Core [omni.isaac.core]

Articulations

Articulation

class Articulation(prim_path: str, name: str = 'articulation', position: Optional[Sequence[float]] = None, translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None, scale: Optional[Sequence[float]] = None, visible: Optional[bool] = None, articulation_controller: Optional[omni.isaac.core.controllers.articulation_controller.ArticulationController] = None, enable_dof_force_sensors: bool = False)

Provides high level functions to deal with an articulation prim and its attributes/ properties.

Parameters

prim_path (str) – prim path of the Prim to encapsulate or create.
name (str, optional) – shortname to be used as a key by Scene class. Note: needs to be unique if the object is added to the Scene. Defaults to “articulation”.
position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world/ local frame of the prim (depends if translation or position is specified). quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.
scale (Optional[Sequence[float]], optional) – local scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.
visible (bool, optional) – set to false for an invisible prim in the stage while rendering. Defaults to True.
articulation_controller (Optional[ArticulationController], optional) – a custom ArticulationController which inherits from it. Defaults to creating the basic ArticulationController.
enable_dof_force_sensors (bool, optional) – enables the solver computed dof force sensors on articulation joints. Defaults to False.

Raises

Exception – [description]

apply_action(control_actions: omni.isaac.core.utils.types.ArticulationAction) → None

[summary]

Parameters

control_actions (ArticulationAction) – actions to be applied for next physics step.
indices (Optional[Union[list, np.ndarray]], optional) – degree of freedom indices to apply actions to. Defaults to all degrees of freedom.

Raises

Exception – [description]

apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) → None

Used to apply visual material to the held prim and optionally its descendants.

Parameters

visual_material (VisualMaterial) – visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.

property articulation_handle: int

[summary]

Returns: [description]
Return type: int

disable_gravity() → None: Keep gravity from affecting the robot

property dof_names: List[str]

List of prim names for each DOF.

Returns: prim names
Return type: list(string)

property dof_properties: numpy.ndarray

[summary]

Returns: [description]
Return type: np.ndarray

enable_gravity() → None: Gravity will affect the robot

get_angular_velocity() → numpy.ndarray

[summary]

Returns: [description]
Return type: np.ndarray

get_applied_action() → omni.isaac.core.utils.types.ArticulationAction

[summary]

Raises: Exception – [description]
Returns: [description]
Return type: ArticulationAction

get_applied_joint_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) → numpy.ndarray

Gets the efforts applied to the joints

Parameters: joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
Raises: Exception – _description_
Returns: _description_
Return type: np.ndarray

get_applied_visual_material() → omni.isaac.core.materials.visual_material.VisualMaterial

Returns the current applied visual material in case it was applied using apply_visual_material OR: it’s one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.

Returns: the current applied visual material if its type is currently supported.
Return type: VisualMaterial

get_articulation_body_count() → int

[summary]

Returns: [description]
Return type: int

get_articulation_controller() → omni.isaac.core.controllers.articulation_controller.ArticulationController

Returns: PD Controller of all degrees of freedom of an articulation, can apply position targets, velocity targets and efforts.
Return type: ArticulationController

get_default_state() → omni.isaac.core.utils.types.XFormPrimState

Returns: returns the default state of the prim (position and orientation) that is used after each reset.
Return type: XFormPrimState

get_dof_index(dof_name: str) → int

[summary]

Parameters: dof_name (str) – [description]
Returns: [description]
Return type: int

get_enabled_self_collisions() → bool

[summary]

Returns: [description]
Return type: bool

get_joint_positions(joint_indices: Optional[Union[List, numpy.ndarray]] = None) → numpy.ndarray

_summary_

Parameters: joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
Returns: _description_
Return type: np.ndarray

get_joint_velocities(joint_indices: Optional[Union[List, numpy.ndarray]] = None) → numpy.ndarray

_summary_

Parameters: joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
Returns: _description_
Return type: np.ndarray

get_joints_default_state() → omni.isaac.core.utils.types.JointsState

Accessor for the default joints state.

Returns: The defaults that the robot is reset to when post_reset() is called (often automatically called during world.reset()).
Return type: JointsState

get_joints_state() → omni.isaac.core.utils.types.JointsState

[summary]

Returns: [description]
Return type: JointsState

get_linear_velocity() → numpy.ndarray

[summary]

Returns: [description]
Return type: np.ndarray

get_local_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the local frame (the prim’s parent frame).

Returns

first index is position in the local frame of the prim. shape is (3, ).: second index is quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_local_scale() → numpy.ndarray

Gets prim’s scale with respect to the local frame (the parent’s frame).

Returns: scale applied to the prim’s dimensions in the local frame. shape is (3, ).
Return type: np.ndarray

get_measured_joint_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) → numpy.ndarray

Returns the dof efforts computed/measured by the physics solver

Parameters: joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
Raises: Exception – _description_
Returns: _description_
Return type: np.ndarray

get_measured_joint_forces(joint_indices: Optional[Union[List, numpy.ndarray]] = None) → numpy.ndarray

Gets the measured joint forces

Parameters: joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
Raises: Exception – _description_
Returns: _description_
Return type: np.ndarray

get_sleep_threshold() → float

[summary]

Returns: [description]
Return type: float

get_solver_position_iteration_count() → int

[summary]

Returns: [description]
Return type: int

get_solver_velocity_iteration_count() → int

[summary]

Returns: [description]
Return type: int

get_stabilization_threshold() → float

[summary]

Returns: [description]
Return type: float

get_visibility() → bool

Returns: true if the prim is visible in stage. false otherwise.
Return type: bool

get_world_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the world’s frame.

Returns

first index is position in the world frame of the prim. shape is (3, ).: second index is quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_world_scale() → numpy.ndarray

Gets prim’s scale with respect to the world’s frame.

Returns: scale applied to the prim’s dimensions in the world frame. shape is (3, ).
Return type: np.ndarray

property handles_initialized: bool

[summary]

Returns: [description]
Return type: bool

initialize(physics_sim_view: Optional[omni.physics.tensors.bindings._physicsTensors.SimulationView] = None)

Create a physics simulation view if not passed and creates an articulation view using physX tensor api.: This needs to be called after each hard reset (i.e stop + play on the timeline) before interacting with any of the functions of this class.

Parameters: physics_sim_view (omni.physics.tensors.SimulationView, optional) – current physics simulation view. Defaults to None.

is_valid() → bool

Returns: True is the current prim path corresponds to a valid prim in stage. False otherwise.
Return type: bool

is_visual_material_applied() → bool

Returns: True if there is a visual material applied. False otherwise.
Return type: bool

property name: Optional[str]: Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool

_summary_

Returns: _description_
Return type: bool

property num_dof: int

[summary]

Returns: [description]
Return type: int

post_reset() → None: Resets the prim to its default state (position and orientation).

property prim: pxr.Usd.Prim: Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str: Returns: str: prim path in the stage.

set_angular_velocity(velocity: numpy.ndarray) → None

[summary]

Parameters: velocity (np.ndarray) – [description]

set_default_state(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets the default state of the prim (position and orientation), that will be used after each reset.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_enabled_self_collisions(flag: bool) → None

[summary]

Parameters: flag (bool) – [description]

set_joint_efforts(efforts: numpy.ndarray, joint_indices: Optional[Union[List, numpy.ndarray]] = None) → None

[summary]

Parameters

efforts (np.ndarray) – [description]
joint_indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.

