JointCommandData

Fully qualified name: isaacsim::ucx::nodes::JointCommandData

struct JointCommandData

Data structure for joint command message payload.

Contains robot joint command data including positions, velocities, and efforts for all joints in the articulation.

Public Members

double timestamp

Timestamp value in seconds.

uint32_t numJoints

Number of joints.

std::vector<double> positionCommand

Joint position commands.

std::vector<double> velocityCommand

Joint velocity commands.

std::vector<double> effortCommand

Joint effort commands.

bool valid

Flag indicating if data was successfully parsed.