PopulateRobotSchemaFromArticulation

Fully qualified name: isaacsim::robot::schema::PopulateRobotSchemaFromArticulation

inline std::pair<pxr::UsdPrim, pxr::UsdPrim> isaacsim::robot::schema::PopulateRobotSchemaFromArticulation(

const pxr::UsdStagePtr &stage,

pxr::UsdPrim &robotPrim,

pxr::UsdPrim articulationPrim,

)

Populate robot schema data from a physics articulation.

Discovers the articulation root link and root joint, traverses connected rigid bodies through their joints, applies the LinkAPI and JointAPI, and updates the robot relationships with the ordered results.

Parameters:

• stage – [in] Stage containing the articulation.

• robotPrim – [inout] Robot prim that stores the relationships.

• articulationPrim – [in] Optional prim that has the UsdPhysicsArticulationRootAPI applied.

Returns:

std::pair<pxr::UsdPrim, pxr::UsdPrim> Root link prim and root joint prim.