GetJointPose

Fully qualified name: isaacsim::robot::schema::GetJointPose

inline std::optional<pxr::GfMatrix4d> isaacsim::robot::schema::GetJointPose(

const pxr::UsdPrim &robotPrim,

const pxr::UsdPrim &jointPrim,

)

Compute a joint pose relative to the robot prim.

Uses the joint attributes and body transforms to compute the joint matrix expressed in the robot coordinate system.

Parameters:

• robotPrim – [in] Robot prim used as the frame of reference.

• jointPrim – [in] Joint prim to evaluate.

Returns:

std::optional<pxr::GfMatrix4d> Pose matrix when available.