GXF Publish Pose Tree
This node publishes GXF Image messages
Installation
To use this Node, you must enable omni.isaac.gxf_bridge
in the Extension Manager.
Inputs
Name |
Type |
Description |
Default |
---|---|---|---|
execIn |
|
The input execution port. |
|
context |
|
GXF context handle, Default of zero will use the default global context |
0 |
outputEntity |
|
The name of the entity used to publish data |
atlas |
outputComponent |
|
The name of the component used to publish data |
pose_tree |
primRegex |
|
If set, only prims matching that regex are published in the pose tree |
|
targetPrims |
|
Target prims to publish poses for, if prim is an articulation, the entire articulation tree will be published |
|
poseDepth |
|
The depth(s) to publish under target frame(s) |
|
frameNamesMap |
|
The map between full prim names and the frame names in Isaac PoseTree |
|
rootFrame |
|
Frame name of the simulation root |
sim |
Outputs
Name |
Type |
Description |
Default |
---|---|---|---|
execOut |
|
Output execution trigger |