Isaac Compute Transform Tree#
Computes transform tree for a set of prims relative to an optional parent frame. For articulation roots, expands to the full link tree.
Installation#
To use this node enable isaacsim.core.nodes in the Extension Manager.
Inputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec In (inputs:execIn) |
|
The input execution port |
None |
Parent Prim (inputs:parentPrim) |
|
Prim used as parent frame for all transforms; leave blank to use World |
None |
Target Prims (inputs:targetPrims) |
|
Target prims to compute transforms for. If a prim is an articulation root, the entire link tree is computed. |
None |
Metadata |
allowMultiInputs = 1 |
Outputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Child Frames (outputs:childFrames) |
|
Child frame name per transform |
None |
Exec Out (outputs:execOut) |
|
The output execution port |
None |
Orientations (outputs:orientations) |
|
Quaternion (x, y, z, w) per transform |
None |
Parent Frames (outputs:parentFrames) |
|
Parent frame name per transform |
None |
Translations (outputs:translations) |
|
Translation (x, y, z) per transform in stage units |
None |
Metadata#
Name |
Value |
|---|---|
Unique ID |
isaacsim.core.nodes.IsaacComputeTransformTree |
Version |
1 |
Extension |
isaacsim.core.nodes |
Icon |
ogn/icons/isaacsim.core.nodes.IsaacComputeTransformTree.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
Isaac Compute Transform Tree |
Categories |
isaacCore |
Generated Class Name |
OgnIsaacComputeTransformTreeDatabase |
Python Module |
isaacsim.core.nodes |