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Signed-off-by: Michał Pełka <michal.pelka@robotec.ai>
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michalpelka
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Mar 31, 2026
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| Applies to prims that possess a `PhysicsJointAPI` and are part of a kinematic chain of the robot. | ||
| Used to identify and map joints between an imported scene and ROS-native concepts such as robot descriptions. This API enables one-to-one mapping between joints controlled by the ROS 2 control framework. | ||
| * `string ros2:joint:name`: The name of the joint (without namespace). |
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This Schema is analogous to https://docs.isaacsim.omniverse.nvidia.com/5.1.0/omniverse_usd/robot_schema.html#joint-api
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| * `string ros2:joint:name`: The name of the joint (without namespace). | |
| * `string ros2:joint:name`: The name of the joint (without namespace). | |
| * `string ros2:joint:DofOffset`: Offset for this joint for position control and state | |
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Added robot control proposal.