JointStateSensorReading

Fully qualified name: isaacsim::sensors::experimental::physics::JointStateSensorReading

struct JointStateSensorReading

Complete joint state reading for all DOFs of an articulation.

All array pointers (dofNames, positions, velocities, efforts, dofTypes) point into sensor-internal storage and are valid until the next physics step or sensor destruction. Copy the data before the next simulation step if longer lifetime is needed. DOF indices are 0..dofCount-1; name slots for articulation indices with no discovered joint may be empty. When the backend provides fewer than dofCount velocities or efforts, the remaining elements are reported as zero. dofTypes: 0 = rotation (revolute), 1 = translation (prismatic).

Public Members

float time = {0.0f}

Simulation time of this reading in seconds.

bool isValid = {false}

Whether this reading contains valid data.

int32_t dofCount = {0}

Number of DOFs in the articulation.

const char *const *dofNames = {nullptr}

Array of DOF name strings, length dofCount.

const float *positions = {nullptr}

DOF positions (rad or m), length dofCount.

const float *velocities = {nullptr}

DOF velocities (rad/s or m/s), length dofCount.

const float *efforts = {nullptr}

DOF efforts (Nm or N), length dofCount.

const uint8_t *dofTypes = {nullptr}

Per-DOF type: 0 = rotation, 1 = translation; length dofCount.

float stageMetersPerUnit = {0.0f}

Stage meters per USD unit for SI conversion (e.g. 1.0 for cm stage).