UCX Publish Joint State#
This node publishes joint states via UCX communication. Connect joint data from upstream nodes (e.g. Isaac Read Joint State).
Installation#
To use this node enable isaacsim.ucx.nodes in the Extension Manager.
Inputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec In (inputs:execIn) |
|
The input execution port |
None |
Joint Efforts (inputs:jointEfforts) |
|
Joint efforts array |
[] |
Joint Positions (inputs:jointPositions) |
|
Joint positions array |
[] |
Joint Velocities (inputs:jointVelocities) |
|
Joint velocities array |
[] |
Port (inputs:port) |
|
Port number for UCX communication |
50008 |
Tag (inputs:tag) |
|
UCX tag for message identification. Default is FNV-1a 32-bit hash of ‘isaac.JointState’. |
3806437495 |
Timestamp (inputs:timeStamp) |
|
Timestamp in seconds |
0.0 |
Timeout (ms) (inputs:timeoutMs) |
|
Timeout in milliseconds for UCX send requests. If 0, waits indefinitely. |
0 |
Outputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec Out (outputs:execOut) |
|
The output execution port |
None |
Metadata#
Name |
Value |
|---|---|
Unique ID |
isaacsim.ucx.nodes.UCXPublishJointState |
Version |
1 |
Extension |
isaacsim.ucx.nodes |
Icon |
ogn/icons/isaacsim.ucx.nodes.UCXPublishJointState.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
UCX Publish Joint State |
Categories |
isaacUcx |
Generated Class Name |
OgnUCXPublishJointStateDatabase |
Python Module |
isaacsim.ucx.nodes |