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GetRobotLinkParentMap#

Fully qualified name: isaacsim::robot::schema::GetRobotLinkParentMap

inline std::unordered_map<std::string, std::string> isaacsim::robot::schema::GetRobotLinkParentMap(
const pxr::UsdStagePtr &stage,
const pxr::UsdPrim &robotPrim,
)#

Build a child-link to parent-link path map from an IsaacRobotAPI prim.

Walks isaac:physics:robotJoints rel targets; for each joint, reads body0 (parent) and body1 (child) via GetJointBodyRelationship and records body1 -> body0. Links not referenced as any joint’s body1 (the articulation-root link) do not appear in the returned map — callers should treat absence as “parents to world / outer scope”.

Parameters:

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

  • robotPrim – [in] The IsaacRobotAPI-bearing prim (caller should verify this).

Returns:

Map of child_link_path -> parent_link_path; empty if no robotJoints rel.