UCX Subscribe Joint Command#
This node subscribes to joint command data via UCX
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 |
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.JointCommand’. |
987171027 |
Timeout (ms) (inputs:timeoutMs) |
|
How long a posted UCX receive request may stay outstanding before it is cancelled and replaced, in milliseconds. If 0, the request stays outstanding until a message arrives. The node never blocks graph evaluation at any value. |
0 |
Outputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Damping (outputs:damping) |
|
Optional derivative gains; connect to the articulation gain controller. |
None |
Effort Command (outputs:effortCommand) |
|
Effort commands |
None |
Exec Out (outputs:execOut) |
|
Output execution triggers when a new message is received |
None |
Position Command (outputs:positionCommand) |
|
Position commands |
None |
Stiffness (outputs:stiffness) |
|
Optional proportional gains; connect to the articulation gain controller. |
None |
Time Stamp (outputs:timeStamp) |
|
Timestamp in seconds |
0.0 |
Velocity Command (outputs:velocityCommand) |
|
Velocity commands |
None |
Metadata#
Name |
Value |
|---|---|
Unique ID |
isaacsim.ucx.nodes.UCXSubscribeJointCommand |
Version |
2 |
Extension |
isaacsim.ucx.nodes |
Icon |
ogn/icons/isaacsim.ucx.nodes.UCXSubscribeJointCommand.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
UCX Subscribe Joint Command |
Categories |
isaacUcx |
Generated Class Name |
OgnUCXSubscribeJointCommandDatabase |
Python Module |
isaacsim.ucx.nodes |