Raises

Exception – [description]

set_joint_positions(positions: numpy.ndarray, joint_indices: Optional[Union[List, numpy.ndarray]] = None) → None

[summary]

Parameters

positions (np.ndarray) – [description]
indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.

Raises

Exception – [description]

set_joint_velocities(velocities: numpy.ndarray, joint_indices: Optional[Union[List, numpy.ndarray]] = None) → None

[summary]

Parameters

velocities (np.ndarray) – [description]
indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.

Raises

Exception – [description]

set_joints_default_state(positions: Optional[numpy.ndarray] = None, velocities: Optional[numpy.ndarray] = None, efforts: Optional[numpy.ndarray] = None) → None

[summary]

Parameters

positions (Optional[np.ndarray], optional) – [description]. Defaults to None.
velocities (Optional[np.ndarray], optional) – [description]. Defaults to None.
efforts (Optional[np.ndarray], optional) – [description]. Defaults to None.

set_linear_velocity(velocity: numpy.ndarray)

Sets the linear velocity of the prim in stage.

Parameters: velocity (np.ndarray) – linear velocity to set the rigid prim to. Shape (3,).

set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the local frame (the prim’s parent frame).

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_local_scale(scale: Optional[Sequence[float]]) → None

Sets prim’s scale with respect to the local frame (the prim’s parent frame).

Parameters: scale (Optional[Sequence[float]]) – scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.

set_sleep_threshold(threshold: float) → None

[summary]

Parameters: threshold (float) – [description]

set_solver_position_iteration_count(count: int) → None

[summary]

Parameters: count (int) – [description]

set_solver_velocity_iteration_count(count: int)

[summary]

Parameters: count (int) – [description]

set_stabilization_threshold(threshold: float) → None

[summary]

Parameters: threshold (float) – [description]

set_visibility(visible: bool) → None

Sets the visibility of the prim in stage.

Parameters: visible (bool) – flag to set the visibility of the usd prim in stage.

set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the world’s frame.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

ArticulationView

class ArticulationView(prim_paths_expr: str, name: str = 'articulation_prim_view', positions: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, translations: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, orientations: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, scales: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, visibilities: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, reset_xform_properties: bool = True, enable_dof_force_sensors: bool = False)

Provides high level functions to deal with prims that has root articulation api applied to it (1 or more articulations) as well as its attributes/ properties. This object wraps all matching articulations found at the regex provided at the prim_paths_expr.

Note: - each prim will have “xformOp:orient”, “xformOp:translate” and “xformOp:scale” only post init,: unless it is a non-root articulation link.

Parameters

prim_paths_expr (str) – prim paths regex to encapsulate all prims that match it. example: “/World/Env[1-5]/Franka” will match /World/Env1/Franka, /World/Env2/Franka..etc. (a non regex prim path can also be used to encapsulate one rigid prim).
name (str, optional) – shortname to be used as a key by Scene class. Note: needs to be unique if the object is added to the Scene. Defaults to “articulation_prim_view”.
positions (Optional[Union[np.ndarray, torch.Tensor, wp.array]], optional) – default positions in the world frame of the prims. shape is (N, 3). Defaults to None, which means left unchanged.
translations (Optional[Union[np.ndarray, torch.Tensor, wp.array]], optional) – default translations in the local frame of the prims (with respect to its parent prims). shape is (N, 3). Defaults to None, which means left unchanged.
orientations (Optional[Union[np.ndarray, torch.Tensor, wp.array]], optional) – default quaternion orientations in the world/ local frame of the prims (depends if translation or position is specified). quaternion is scalar-first (w, x, y, z). shape is (N, 4).
scales (Optional[Union[np.ndarray, torch.Tensor, wp.array]], optional) – local scales to be applied to the prim’s dimensions in the view. shape is (N, 3). Defaults to None, which means left unchanged.
visibilities (Optional[Union[np.ndarray, torch.Tensor, wp.array]], optional) – set to false for an invisible prim in the stage while rendering. shape is (N,). Defaults to None.
reset_xform_properties (bool, optional) – True if the prims don’t have the right set of xform properties (i.e: translate, orient and scale) ONLY and in that order. Set this parameter to False if the object were cloned using using the cloner api in omni.isaac.cloner. Defaults to True.
enable_dof_force_sensors (bool, optional) – enables the solver computed dof force sensors on articulation joints. Defaults to False.

apply_action(control_actions: omni.isaac.core.utils.types.ArticulationActions, indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Applies ArticulationActions which encapsulates joint position targets, velocity targets, efforts and joint indices in one object.: Can be used instead of the seperate set_joint_position_targets..etc.

Parameters

control_actions (ArticulationActions) – actions to be applied for next physics step.
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

apply_visual_materials(visual_materials: Union[omni.isaac.core.materials.visual_material.VisualMaterial, List[omni.isaac.core.materials.visual_material.VisualMaterial]], weaker_than_descendants: Optional[Union[bool, List[bool]]] = None, indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None) → None

Used to apply visual material to the prims and optionally its prim descendants.

Parameters

visual_materials (Union[VisualMaterial, List[VisualMaterial]]) – visual materials to be applied to the prims. Currently supports PreviewSurface, OmniPBR and OmniGlass. If a list is provided then its size has to be equal the view’s size or indices size. If one material is provided it will be applied to all prims in the view.
weaker_than_descendants (Optional[Union[bool, List[bool]]], optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False. If a list of visual materials is provided then a list has to be provided with the same size for this arg as well.
indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

Raises

Exception – length of visual materials != length of prims indexed
Exception – length of visual materials != length of weaker descendants bools arg

property body_names: List[str]: Returns: List[str]: ordered names of bodies that corresponds to links for the articulations of prims in the view.

property count: int: Returns: int: Number of prims encapsulated in this view.

property dof_names: List[str]: Returns: List[str]: ordered names of joints that corresponds to degrees of freedom for the articulations of prims in the view.

get_angular_velocities(indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the angular velocities of prims in the view.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view)
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

angular velocities of the prims in the view. shape is (M, 3).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_applied_actions(clone: bool = True) → omni.isaac.core.utils.types.ArticulationActions

Gets current applied actions in an ArticulationActions object.

Parameters: clone (bool, optional) – True to return clones of the internal buffers. Otherwise False. Defaults to True.
Returns: current applied actions (i.e: current position targets and velocity targets)
Return type: ArticulationActions

get_applied_joint_efforts(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the joint efforts of articulations in the view. The method will return the efforts set by the set_joint_efforts.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to manipulate. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

joint efforts of articulations in the view assigned via set_joint_efforts. shape is (M, K).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_applied_visual_materials(indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None) → List[omni.isaac.core.materials.visual_material.VisualMaterial]

Parameters: indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
Returns: a list of the current applied visual materials to the prims if its type is currently supported.
Return type: List[VisualMaterial]

get_armatures(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets armatures for articulation in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to query. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).
clone (Optional[bool]) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

maximum efforts for articulations in the view. shape (M, K).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_articulation_body_count() → int

Returns: number of links in the articulation.
Return type: int

get_body_coms(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, body_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets rigid body center of mass of articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
body_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – body indicies to specify which bodies to query. Shape (K,). Where K <= num of bodies. Defaults to None (i.e: all bodies).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

rigid body center of mass positions and orientations of articulations in the view.: position shape is (M, K, 3), orientation shape is (M, k, 4).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_body_index(body_name: str) → int

Gets the body index in the articulation given its name.

