.. _isaacsim_sensors_physics_IsaacReadJointState_1:

.. _isaacsim_sensors_physics_IsaacReadJointState:

.. ================================================================================
.. THIS PAGE IS AUTO-GENERATED. DO NOT MANUALLY EDIT.
.. ================================================================================

:orphan:

.. meta::
    :title: Isaac Read Joint State Node
    :keywords: lang-en omnigraph node isaacPhysicsSensor physics isaac-read-joint-state


Isaac Read Joint State Node
===========================

.. <description>

Node that reads full joint state (names, positions, velocities, efforts, DOF types, stage units) from an articulation

.. </description>


Installation
------------

To use this node enable :ref:`isaacsim.sensors.physics.nodes<ext_isaacsim_sensors_physics_nodes>` in the Extension Manager.


Inputs
------
.. csv-table::
    :header: "Name", "Type", "Descripton", "Default"
    :widths: 20, 20, 50, 10

    "Exec In (*inputs:execIn*)", "``execution``", "The input execution port", "None"
    "Prim Path (*inputs:prim*)", "``target``", "Path to the articulation root prim", "None"


Outputs
-------
.. csv-table::
    :header: "Name", "Type", "Descripton", "Default"
    :widths: 20, 20, 50, 10

    "Exec Out (*outputs:execOut*)", "``execution``", "Output execution triggers when sensor has data", "None"
    "Joint Dof Types (*outputs:jointDofTypes*)", "``uchar[]``", "Per-DOF type: 0 = rotation (revolute), 1 = translation (prismatic)", "None"
    "Joint Efforts (*outputs:jointEfforts*)", "``double[]``", "Joint efforts (Nm or N)", "None"
    "Joint Names (*outputs:jointNames*)", "``token[]``", "Joint names in articulation order", "None"
    "Joint Positions (*outputs:jointPositions*)", "``double[]``", "Joint positions (rad or m)", "None"
    "Joint Velocities (*outputs:jointVelocities*)", "``double[]``", "Joint velocities (rad/s or m/s)", "None"
    "Sensor Time (*outputs:sensorTime*)", "``float``", "Timestamp of the sensor reading", "0"
    "Stage Meters Per Unit (*outputs:stageMetersPerUnit*)", "``float``", "Stage meters per USD unit for SI conversion", "0.0"


Metadata
--------
.. csv-table::
    :header: "Name", "Value"
    :widths: 30,70

    "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"

