UsdAction

Fully qualified name: isaacsim::robot::surface_gripper::UsdAction

struct UsdAction

Queued USD action to be executed serially by the manager.

Public Members

UsdActionType type = UsdActionType::WriteStatus

Action kind for this queued USD operation.

std::string primPath

USD prim path for the gripper.

std::string statusToken

Status token to write (“Open”, “Closed”, or “Closing”).

std::vector<std::string> grippedObjectPaths

Paths of prims currently gripped by this gripper.

std::string body0PathForFilterPairs

Body-0 path used to build filtered collision pairs.

std::vector<std::string> apiPathsToApply

Attachment point API paths that should be applied.

std::vector<std::string> excludeFromArticulationPaths

Attachment paths excluded from articulation updates.

std::vector<std::pair<std::string, float>> clearanceOffsets

Per-attachment clearance offsets to persist to USD.