.. _isaacsim_ucx_nodes_UCXPublishJointState_1:

.. _isaacsim_ucx_nodes_UCXPublishJointState:

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

:orphan:

.. meta::
    :title: UCX Publish Joint State
    :keywords: lang-en omnigraph node isaacUcx nodes u-c-x-publish-joint-state


UCX Publish Joint State
=======================

.. <description>

This node publishes joint states via UCX communication. Connect joint data from upstream nodes (e.g. Isaac Read Joint State).

.. </description>


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

To use this node enable :ref:`isaacsim.ucx.nodes<ext_isaacsim_ucx_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"
    "Joint Efforts (*inputs:jointEfforts*)", "``double[]``", "Joint efforts array", "[]"
    "Joint Positions (*inputs:jointPositions*)", "``double[]``", "Joint positions array", "[]"
    "Joint Velocities (*inputs:jointVelocities*)", "``double[]``", "Joint velocities array", "[]"
    "Port (*inputs:port*)", "``uint``", "Port number for UCX communication", "50008"
    "Tag (*inputs:tag*)", "``uint64``", "UCX tag for message identification. Default is FNV-1a 32-bit hash of 'isaac.JointState'.", "3806437495"
    "Timestamp (*inputs:timeStamp*)", "``double``", "Timestamp in seconds", "0.0"
    "Timeout (ms) (*inputs:timeoutMs*)", "``uint``", "Timeout in milliseconds for UCX send requests. If 0, waits indefinitely.", "0"


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

    "Exec Out (*outputs:execOut*)", "``execution``", "The output execution port", "None"


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

    "Unique ID", "isaacsim.ucx.nodes.UCXPublishJointState"
    "Version", "1"
    "Extension", "isaacsim.ucx.nodes"
    "Icon", "ogn/icons/isaacsim.ucx.nodes.UCXPublishJointState.svg"
    "Has State?", "False"
    "Implementation Language", "C++"
    "Default Memory Type", "cpu"
    "Generated Code Exclusions", "None"
    "uiName", "UCX Publish Joint State"
    "Categories", "isaacUcx"
    "Generated Class Name", "OgnUCXPublishJointStateDatabase"
    "Python Module", "isaacsim.ucx.nodes"

