PhysxAction

Fully qualified name: isaacsim::robot::surface_gripper::PhysxAction

struct PhysxAction

Queued PhysX action to be executed serially by the manager.

Public Members

PhysxActionType type = PhysxActionType::Attach

Action kind for this queued PhysX operation.

physx::PxJoint *joint = nullptr

Joint to attach or detach.

std::string jointPath

USD path for the joint, used for lookups and diagnostics.

physx::PxRigidActor *actor0 = nullptr

First rigid actor participating in the attachment.

physx::PxRigidActor *actor1 = nullptr

Second rigid actor participating in the attachment.

physx::PxTransform localPose1

Joint-local pose for actor1 when attaching.