isaacsim/usd is much more flexible than ignition/sdf. It allows almost any prim to have transformations, changing the transformation of a prim that matches a non-transformable node in ignition causes errors.
The main downside to this workaround is that it makes an assumption on the scene graph of the usd. This means that it only works for usd generated by the connector, usd from other applications (including isaac sim) will not work. Actually this is already the case as the connector assumes the prims are named according to the sdf, this PR just makes the limitation more apparent.
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🦟 Bug fix
Summary
isaacsim/usd is much more flexible than ignition/sdf. It allows almost any prim to have transformations, changing the transformation of a prim that matches a non-transformable node in ignition causes errors.
The main downside to this workaround is that it makes an assumption on the scene graph of the usd. This means that it only works for usd generated by the connector, usd from other applications (including isaac sim) will not work. Actually this is already the case as the connector assumes the prims are named according to the sdf, this PR just makes the limitation more apparent.
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
Signed-off-bymessages.