Parameters: body_name (str) – name of the body/link to query.
Returns: index of the body/link in the articulation buffers.
Return type: int

get_body_inertias(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, body_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets rigid body inertias of articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
body_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – body indicies to specify which bodies to query. Shape (K,). Where K <= num of bodies. Defaults to None (i.e: all bodies).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

rigid body inertias of articulations in the view.: shape is (M, K, 9).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_body_inv_inertias(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, body_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets rigid body inverse inertias of articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
body_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – body indicies to specify which bodies to query. Shape (K,). Where K <= num of bodies. Defaults to None (i.e: all bodies).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

rigid body inverse inertias of articulations in the view.: shape is (M, K, 9).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_body_inv_masses(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, body_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets rigid body inverse masses of articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
body_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – body indicies to specify which bodies to query. Shape (K,). Where K <= num of bodies. Defaults to None (i.e: all bodies).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

rigid body inverse masses of articulations in the view.: shape is (M, K).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_body_masses(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, body_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets rigid body masses of articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
body_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – body indicies to specify which bodies to query. Shape (K,). Where K <= num of bodies. Defaults to None (i.e: all bodies).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

rigid body masses of articulations in the view.: shape is (M, K).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_coriolis_and_centrifugal_forces(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the coriolis and centrifugal forces of articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to query. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

Coriolis and centrifugal forces of articulations in the view.: shape is (M, K).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_default_state() → omni.isaac.core.utils.types.XFormPrimViewState

Returns: returns the default state of the prims (positions and orientations) that is used after each reset.
Return type: XFormPrimViewState

get_dof_index(dof_name: str) → int

Gets the dof index in the joint buffers given its name.

Parameters: dof_name (str) – name of the joint that corresponds to the degree of freedom to query.
Returns: index of the degree of freedom in the joint buffers.
Return type: int

get_dof_limits() → Union[numpy.ndarray, torch.Tensor]

Returns

degrees of freedom position limits.: shape is (N, num_dof, 2) where index 0 corresponds to the lower limit and index 1 corresponds to the upper limit.

Return type

Union[np.ndarray, torch.Tensor, wp.array]

get_dof_types(dof_names: Optional[List[str]] = None) → List[str]

Gets the dof types given the dof names.

Parameters: dof_names (List[str], optional) – names of the joints that corresponds to the degrees of freedom to query. Defaults to None.
Returns: types of the joints that corresponds to the degrees of freedom. Types can be invalid, translation or rotation.
Return type: List[str]

get_effort_modes(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → List[str]

Gets effort modes for articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to query. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).

Returns

Returns a List of size (M, K) indicating the effort modes. accelaration or force.

Return type

List

get_enabled_self_collisions(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the enable self collisions flag

Parameters: indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
Returns: true if self collisions enabled. otherwise false. shape (M,)
Return type: Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_fixed_tendon_dampings(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the dampings of fixed tendons for articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

fixed tendon dampings of articulations in the view.: shape is (M, K).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_fixed_tendon_limit_stiffnesses(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the limit stiffness of fixed tendons for articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

fixed tendon stiffnesses of articulations in the view.: shape is (M, K).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_fixed_tendon_limits(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the limits of fixed tendons for articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

fixed tendon stiffnesses of articulations in the view.: shape is (M, K, 2).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_fixed_tendon_offsets(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the offsets of fixed tendons for articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

fixed tendon stiffnesses of articulations in the view.: shape is (M, K).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_fixed_tendon_rest_lengths(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the rest length of fixed tendons for articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

fixed tendon stiffnesses of articulations in the view.: shape is (M, K).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_fixed_tendon_stiffnesses(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the stiffness of fixed tendons for articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

fixed tendon stiffnesses of articulations in the view.: shape is (M, K).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_friction_coefficients(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.array]

Gets friction coefficients for articulation in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to query. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).
clone (Optional[bool]) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

maximum efforts for articulations in the view. shape (M, K).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_gains(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Tuple[typing.Union[numpy.ndarray, torch.Tensor], typing.Union[numpy.ndarray, torch.Tensor], typing.Union[warp.types.indexedarray, <Function index(a: vec2h, i: int32)>]]

Gets stiffness and damping of articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to query. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).
clone (bool, optional) – True to return clones of the internal buffers. Otherwise False. Defaults to True.

Returns

stiffness and damping of: articulations in the view respectively. shapes are (M, K).

Return type

Tuple[Union[np.ndarray, torch.Tensor], Union[np.ndarray, torch.Tensor], Union[wp.indexedarray, wp.index]]

get_generalized_gravity_forces(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the generalized gravity forces of articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to query. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

generalized gravity forces of articulations in the view.: shape is (M, K).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_jacobian_shape() → Union[numpy.ndarray, torch.Tensor, warp.types.array]

Returns: shape of jacobian for a single articulation.
Return type: Union[np.ndarray, torch.Tensor, wp.array]

get_jacobians(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the jacobians of articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

jacobians of articulations in the view.: shape is (M, jacobian_shape).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_joint_positions(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the joint positions of articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to query. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

joint positions of articulations in the view.: shape is (M, K).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_joint_velocities(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the joint velocities of articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to query. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

joint velocities of articulations in the view.: shape is (M, K).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_joints_default_state() → omni.isaac.core.utils.types.JointsState

Returns: current joints default state. (i.e: the joint positions and velocities after a reset).
Return type: JointsState

get_joints_state() → omni.isaac.core.utils.types.JointsState

Returns: current joint positions and velocities.
Return type: JointsState

get_linear_velocities(indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None, clone=True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the linear velocities of prims in the view.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view)
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

linear velocities of the prims in the view. shape is (M, 3).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_local_poses(indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None) → Union[Tuple[numpy.ndarray, numpy.ndarray], Tuple[torch.Tensor, torch.Tensor], Tuple[warp.types.indexedarray, warp.types.indexedarray]]

Gets prim poses in the view with respect to the local frame (the prim’s parent frame).

Parameters: indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view)
Returns: first index is positions in the local frame of the prims. shape is (M, 3). second index is quaternion orientations in the local frame of the prims. quaternion is scalar-first (w, x, y, z). shape is (M, 4).
Return type: Union[Tuple[np.ndarray, np.ndarray], Tuple[torch.Tensor, torch.Tensor], Tuple[wp.indexedarray, wp.indexedarray]]

get_local_scales(indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets prim scales in the view with respect to the local frame (the parent’s frame).

Parameters: indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
Returns: scales applied to the prim’s dimensions in the local frame. shape is (M, 3).
Return type: Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_mass_matrices(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the mass matrices of articulations in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

mass matrices of articulations in the view.: shape is (M, mass_matrix_shape).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_mass_matrix_shape() → Union[numpy.ndarray, torch.Tensor, warp.types.array]

Returns: shape of mass matrix for a single articulation.
Return type: Union[np.ndarray, torch.Tensor, wp.array]

get_max_efforts(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets maximum efforts for articulation in the view.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to query. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).
clone (Optional[bool]) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

maximum efforts for articulations in the view. shape (M, K).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_measured_joint_efforts(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the dof forces of articulations in the view. The method will return the solver computed projection of the joint forces in the dof motion direction.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor]], optional) – joint indicies to specify which joints to manipulate. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

computed joint efforts of articulations in the view. shape is (M, K).

