Physics updates for nested bodies #3828
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It is considered valid for kinematic bodies to be targetted by PhysicsJoints > The reason the rigid body is identified as <kinematic> is so that it still takes part in the physics simulation as an element with predetermined motion, and it is still possible to e.g. attach joints to it. Since ArticulationRootAPI is just a hint for reduced coordinate simulators to identify the root of the kinematic chain, and such simulators may want to use this predetermined motion with their articulation, it follows that ArticulationRootAPI should be allowed in kinematic bodies.
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andrewkaufman
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Sep 27, 2025
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Filed as internal issue #USD-11481 (This is an automated message. See here for more information.) |
Also fixed the broken path for Box on Box
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Thanks @andrewkaufman I have checked in the PR internally and will be available in the next dev push. |
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Description of Change(s)
These changes relate to PixarAnimationStudios/OpenUSD-proposals#82 and should be merged after (or along with) #3827. Between these 2 PRs, and the internal change ff68c36 I believe we have completed the proposal.
Here I have:
Note that in the interest of time I have put up the PR before coordinating with @AlesBorovicka. It would be good to wait for his review as well as the internal Pixar review before merging.
Nested articulation example loaded in a reduced coordinate simulator
Current example is broken
Link to proposal (if applicable)
PixarAnimationStudios/OpenUSD-proposals#82
https://github.com/PixarAnimationStudios/OpenUSD-proposals/tree/main/proposals/physics_nested_bodies
Checklist
I have created this PR based on the dev branch
I have followed the coding conventions
I have added unit tests that exercise this functionality (Reference:
testing guidelines)
I have verified that all unit tests pass with the proposed changes
I have submitted a signed Contributor License Agreement (Reference:
Contributor License Agreement instructions)