcorde@gmail.com>
adlarkin
reviewed
Dec 23, 2021
| } | ||
| } | ||
| } | ||
| if (isArticulated) |
Contributor
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instead of having a separate if check here, what about moving the code in this if block to the if (joint.Type() == sdf::JointType::REVOLUTE) block above? That would also remove the need for the isArticulated flag
Comment on lines
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| << modelPath << "] as ArticulationRootAPI " | ||
| << " some feature might not work\n"; |
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Suggested change
| << modelPath << "] as ArticulationRootAPI " | |
| << " some feature might not work\n"; | |
| << modelPath << "] as ArticulationRootAPI; " | |
| << "some features might not work\n"; |
Signed-off-by: ahcorde <ahcorde@gmail.com>
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Signed-off-by: ahcorde ahcorde@gmail.com
🦟 Bug fix
Summary
These changes allow to move joints in IsaacSim and to use ROS schemas
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
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