JointStateData

Fully qualified name: isaacsim::ucx::nodes::JointStateData

struct JointStateData

Data structure for joint state message payload.

Contains robot joint state 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 in the articulation.

std::vector<double> positions

Joint positions (scaled to meters)

std::vector<double> velocities

Joint velocities (scaled)

std::vector<double> efforts

Joint efforts/forces.