details#

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

Functions Summary#

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.

DeprecatedDofAttributeDescriptor: Descriptor for deprecated DOF (Degree of Freedom) attributes.

const std::array< DeprecatedDofAttributeDescriptor, 6 > kDeprecatedDofAttributes
const pxr::TfToken kPhysicsD6JointType: Token for PhysicsD6Joint type name.
const pxr::TfToken kPhysicsSphericalJointType: Token for PhysicsSphericalJoint type name.