Return type

Union[np.ndarray, torch.Tensor]

get_measured_joint_forces(indices: Optional[Union[numpy.ndarray, List, torch.Tensor]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the joint forces of articulations in the view. The method will return the link incoming joint forces.

Parameters

indices (Optional[Union[np.ndarray, List, torch.Tensor]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor]], optional) – link indicies to specify which link’s incoming joints to get. Shape (K,). Where K <= num of links/bodies. Defaults to None (i.e: all dofs).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

joint forces of articulations in the view. shape is (M, K, 6).

Return type

Union[np.ndarray, torch.Tensor]

get_sleep_thresholds(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets sleep thresholds for articulations in the view.

Parameters: indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
Returns: current sleep thresholds. shape (M,).
Return type: Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_solver_position_iteration_counts(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the physics solver itertion counts for joint positions.

Parameters: indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
Returns: number of iterations for the solver. Shape (M,).
Return type: Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_solver_velocity_iteration_counts(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the physics solver itertion counts for joint velocities.

Parameters: indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
Returns: number of iterations for the solver. Shape (M,).
Return type: Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_stabilization_thresholds(indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the stabilizaion thresholds.

Parameters: indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
Returns: current stabilization thresholds. Shape (M,).
Return type: Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_velocities(indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets the linear and angular velocities of prims in the view.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view)
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

linear and angular velocities of the prims in the view concatenated. shape is (M, 6).

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_visibilities(indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Returns the current visibilities of the prims in stage.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

Returns

Shape (M,) with type bool, where each item holds True: if the prim is visible in stage. False otherwise.

Return type

Union[np.ndarray, torch.Tensor, wp.indexedarray]

get_world_poses(indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None, clone: bool = True) → Union[Tuple[numpy.ndarray, numpy.ndarray], Tuple[torch.Tensor, torch.Tensor], Tuple[warp.types.indexedarray, warp.types.indexedarray]]

Gets the poses of the prims in the view with respect to the world’s frame.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

first index is positions in the world frame of the prims. shape is (M, 3).: second index is quaternion orientations in the world frame of the prims. quaternion is scalar-first (w, x, y, z). shape is (M, 4).

Return type

Union[Tuple[np.ndarray, np.ndarray], Tuple[torch.Tensor, torch.Tensor], Tuple[wp.indexedarray, wp.indexedarray]]

get_world_scales(indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None) → Union[numpy.ndarray, torch.Tensor, warp.types.indexedarray]

Gets prim scales in the view with respect to the world’s frame.

Parameters: indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
Returns: scales applied to the prim’s dimensions in the world frame. shape is (M, 3).
Return type: Union[np.ndarray, torch.Tensor, wp.indexedarray]

initialize(physics_sim_view: Optional[omni.physics.tensors.bindings._physicsTensors.SimulationView] = None) → None

Create a physics simulation view if not passed and creates an articulation view using physX tensor api.

Parameters: physics_sim_view (omni.physics.tensors.SimulationView, optional) – current physics simulation view. Defaults to None.

property initialized: bool: Returns: bool: True if the view object was initialized (after the first call of .initialize()). False otherwise.

property is_non_root_articulation_link: bool: Returns: bool: True if the prim corresponds to a non root link in an articulation. Otherwise False.

is_physics_handle_valid() → bool

Returns

False if .initialize() needs to be called again for the physics handle to be valid. Otherwise True.: Note: if physics handle is not valid many of the methods that requires physX will return None.

Return type

bool

is_valid(indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None) → bool

Parameters: indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
Returns: True if all prim paths specified in the view correspond to a valid prim in stage. False otherwise.
Return type: bool

is_visual_material_applied(indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None) → List[bool]

Parameters: indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
Returns: True if there is a visual material applied is applied to the corresponding prim in the view. False otherwise.
Return type: List[bool]

property name: str: Returns: str: name given to the prims view when instantiating it.

property num_bodies: int: Returns: int: number of rigid bodies for the articulations of prims in the view.

property num_dof: int: Returns: int: number of degrees of freedom for the articulations of prims in the view.

property num_fixed_tendons: int: Returns: int: number of rigid shapes for the articulations of prims in the view.

property num_shapes: int: Returns: int: number of rigid shapes for the articulations of prims in the view.

post_reset() → None: Resets the prims to its default state.

property prim_paths: List[str]: Returns: List[str]: list of prim paths in the stage encapsulated in this view.

property prims: List[pxr.Usd.Prim]: Returns: List[Usd.Prim]: List of USD Prim objects encapsulated in this view.

set_angular_velocities(velocities: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None) → None

Sets the angular velocities of the prims in the view. The method does this through the physx API only.: i.e: It has to be called after initialization. Note: This method is not supported for the gpu pipeline. set_velocities method should be used instead.

Parameters

velocities (Optional[Union[np.ndarray, torch.Tensor, wp.array]]) – angular velocities to set the rigid prims to. shape is (M, 3).
indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_armatures(values: Union[numpy.ndarray, torch.Tensor, warp.types.array], indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Sets armatures for articulation joints in the view.

Parameters

values (Union[np.ndarray, torch.Tensor, wp.array]) – armatures for articulations in the view. shape (M, K).
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to manipulate. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).

set_body_coms(positions: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, orientations: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, body_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Sets body center of mass positions and orientations for articulation bodies in the view.

Parameters

positions (Union[np.ndarray, torch.Tensor, wp.array]) – body center of mass positions for articulations in the view. shape (M, K, 3).
orientations (Union[np.ndarray, torch.Tensor, wp.array]) – body center of mass orientations for articulations in the view. shape (M, K, 4).
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
body_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – body indicies to specify which bodies to manipulate. Shape (K,). Where K <= num of bodies. Defaults to None (i.e: all bodies).

set_body_inertias(values: Union[numpy.ndarray, torch.Tensor, warp.types.array], indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, body_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Sets body inertias for articulation bodies in the view.

Parameters

values (Union[np.ndarray, torch.Tensor, wp.array]) – body inertias for articulations in the view. shape (M, K, 9).
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
body_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – body indicies to specify which bodies to manipulate. Shape (K,). Where K <= num of bodies. Defaults to None (i.e: all bodies).

set_body_masses(values: Union[numpy.ndarray, torch.Tensor, warp.types.array], indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, body_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Sets body masses for articulation bodies in the view.

Parameters

values (Union[np.ndarray, torch.Tensor, wp.array]) – body masses for articulations in the view. shape (M, K).
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
body_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – body indicies to specify which bodies to manipulate. Shape (K,). Where K <= num of bodies. Defaults to None (i.e: all bodies).

set_default_state(positions: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, orientations: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None) → None

Sets the default state of the prims (positions and orientations), that will be used after each reset.

