ZMQ Publish Pose#
Publishes a prim’s world-space pose via ZMQ as a Pose protobuf message. Wire from IsaacReadWorldPose to stream a stage object’s pose (e.g. a manipulation target) without camera-based localization.
Installation#
To use this node enable isaacsim.zmq.nodes in the Extension Manager.
Inputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec In (inputs:execIn) |
|
The input execution port |
None |
Ip (inputs:ip) |
|
Remote IP address of the ZMQ server |
localhost |
Orientation (inputs:orientation) |
|
World orientation quaternion (IJKR / x, y, z, w) |
[0.0, 0.0, 0.0, 0.0] |
Port (inputs:port) |
|
Remote port number of the ZMQ server |
5561 |
Position (inputs:position) |
|
World position (x, y, z) in meters |
[0.0, 0.0, 0.0] |
Timestamp (inputs:timeStamp) |
|
Frame timestamp in seconds |
0.0 |
Topic Name (inputs:topicName) |
|
ZMQ topic published on (first multipart frame); defaults to the message type. Set a unique value (e.g. “robot_0/pose”) to distinguish multiple data sources. |
pose |
Outputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec Out (outputs:execOut) |
|
Fires every tick after the message is published |
None |
Metadata#
Name |
Value |
|---|---|
Unique ID |
isaacsim.zmq.nodes.ZMQPublishPose |
Version |
1 |
Extension |
isaacsim.zmq.nodes |
Icon |
ogn/icons/isaacsim.zmq.nodes.ZMQPublishPose.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
ZMQ Publish Pose |
Categories |
isaacZmq |
Generated Class Name |
OgnZMQPublishPoseDatabase |
Python Module |
isaacsim.zmq.nodes |