details

Fully qualified name: isaacsim::robot::schema::details

namespace details

Functions

bool UpdateDeprecatedJointDofOrder(pxr::UsdPrim &jointPrim)

Update deprecated joint DOF order attributes.

bool axisHasValidLimits(const pxr::UsdPrim &jointPrim, const pxr::TfToken &axisToken)

Check if a joint axis has valid limit values.

std::vector< std::string > collectDeprecatedDofEntries(const pxr::UsdPrim &jointPrim)

Collect deprecated DOF entries from a joint prim.

size_t computeFallbackOrder(const std::string &tokenName, int orderIndex)

Compute the fallback order index for a DOF token.

bool isMultiAxisJoint(const pxr::UsdPrim &jointPrim)

Check if a joint prim is a multi-axis joint.

const pxr::TfToken kPhysicsD6JointType("PhysicsD6Joint")

Token for PhysicsD6Joint type name.

const pxr::TfToken kPhysicsSphericalJointType("PhysicsSphericalJoint")

Token for PhysicsSphericalJoint type name.

Structs

DeprecatedDofAttributeDescriptor

Descriptor for deprecated DOF (Degree of Freedom) attributes.

Variables

const std::array< DeprecatedDofAttributeDescriptor, 6 > kDeprecatedDofAttributes

const std::unordered_map< std::string, size_t > kTokenFallbackOrder