schema#

Fully qualified name: isaacsim::robot::schema

Enumerations#

Attributes: Enumeration of Isaac robot schema attribute types.
Classes: Enumeration of Isaac robot schema API class types.
DofOffsetOpOrder: Enumeration of degree-of-freedom offset operation order types.
Relations: Enumeration of Isaac robot schema relationship types.

void ApplyAttachmentPointAPI(pxr::UsdPrim &prim): Apply the IsaacAttachmentPointAPI schema to a prim.
void ApplyJointAPI(pxr::UsdPrim &prim): Apply the IsaacJointAPI schema to a prim.
void ApplyLinkAPI(pxr::UsdPrim &prim): Apply the IsaacLinkAPI schema to a prim.
void ApplyReferencePointAPI(pxr::UsdPrim &prim): Apply the IsaacReferencePointAPI schema to a prim.
void ApplyRobotAPI(pxr::UsdPrim &prim): Apply the IsaacRobotAPI schema to a prim.
void ApplySiteAPI(pxr::UsdPrim &prim): Apply the IsaacSiteAPI schema to a prim.
pxr::UsdPrim CreateSurfaceGripper(pxr::UsdStagePtr stage, const std::string &primPath): Create a Surface Gripper prim.
pxr::SdfPath GetJointBodyRelationship(const pxr::UsdPrim &jointPrim, int bodyIndex): Obtain the path of a joint body relationship.
std::pair< pxr::UsdPrim, pxr::UsdPrim > PopulateRobotSchemaFromArticulation(const pxr::UsdStagePtr &stage, pxr::UsdPrim &robotPrim, pxr::UsdPrim articulationPrim): Populate robot schema data from a physics articulation.
void UpdateDeprecatedSchemas(pxr::UsdPrim &robotPrim): Update deprecated schemas on a robot prim hierarchy.
const std::string _attrPrefix("isaac"): Common prefix token for Isaac schema attributes.
const pxr::TfToken className(Classes name): Get the TfToken for a schema class.
pxr::TfToken getAttributeName(Attributes attr): Get the full attribute name token for an attribute type.

const std::unordered_map< Attributes, std::pair< pxr::TfToken, pxr::SdfValueTypeName > > attributeNames: Map of attribute enum values to their token names and value types.
const std::string classNames: Array of schema class name strings indexed by Classes enum.
const std::unordered_map< Relations, pxr::TfToken > relationNames: Map of relationship enum values to their token names.