Isaac Read Joint State Node#
Node that reads full joint state (names, positions, velocities, efforts, DOF types, stage units) from an articulation
Installation#
To use this node enable isaacsim.sensors.physics.nodes in the Extension Manager.
Inputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec In (inputs:execIn) |
|
The input execution port |
None |
Prim Path (inputs:prim) |
|
Path to the articulation root prim |
None |
Outputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec Out (outputs:execOut) |
|
Output execution triggers when sensor has data |
None |
Joint Dof Types (outputs:jointDofTypes) |
|
Per-DOF type: 0 = rotation (revolute), 1 = translation (prismatic) |
None |
Joint Efforts (outputs:jointEfforts) |
|
Joint efforts (Nm or N) |
None |
Joint Names (outputs:jointNames) |
|
Joint names in articulation order |
None |
Joint Positions (outputs:jointPositions) |
|
Joint positions (rad or m) |
None |
Joint Velocities (outputs:jointVelocities) |
|
Joint velocities (rad/s or m/s) |
None |
Sensor Time (outputs:sensorTime) |
|
Timestamp of the sensor reading |
0 |
Stage Meters Per Unit (outputs:stageMetersPerUnit) |
|
Stage meters per USD unit for SI conversion |
0.0 |
Metadata#
Name |
Value |
|---|---|
Unique ID |
isaacsim.sensors.physics.IsaacReadJointState |
Version |
1 |
Extension |
isaacsim.sensors.physics.nodes |
Icon |
ogn/icons/isaacsim.sensors.physics.IsaacReadJointState.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
Isaac Read Joint State Node |
Categories |
isaacPhysicsSensor |
Generated Class Name |
OgnIsaacReadJointStateDatabase |
Python Module |
isaacsim.sensors.physics.nodes |