GetAllRobotJoints

Fully qualified name: isaacsim::robot::schema::GetAllRobotJoints

inline std::vector<pxr::UsdPrim> isaacsim::robot::schema::GetAllRobotJoints(

const pxr::UsdStagePtr &stage,

const pxr::UsdPrim &robotLinkPrim,

bool parseNestedRobots = true,

)

Gather all joint prims referenced by a robot prim.

Traverses relationship targets recursively to collect every prim that applies the joint API. When parseNestedRobots is enabled, the traversal continues even if the target does not apply the joint API, allowing nested robot aggregations to be parsed.

Parameters:

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

• robotLinkPrim – [in] Prim that anchors the traversal.

• parseNestedRobots – [in] Enables traversal through non-joint prims.

Returns:

std::vector<pxr::UsdPrim> Collection of joint prims.