Parameters

positions (Optional[Union[np.ndarray, torch.Tensor, wp.array]], optional) – positions in the world frame of the prim. shape is (M, 3). Defaults to None, which means left unchanged.
orientations (Optional[Union[np.ndarray, torch.Tensor, wp.array]], optional) – quaternion orientations in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (M, 4). Defaults to None, which means left unchanged.
indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_effort_modes(mode: str, indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor]] = None) → None

Sets effort modes for articulations in the view.

Parameters

mode (str) – effort mode to be applied to prims in the vie, wp.arrayw. force or acceleration.
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to manipulate. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).

Raises

Exception – _description_

set_enabled_self_collisions(flags: Union[numpy.ndarray, torch.Tensor, warp.types.array], indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Sets the enable self collisions flag

Parameters

flags (Union[np.ndarray, torch.Tensor, wp.array]) – true to enable self collision. otherwise false. shape (M,)
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_fixed_tendon_properties(stiffnesses: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, dampings: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, limit_stiffnesses: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, limits: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, rest_lengths: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, offsets: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Sets fixed tendon properties for articulations in the view.

Parameters

stiffnesses (Union[np.ndarray, torch.Tensor, wp.array]) – fixed tendon stiffnesses for articulations in the view. shape (M, K).
dampings (Union[np.ndarray, torch.Tensor, wp.array]) – fixed tendon dampings for articulations in the view. shape (M, K).
limit_stiffnesses (Union[np.ndarray, torch.Tensor, wp.array]) – fixed tendon limit stiffnesses for articulations in the view. shape (M, K).
limits (Union[np.ndarray, torch.Tensor, wp.array]) – fixed tendon limits for articulations in the view. shape (M, K, 2).
rest_lengths (Union[np.ndarray, torch.Tensor, wp.array]) – fixed tendon rest lengths for articulations in the view. shape (M, K).
offsets (Union[np.ndarray, torch.Tensor, wp.array]) – fixed tendon offsets for articulations in the view. shape (M, K).
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_friction_coefficients(values: Union[numpy.ndarray, torch.Tensor], indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Sets friction coefficients for articulation joints in the view.

Parameters

values (Union[np.ndarray, torch.Tensor, wp.array]) – friction coefficients for articulations in the view. shape (M, K).
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to manipulate. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).

set_gains(kps: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, kds: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, save_to_usd: bool = False) → None

Sets stiffness and damping of articulations in the view.

Parameters

kps (Optional[Union[np.ndarray, torch.Tensor, wp.array]], optional) – stiffness of the drives. shape is (M, K). Defaults to None.
kds (Optional[Union[np.ndarray, torch.Tensor, wp.array]], optional) – damping of the drives. shape is (M, K).. Defaults to None.
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to manipulate. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).
save_to_usd (bool, optional) – True to save the gains in the usd. otherwise False.

set_joint_efforts(efforts: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]], indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Sets the joint efforts of articulations in the view.

Parameters

efforts (Optional[Union[np.ndarray, torch.Tensor, wp.array]]) – efforts of articulations in the view to be set to in the next frame. shape is (M, K).
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to manipulate. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).

set_joint_position_targets(positions: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]], indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Sets the joint position targets for the implicit pd controllers.

Parameters

positions (Optional[Union[np.ndarray, torch.Tensor, wp.array]]) – joint position targets for the implicit pd controller. shape is (M, K).
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to manipulate. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).

set_joint_positions(positions: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]], indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Sets the joint positions of articulations in the view.

Parameters

positions (Optional[Union[np.ndarray, torch.Tensor, wp.array]]) – joint positions of articulations in the view to be set to in the next frame. shape is (M, K).
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to manipulate. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).

set_joint_velocities(velocities: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]], indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Sets the joint velocities of articulations in the view.

Parameters

velocities (Optional[Union[np.ndarray, torch.Tensor, wp.array]]) – joint velocities of articulations in the view to be set to in the next frame. shape is (M, K).
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to manipulate. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).

set_joint_velocity_targets(velocities: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]], indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Sets the joint velocity targets for the implicit pd controllers.

Parameters

velocities (Optional[Union[np.ndarray, torch.Tensor, wp.array]]) – joint velocity targets for the implicit pd controller. shape is (M, K).
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to manipulate. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).

set_joints_default_state(positions: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, velocities: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, efforts: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None) → None

Sets the joints default state (joint positions, velocities and efforts) to be applied after each reset.

Parameters

positions (Optional[Union[np.ndarray, torch.Tensor, wp.array]], optional) – default joint positions. shape is (N, num of dofs). Defaults to None.
velocities (Optional[Union[np.ndarray, torch.Tensor, wp.array]], optional) – default joint velocities. shape is (N, num of dofs). Defaults to None.
efforts (Optional[Union[np.ndarray, torch.Tensor, wp.array]], optional) – default joint efforts. shape is (N, num of dofs). Defaults to None.

set_linear_velocities(velocities: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None) → None

Sets the linear velocities of the prims in the view. The method does this through the physx API only.: i.e: It has to be called after initialization. Note: This method is not supported for the gpu pipeline. set_velocities method should be used instead.

Parameters

velocities (Optional[Union[np.ndarray, torch.Tensor, wp.array]]) – linear velocities to set the rigid prims to. shape is (M, 3).
indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_local_poses(translations: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, orientations: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None) → None

Sets prim poses in the view with respect to the local frame (the prim’s parent frame).

Parameters

translations (Optional[Union[np.ndarray, torch.Tensor, wp.array]], optional) – translations in the local frame of the prims (with respect to its parent prim). shape is (M, 3). Defaults to None, which means left unchanged.
orientations (Optional[Union[np.ndarray, torch.Tensor, wp.array]], optional) – quaternion orientations in the local frame of the prims. quaternion is scalar-first (w, x, y, z). shape is (M, 4). Defaults to None, which means left unchanged.
indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_local_scales(scales: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None) → None

Sets prim scales in the view with respect to the local frame (the prim’s parent frame).

Parameters

scales (Optional[Union[np.ndarray, torch.Tensor, wp.array]]) – scales to be applied to the prim’s dimensions in the view. shape is (M, 3).
indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_max_efforts(values: Union[numpy.ndarray, torch.Tensor, warp.types.array], indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Sets maximum efforts for articulation in the view.

Parameters

values (Union[np.ndarray, torch.Tensor, wp.array]) – maximum efforts for articulations in the view. shape (M, K).
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to manipulate. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).

set_sleep_thresholds(thresholds: Union[numpy.ndarray, torch.Tensor, warp.types.array], indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Sets sleep thresholds for articulations in the view.

Parameters

thresholds (Union[np.ndarray, torch.Tensor, wp.array]) – sleep thresholds to be applied. shape (M,).
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_solver_position_iteration_counts(counts: Union[numpy.ndarray, torch.Tensor, warp.types.array], indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Sets the physics solver itertion counts for joint positions.

Parameters

counts (Union[np.ndarray, torch.Tensor, wp.array]) – number of iterations for the solver. Shape (M,).
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_solver_velocity_iteration_counts(counts: Union[numpy.ndarray, torch.Tensor, warp.types.array], indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Sets the physics solver itertion counts for joint velocities.

Parameters

counts (Union[np.ndarray, torch.Tensor, wp.array]) – number of iterations for the solver. Shape (M,).
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_stabilization_thresholds(thresholds: Union[numpy.ndarray, torch.Tensor, warp.types.array], indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Sets the stabilizaion thresholds.

