Articulation State

Articulated robot state. The node takes either joint names or joint indices, and outputs the joint positions and velocities, as well as the measured joint efforts, forces, and torques.

Installation

To use this node enable omni.isaac.core_nodes in the Extension Manager.

Inputs

Name	Type	Descripton	Default
Exec In (inputs:execIn)	execution	The input execution	None
Joint Indices (inputs:jointIndices)	int[]	Queried joint indices, use either Joint Names or Joint Indices, if neither is given, default to all joints	[]
Joint Names (inputs:jointNames)	token[]	Queried joint names, use either Joint Names or Joint Indices, if neither is given, default to all joints	[]
Robot Path (inputs:robotPath)	string	Path to the robot articulation root. If this is populated, targetPrim is ignored.
Target Prim (inputs:targetPrim)	target	The target robot prim with robot articulation root. Ensure robotPath is empty for this to be considered.	None

Outputs

Name	Type	Descripton	Default
Joint Names (outputs:jointNames)	token[]	Joint names	None
Joint Positions (outputs:jointPositions)	double[]	Joint positions Units: linear (m) angular (rad)	None
Joint Velocities (outputs:jointVelocities)	double[]	Joint velocities Units: linear (m/s) angular (rad/s)	None
Measured Joint Efforts (outputs:measuredJointEfforts)	double[]	Measured joint efforts Force Units: linear (kg*m/s^2) i.e. a force angular (kg*m^2/s^2) i.e. a torque Acceleration Units: linear (m/s^2), i.e. a linear acceleration angular (rad/s^2) i.e. an angular acceleration	None
Measured Joint Forces (outputs:measuredJointForces)	double[3][]	Measured joint reaction forces Force Units: linear (kg*m/s^2) i.e. a force angular (kg*m^2/s^2) i.e. a torque Acceleration Units: linear (m/s^2), i.e. a linear acceleration angular (rad/s^2) i.e. an angular acceleration	None
Measured Joint Torques (outputs:measuredJointTorques)	double[3][]	Measured joint reaction torques Force Units: linear (kg*m/s^2) i.e. a force angular (kg*m^2/s^2) i.e. a torque Acceleration Units: linear (m/s^2), i.e. a linear acceleration angular (rad/s^2) i.e. an angular acceleration	None

Metadata

Name	Value
Unique ID	omni.isaac.core_nodes.IsaacArticulationState
Version	1
Extension	omni.isaac.core_nodes
Has State?	False
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Articulation State
Categories	isaacSim
__categoryDescriptions	isaacSim,robot state inside Isaac Sim
Generated Class Name	OgnIsaacArticulationStateDatabase
Python Module	omni.isaac.core_nodes