GenerateRobotLinkTree

Fully qualified name: isaacsim::robot::schema::GenerateRobotLinkTree

inline std::shared_ptr<RobotLinkNode> isaacsim::robot::schema::GenerateRobotLinkTree(

const pxr::UsdStagePtr &stage,

const pxr::UsdPrim &robotLinkPrim,

)

Build a RobotLinkNode tree from a robot prim.

Iteratively traverses joints referenced by each link to populate a tree structure that mirrors the articulation hierarchy.

Parameters:

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

• robotLinkPrim – [in] Root prim representing the robot.

Returns:

std::shared_ptr<RobotLinkNode> Tree root or nullptr on failure.