Parameters

thresholds (Union[np.ndarray, torch.Tensor, wp.array]) – stabilization thresholds to be applied. Shape (M,).
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_velocities(velocities: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None) → None

Sets the linear and angular velocities of the prims in the view at once. The method does this through the physx API only.: i.e: It has to be called after initialization.

Parameters

velocities (Optional[Union[np.ndarray, torch.Tensor, wp.array]]) – linear and angular velocities respectively to set the rigid prims to. shape is (M, 6).
indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_visibilities(visibilities: Union[numpy.ndarray, torch.Tensor, warp.types.array], indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None) → None

Sets the visibilities of the prims in stage.

Parameters

visibilities (Union[np.ndarray, torch.Tensor, wp.array]) – flag to set the visibilities of the usd prims in stage. Shape (M,). Where M <= size of the encapsulated prims in the view.
indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Defaults to None (i.e: all prims in the view).

set_world_poses(positions: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, orientations: Optional[Union[numpy.ndarray, torch.Tensor, warp.types.array]] = None, indices: Optional[Union[numpy.ndarray, list, torch.Tensor, warp.types.array]] = None) → None

Sets poses of prims in the view with respect to the world’s frame.

Parameters

positions (Optional[Union[np.ndarray, torch.Tensor, wp.array]], optional) – positions in the world frame of the prim. shape is (M, 3). Defaults to None, which means left unchanged.
orientations (Optional[Union[np.ndarray, torch.Tensor, wp.array]], optional) – quaternion orientations in the world frame of the prims. quaternion is scalar-first (w, x, y, z). shape is (M, 4). Defaults to None, which means left unchanged.
indices (Optional[Union[np.ndarray, list, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

switch_control_mode(mode: str, indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None, joint_indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Switches control mode between velocity, position or effort.

Parameters

mode (str) – control mode to switch the articulations specified to. mode can be velocity, position or effort.
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
joint_indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – joint indicies to specify which joints to manipulate. Shape (K,). Where K <= num of dofs. Defaults to None (i.e: all dofs).

switch_dof_control_mode(mode: str, dof_index: int, indices: Optional[Union[numpy.ndarray, List, torch.Tensor, warp.types.array]] = None) → None

Switches dof control mode between velocity, position or effort.

Parameters

mode (str) – control mode to switch the dof in articulations specified to. mode an be velocity, position or effort.
dof_index (int) – dof index to swith the control mode of.
indices (Optional[Union[np.ndarray, List, torch.Tensor, wp.array]], optional) – indicies to specify which prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

ArticulationController

class ArticulationController

PD Controller of all degrees of freedom of an articulation, can apply position targets, velocity targets and efforts.

Checkout the required tutorials at: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html

apply_action(control_actions: omni.isaac.core.utils.types.ArticulationAction) → None

[summary]

Parameters

control_actions (ArticulationAction) – actions to be applied for next physics step.
indices (Optional[Union[list, np.ndarray]], optional) – degree of freedom indices to apply actions to. Defaults to all degrees of freedom.

Raises

Exception – [description]

get_applied_action() → omni.isaac.core.utils.types.ArticulationAction

Raises: Exception – [description]
Returns: Gets last applied action.
Return type: ArticulationAction

get_effort_modes() → List[str]

[summary]

Raises

Exception – [description]
NotImplementedError – [description]

Returns

[description]

Return type

np.ndarray

get_gains() → Tuple[numpy.ndarray, numpy.ndarray]

[summary]

Raises: Exception – [description]
Returns: [description]
Return type: Tuple[np.ndarray, np.ndarray]

get_joint_limits() → Tuple[numpy.ndarray, numpy.ndarray]

[summary]

Raises: Exception – [description]
Returns: [description]
Return type: Tuple[np.ndarray, np.ndarray]

get_max_efforts() → numpy.ndarray

[summary]

Raises: Exception – [description]
Returns: [description]
Return type: np.ndarray

initialize(handle, articulation_view) → None

[summary]

Parameters

handle ([type]) – [description]
dof_infos ([type]) – [description]

set_effort_modes(mode: str, joint_indices: Optional[Union[numpy.ndarray, list]] = None) → None

[summary]

Parameters

mode (str) – [description]
indices (Optional[Union[np.ndarray, list]], optional) – [description]. Defaults to None.

Raises

Exception – [description]
Exception – [description]

set_gains(kps: Optional[numpy.ndarray] = None, kds: Optional[numpy.ndarray] = None, save_to_usd: bool = False) → None

[summary]

Parameters

kps (Optional[np.ndarray], optional) – [description]. Defaults to None.
kds (Optional[np.ndarray], optional) – [description]. Defaults to None.

Raises

Exception – [description]

set_max_efforts(values: numpy.ndarray, joint_indices: Optional[Union[numpy.ndarray, list]] = None) → None

[summary]

Parameters

value (float, optional) – [description]. Defaults to None.
indices (Optional[Union[np.ndarray, list]], optional) – [description]. Defaults to None.

Raises

Exception – [description]

switch_control_mode(mode: str) → None

[summary]

Parameters: mode (str) – [description]
Raises: Exception – [description]

switch_dof_control_mode(dof_index: int, mode: str) → None

[summary]

Parameters

dof_index (int) – [description]
mode (str) – [description]

Raises

Exception – [description]

Loggers

DataLogger

class DataLogger

This class takes care of collecting data as well as reading already saved data in order to replay it for instance.

add_data(data: dict, current_time_step: float, current_time: float) → None

Adds data to the log

Parameters

data (dict) – Dictionary representing the data to be logged at this time index.
current_time_step (float) – time step corresponding to the data collected.
current_time (float) – time in seconds corresponding to the data collected.

add_data_frame_logging_func(func: Callable[[List[omni.isaac.core.tasks.base_task.BaseTask], omni.isaac.core.scenes.scene.Scene], Dict]) → None

Parameters

func (Callable[[list[BaseTask], Scene], None]) –

function to be called at every step when the logger is started. should follow:

def dummy_data_collection_fn(tasks, scene):: return {“data 1”: [data]}

get_data_frame(data_frame_index: int) → omni.isaac.core.utils.types.DataFrame

Parameters: data_frame_index (int) – index of the data frame to retrieve.
Returns: Data Frame collected/ retrieved at the specified data frame index.
Return type: DataFrame

get_num_of_data_frames() → int

Returns: the number of data frames collected/ retrieved in the data logger.
Return type: int

is_started() → bool

Returns: True if data collection is started/ resumed. False otherwise.
Return type: bool

load(log_path: str) → None

Loads data from a json file to read back a previous saved data or to resume recording data from another time step.

Parameters: log_path (str) – path of the json file to be used to load the data.

pause() → None: Pauses data collection.

reset() → None: Clears the data in the logger.

save(log_path: str) → None

Saves the current data in the logger to a json file

Parameters: log_path (str) – path of the json file to be used to save the data.

start() → None: Resumes/ starts data collection.

