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GetAllRobotComponents#

Fully qualified name: isaacsim::robot::schema::GetAllRobotComponents

inline std::vector<pxr::UsdPrim> isaacsim::robot::schema::GetAllRobotComponents(
const pxr::UsdStagePtr &stage,
const pxr::UsdPrim &robotPrim,
)#

Collect every prim in a robot’s subtree that applies an Isaac robot-schema API.

Descends robotPrim (depth-first prim-tree order) and returns prims tagged with any of: IsaacRobotAPI (nested sub-robots), IsaacLinkAPI, IsaacJointAPI, IsaacSiteAPI, IsaacReferencePointAPI. Callers filter by API as needed.

This is a pure schema query — it does not assign frame relationships, parent links, or any consumer-specific semantics; consumers reconstruct those from the returned prims.

Parameters:

  • stage – [in] Stage that owns the prims.

  • robotPrim – [in] Prim whose subtree to walk (caller typically passes an IsaacRobotAPI-bearing prim).

Returns:

Prims in depth-first descent order. Empty on invalid input or no schema-tagged descendants.