schema

Fully qualified name: isaacsim::robot::schema

namespace schema

Classes

RobotLinkNode

Node representation for the robot kinematic tree.

Enumerations

Attributes

Enumeration of Isaac robot schema attribute types.

Classes

Enumeration of Isaac robot schema API class types.

DofOffsetOpOrder

Enumeration of degree-of-freedom offset operation order types.

Relations

Enumeration of Isaac robot schema relationship types.

Functions

void ApplyAttachmentPointAPI(pxr::UsdPrim &prim)

Apply the IsaacAttachmentPointAPI schema to a prim.

void ApplyJointAPI(pxr::UsdPrim &prim)

Apply the IsaacJointAPI schema to a prim.

void ApplyLinkAPI(pxr::UsdPrim &prim)

Apply the IsaacLinkAPI schema to a prim.

void ApplyReferencePointAPI(pxr::UsdPrim &prim)

Apply the IsaacReferencePointAPI schema to a prim.

void ApplyRobotAPI(pxr::UsdPrim &prim)

Apply the IsaacRobotAPI schema to a prim.

void ApplySiteAPI(pxr::UsdPrim &prim)

Apply the IsaacSiteAPI schema to a prim.

pxr::UsdPrim CreateSurfaceGripper(pxr::UsdStagePtr stage, const std::string &primPath)

Create a Surface Gripper prim.

std::shared_ptr< RobotLinkNode > GenerateRobotLinkTree(const pxr::UsdStagePtr &stage, const pxr::UsdPrim &robotLinkPrim)

Build a RobotLinkNode tree from a robot prim.

std::vector< pxr::UsdPrim > GetAllRobotJoints(const pxr::UsdStagePtr &stage, const pxr::UsdPrim &robotLinkPrim, bool parseNestedRobots=true)

Gather all joint prims referenced by a robot prim.

std::vector< pxr::UsdPrim > GetAllRobotLinks(const pxr::UsdStagePtr &stage, const pxr::UsdPrim &robotLinkPrim, bool includeReferencePoints=false)

Gather all link prims referenced by a robot prim.

pxr::SdfPath GetJointBodyRelationship(const pxr::UsdPrim &jointPrim, int bodyIndex)

Obtain the path of a joint body relationship.

std::optional< pxr::GfMatrix4d > GetJointPose(const pxr::UsdPrim &robotPrim, const pxr::UsdPrim &jointPrim)

Compute a joint pose relative to the robot prim.

std::pair< std::vector< pxr::UsdPrim >, std::vector< pxr::UsdPrim > > GetLinksFromJoint(const std::shared_ptr< RobotLinkNode > &root, const pxr::UsdPrim &jointPrim)

Split links before and after a joint.

std::pair< pxr::UsdPrim, pxr::UsdPrim > PopulateRobotSchemaFromArticulation(const pxr::UsdStagePtr &stage, pxr::UsdPrim &robotPrim, pxr::UsdPrim articulationPrim)

Populate robot schema data from a physics articulation.

void PrintRobotTree(const std::shared_ptr< RobotLinkNode > &root, size_t indent=0)

Print the link tree to stdout.

void UpdateDeprecatedSchemas(pxr::UsdPrim &robotPrim)

Update deprecated schemas on a robot prim hierarchy.

const std::string _attrPrefix("isaac")

Common prefix token for Isaac schema attributes.

const pxr::TfToken className(Classes name)

Get the TfToken for a schema class.

pxr::TfToken getAttributeName(Attributes attr)

Get the full attribute name token for an attribute type.

Namespaces

custom

details

Variables

const std::unordered_map< Attributes, std::pair< pxr::TfToken, pxr::SdfValueTypeName > > attributeNames

Map of attribute enum values to their token names and value types.

const std::string classNames

Array of schema class name strings indexed by Classes enum.

const std::unordered_map< Relations, pxr::TfToken > relationNames

Map of relationship enum values to their token names.