Materials

Visual Material

class VisualMaterial(name: str, prim_path: str, prim: pxr.Usd.Prim, shaders_list: List[pxr.UsdShade.Shader], material: pxr.UsdShade.Material)

[summary]

Parameters

name (str) – [description]
prim_path (str) – [description]
prim (Usd.Prim) – [description]
shaders_list (list[UsdShade.Shader]) – [description]
material (UsdShade.Material) – [description]

property material: pxr.UsdShade.Material

[summary]

Returns: [description]
Return type: UsdShade.Material

property name: str

[summary]

Returns: [description]
Return type: str

property prim: pxr.Usd.Prim

[summary]

Returns: [description]
Return type: Usd.Prim

property prim_path: str

[summary]

Returns: [description]
Return type: str

property shaders_list: List[pxr.UsdShade.Shader]

[summary]

Returns: [description]
Return type: [type]

Preview Surface

class PreviewSurface(prim_path: str, name: str = 'preview_surface', shader: Optional[pxr.UsdShade.Shader] = None, color: Optional[numpy.ndarray] = None, roughness: Optional[float] = None, metallic: Optional[float] = None)

[summary]

Parameters

prim_path (str) – [description]
name (str, optional) – [description]. Defaults to “preview_surface”.
shader (Optional[UsdShade.Shader], optional) – [description]. Defaults to None.
color (Optional[np.ndarray], optional) – [description]. Defaults to None.
roughness (Optional[float], optional) – [description]. Defaults to None.
metallic (Optional[float], optional) – [description]. Defaults to None.

get_color() → numpy.ndarray

[summary]

Returns: [description]
Return type: np.ndarray

get_metallic() → float

[summary]

Returns: [description]
Return type: float

get_roughness() → float

[summary]

Returns: [description]
Return type: float

property material: pxr.UsdShade.Material

[summary]

Returns: [description]
Return type: UsdShade.Material

property name: str

[summary]

Returns: [description]
Return type: str

property prim: pxr.Usd.Prim

[summary]

Returns: [description]
Return type: Usd.Prim

property prim_path: str

[summary]

Returns: [description]
Return type: str

set_color(color: numpy.ndarray) → None

[summary]

Parameters: color (np.ndarray) – [description]

set_metallic(metallic: float) → None

[summary]

Parameters: metallic (float) – [description]

set_roughness(roughness: float) → None

[summary]

Parameters: roughness (float) – [description]

property shaders_list: List[pxr.UsdShade.Shader]

[summary]

Returns: [description]
Return type: [type]

OmniPBR Material

class OmniPBR(prim_path: str, name: str = 'omni_pbr', shader: Optional[pxr.UsdShade.Shader] = None, texture_path: Optional[str] = None, texture_scale: Optional[numpy.ndarray] = None, texture_translate: Optional[numpy.ndarray] = None, color: Optional[numpy.ndarray] = None)

[summary]

Parameters

prim_path (str) – [description]
name (str, optional) – [description]. Defaults to “omni_pbr”.
shader (Optional[UsdShade.Shader], optional) – [description]. Defaults to None.
texture_path (Optional[str], optional) – [description]. Defaults to None.
texture_scale (Optional[np.ndarray], optional) – [description]. Defaults to None.
texture_translate (Optional[np.ndarray, optional) – [description]. Defaults to None.
color (Optional[np.ndarray], optional) – [description]. Defaults to None.

get_color() → numpy.ndarray

[summary]

Returns: [description]
Return type: np.ndarray

get_metallic_constant() → float

[summary]

Returns: [description]
Return type: float

get_project_uvw() → bool

[summary]

Returns: [description]
Return type: bool

get_reflection_roughness() → float

[summary]

Returns: [description]
Return type: float

get_texture() → str

[summary]

Returns: [description]
Return type: str

get_texture_scale() → numpy.ndarray

[summary]

Returns: [description]
Return type: np.ndarray

get_texture_translate() → numpy.ndarray

[summary]

Returns: [description]
Return type: np.ndarray

property material: pxr.UsdShade.Material

[summary]

Returns: [description]
Return type: UsdShade.Material

property name: str

[summary]

Returns: [description]
Return type: str

property prim: pxr.Usd.Prim

[summary]

Returns: [description]
Return type: Usd.Prim

property prim_path: str

[summary]

Returns: [description]
Return type: str

set_color(color: numpy.ndarray) → None

[summary]

Parameters: color (np.ndarray) – [description]

set_metallic_constant(amount: float) → None

[summary]

Parameters: amount (float) – [description]

set_project_uvw(flag: bool) → None

[summary]

Parameters: flag (bool) – [description]

set_reflection_roughness(amount: float) → None

[summary]

Parameters: amount (float) – [description]

set_texture(path: str) → None

[summary]

Parameters: path (str) – [description]

set_texture_scale(x: float, y: float) → None

[summary]

Parameters

x (float) – [description]
y (float) – [description]

set_texture_translate(x: float, y: float) → None

[summary]

Parameters

x (float) – [description]
y (float) – [description]

property shaders_list: List[pxr.UsdShade.Shader]

[summary]

Returns: [description]
Return type: [type]

Omni Glass Material

class OmniGlass(prim_path: str, name: str = 'omni_glass', shader: Optional[pxr.UsdShade.Shader] = None, color: Optional[numpy.ndarray] = None, ior: Optional[float] = None, depth: Optional[float] = None, thin_walled: Optional[bool] = None)

[summary]

Parameters

prim_path (str) – [description]
name (str, optional) – [description]. Defaults to “omni_glass”.
shader (Optional[UsdShade.Shader], optional) – [description]. Defaults to None.
color (Optional[np.ndarray], optional) – [description]. Defaults to None.
ior (Optional[float], optional) – [description]. Defaults to None.
depth (Optional[float], optional) – [description]. Defaults to None.
thin_walled (Optional[bool], optional) – [description]. Defaults to None.

Raises

Exception – [description]

get_color() → Optional[numpy.ndarray]

[summary]

Returns: [description]
Return type: np.ndarray

get_depth() → Optional[float]

get_ior() → Optional[float]

get_thin_walled() → Optional[float]

property material: pxr.UsdShade.Material

[summary]

Returns: [description]
Return type: UsdShade.Material

property name: str

[summary]

Returns: [description]
Return type: str

property prim: pxr.Usd.Prim

[summary]

Returns: [description]
Return type: Usd.Prim

property prim_path: str

[summary]

Returns: [description]
Return type: str

set_color(color: numpy.ndarray) → None

[summary]

Parameters: color (np.ndarray) – [description]

set_depth(depth: float) → None

set_ior(ior: float) → None

set_thin_walled(thin_walled: float) → None

property shaders_list: List[pxr.UsdShade.Shader]

[summary]

Returns: [description]
Return type: [type]

Physics Material

class PhysicsMaterial(prim_path: str, name: str = 'physics_material', static_friction: Optional[float] = None, dynamic_friction: Optional[float] = None, restitution: Optional[float] = None)

[summary]

Parameters

prim_path (str) – [description]
name (str, optional) – [description]. Defaults to “physics_material”.
static_friction (Optional[float], optional) – [description]. Defaults to None.
dynamic_friction (Optional[float], optional) – [description]. Defaults to None.
restitution (Optional[float], optional) – [description]. Defaults to None.

get_dynamic_friction() → float

[summary]

Returns: [description]
Return type: float

get_restitution() → float

[summary]

Returns: [description]
Return type: float

get_static_friction() → float

[summary]

Returns: [description]
Return type: float

property material: pxr.UsdShade.Material

[summary]

