[isaacsim.ucx.nodes] UCX Nodes#
Version: 1.6.6
Overview#
The isaacsim.ucx.nodes extension provides OmniGraph nodes for high-performance communication using UCX (Unified Communication X) technology. This extension enables distributed simulation scenarios with low-latency data transfer through specialized OmniGraph nodes that publish sensor data, robot state, and camera images over UCX, as well as subscribe to incoming joint commands.
Key Components#
Extension Lifecycle#
The UCXBridgeExtension class manages the native plugin lifecycle and registers writer nodes with the Replicator writer registry. On startup it acquires the native UCX interface and registers annotator-based writer pipelines (e.g., image publish with RGB conversion and time stamping). On shutdown it releases the interface and unregisters writers.
Relationships#
The extension builds upon isaacsim.core.nodes for base node and writer functionality and integrates with isaacsim.ucx.core for the underlying UCX communication infrastructure. It connects with omni.replicator.core and omni.syntheticdata for annotator pipelines and camera data access.
Enable Extension#
The extension can be enabled (if not already) in one of the following ways:
Define the next entry as an application argument from a terminal.
APP_SCRIPT.(sh|bat) --enable isaacsim.ucx.nodes
Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.
[dependencies]
"isaacsim.ucx.nodes" = {}
Open the Window > Extensions menu in a running application instance and search for isaacsim.ucx.nodes.
Then, toggle the enable control button if it is not already active.
Omnigraph Nodes#
The extension exposes the following Omnigraph nodes: