.. _isaacsim_core_nodes_IsaacComputeTransformTree_1:

.. _isaacsim_core_nodes_IsaacComputeTransformTree:

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

:orphan:

.. meta::
    :title: Isaac Compute Transform Tree
    :keywords: lang-en omnigraph node isaacCore nodes isaac-compute-transform-tree


Isaac Compute Transform Tree
============================

.. <description>

Computes transform tree for a set of prims relative to an optional parent frame. For articulation roots, expands to the full link tree.

.. </description>


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

To use this node enable :ref:`isaacsim.core.nodes<ext_isaacsim_core_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"
    "Parent Prim (*inputs:parentPrim*)", "``target``", "Prim used as parent frame for all transforms; leave blank to use World", "None"
    "Target Prims (*inputs:targetPrims*)", "``target``", "Target prims to compute transforms for. If a prim is an articulation root, the entire link tree is computed.", "None"
    "", "Metadata", "*allowMultiInputs* = 1", ""


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

    "Child Frames (*outputs:childFrames*)", "``token[]``", "Child frame name per transform", "None"
    "Exec Out (*outputs:execOut*)", "``execution``", "The output execution port", "None"
    "Orientations (*outputs:orientations*)", "``double[4][]``", "Quaternion (x, y, z, w) per transform", "None"
    "Parent Frames (*outputs:parentFrames*)", "``token[]``", "Parent frame name per transform", "None"
    "Translations (*outputs:translations*)", "``double[3][]``", "Translation (x, y, z) per transform in stage units", "None"


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

    "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"

