GetLinksFromJoint#
Fully qualified name: isaacsim::robot::schema::GetLinksFromJoint
- const std::shared_ptr<RobotLinkNode> &root,
- const pxr::UsdPrim &jointPrim,
Split links before and after a joint.
Traverses the tree rooted at the provided node to determine which links precede and follow the joint along the kinematic chain.
- Parameters:
root – [in] Root of the robot tree.
jointPrim – [in] Joint to evaluate.
- Returns:
std::pair<std::vector<pxr::UsdPrim>, std::vector<pxr::UsdPrim>> Pair of link lists.