UrdfLoopJoint

Fully qualified name: isaacsim::asset::importer::urdf::UrdfLoopJoint

struct UrdfLoopJoint

Loop joint definition for closed kinematic chains.

Represents a joint that creates a closed loop in the kinematic structure by connecting two links that are already connected through other joints.

Public Members

std::string name

Name identifier for the loop joint.

UrdfJointType type

Type of joint creating the loop closure.

std::string linkName[2]

Names of the two links connected by the loop joint.

Transform linkPose[2]

Poses of the connection points on each link.