Returns: [description]
Return type: UsdShade.Material

property name: str

[summary]

Returns: [description]
Return type: str

property prim: pxr.Usd.Prim

[summary]

Returns: [description]
Return type: Usd.Prim

property prim_path: str

[summary]

Returns: [description]
Return type: str

set_dynamic_friction(friction: float) → None

[summary]

Parameters: friction (float) – [description]

set_restitution(restitution: float) → None

[summary]

Parameters: restitution (float) – [description]

set_static_friction(friction: float) → None

[summary]

Parameters: friction (float) – [description]

Particle Material

class ParticleMaterial(prim_path: str, name: Optional[str] = 'particle_material', friction: Optional[float] = None, particle_friction_scale: Optional[float] = None, damping: Optional[float] = None, viscosity: Optional[float] = None, vorticity_confinement: Optional[float] = None, surface_tension: Optional[float] = None, cohesion: Optional[float] = None, adhesion: Optional[float] = None, particle_adhesion_scale: Optional[float] = None, adhesion_offset_scale: Optional[float] = None, gravity_scale: Optional[float] = None, lift: Optional[float] = None, drag: Optional[float] = None)

A wrapper around position-based-dynamics (PBD) material for particles used to simulate fluids, cloth and inflatables.

Note

Currently, only a single material per particle system is supported which applies to all objects that are associated with the system.

get_adhesion() → float

Returns: The adhesion for interaction between particles (solid or fluid), and rigids or deformables.
Return type: float

get_adhesion_offset_scale() → float

Returns: The adhesion offset scale.
Return type: float

get_cohesion() → float

Returns: The cohesion for interaction between fluid particles.
Return type: float

get_damping() → float

Returns: The global velocity damping coefficient.
Return type: float

get_drag() → float

Returns: The drag coefficient, basic aerodynamic drag model coefficient.
Return type: float

get_friction() → float

Returns: The friction coefficient.
Return type: float

get_gravity_scale() → float

Returns: The gravitational acceleration scaling factor.
Return type: float

get_lift() → float

Returns: The lift coefficient, basic aerodynamic lift model coefficient.
Return type: float

get_particle_adhesion_scale() → float

Returns: The particle adhesion scale.
Return type: float

get_particle_friction_scale() → float

Returns: The particle friction scale.
Return type: float

get_surface_tension() → float

Returns: The surface tension for fluid particles.
Return type: float

get_viscosity() → float

Returns: The viscosity.
Return type: float

get_vorticity_confinement() → float

Returns: The vorticity confinement for fluid particles.
Return type: float

initialize(physics_sim_view=None) → None

is_valid() → bool

Returns: True is the current prim path corresponds to a valid prim in stage. False otherwise.
Return type: bool

property material: pxr.UsdShade.Material: Returns: UsdShade.Material: The USD Material object.

property name: Optional[str]: Returns: str: name given to the prim when instantiating it. Otherwise None.

post_reset() → None: Resets the prim to its default state.

property prim: pxr.Usd.Prim: Returns: Usd.Prim: The USD prim present.

property prim_path: str: Returns: str: The stage path to the material.

set_adhesion(value: float) → None

Sets the adhesion for interaction between particles (solid or fluid), and rigid or deformable objects.

Note

Adhesion also applies to solid-solid particle interactions, but is multiplied with the particle adhesion scale.

Parameters: value (float) – The adhesion. Range: [0, inf), Units: dimensionless

set_adhesion_offset_scale(value: float) → None

Sets the adhesion offset scale.

It defines the offset at which adhesion ceases to take effect. For interactions between particles (fluid or solid), and rigids or deformables, the adhesion offset is defined relative to the rest offset. For solid particle-particle interactions, the adhesion offset is defined relative to the solid rest offset.

Parameters: value (float) – The adhesion offset scale. Range: [0, inf), Units: dimensionless

set_cohesion(value: float) → None

Sets the cohesion for interaction between fluid particles.

Parameters: value (float) – The cohesion. Range: [0, inf), Units: dimensionless

set_damping(value: float) → None

Sets the global velocity damping coefficient.

Parameters: value (float) – The damping coefficient. Range: [0, inf), Units: dimensionless

set_drag(value: float) → None

Sets the drag coefficient, i.e. basic aerodynamic drag model coefficient.

It is useful for cloth and inflatable particle objects.

Parameters: value (float) – The drag coefficient. Range: [0, inf), Units: dimensionless

set_friction(value: float) → None

Sets the friction coefficient.

The friction takes effect in all interactions between particles and rigids or deformables. For solid particle-particle interactions it is multiplied by the particle friction scale.

Parameters: value (float) – The friction coefficient. Range: [0, inf), Units: dimensionless

set_gravity_scale(value: float) → None

Sets the gravitational acceleration scaling factor.

It can be used to approximate lighter-than-air inflatable. For example (-1.0 would invert gravity).

Parameters: value (float) – The gravity scale. Range: (-inf , inf), Units: dimensionless

set_lift(value: float) → None

Sets the lift coefficient, i.e. basic aerodynamic lift model coefficient.

It is useful for cloth and inflatable particle objects.

Parameters: value (float) – The lift coefficient. Range: [0, inf), Units: dimensionless

set_particle_adhesion_scale(value: float) → None

Sets the particle adhesion scale.

This coefficient scales the adhesion for solid particle-particle interaction.

Parameters: value (float) – The adhesion scale. Range: [0, inf), Units: dimensionless

set_particle_friction_scale(value: float) → None

Sets the particle friction scale.

The coefficient that scales friction for solid particle-particle interaction.

Parameters: value (float) – The particle friction scale. Range: [0, inf), Units: dimensionless

set_surface_tension(value: float) → None

Sets the surface tension for fluid particles.

Parameters: value (float) – The surface tension. Range: [0, inf), Units: 1 / (distance * distance * distance)

set_viscosity(value: float) → None

Sets the viscosity for fluid particles.

Parameters: value (float) – The viscosity. Range: [0, inf), Units: dimensionless

set_vorticity_confinement(value: float) → None

Sets the vorticity confinement for fluid particles.

This helps prevent energy loss due to numerical solver by adding vortex-like accelerations to the particles.

Parameters: value (float) – The vorticity confinement. Range: [0, inf), Units: dimensionless

Particle Material View

class ParticleMaterialView(prim_paths_expr: str, name: str = 'particle_material_view', frictions: Optional[Union[numpy.ndarray, torch.Tensor]] = None, particle_friction_scales: Optional[Union[numpy.ndarray, torch.Tensor]] = None, dampings: Optional[Union[numpy.ndarray, torch.Tensor]] = None, viscosities: Optional[Union[numpy.ndarray, torch.Tensor]] = None, vorticity_confinements: Optional[Union[numpy.ndarray, torch.Tensor]] = None, surface_tensions: Optional[Union[numpy.ndarray, torch.Tensor]] = None, cohesions: Optional[Union[numpy.ndarray, torch.Tensor]] = None, adhesions: Optional[Union[numpy.ndarray, torch.Tensor]] = None, particle_adhesion_scales: Optional[Union[numpy.ndarray, torch.Tensor]] = None, adhesion_offset_scales: Optional[Union[numpy.ndarray, torch.Tensor]] = None, gravity_scales: Optional[Union[numpy.ndarray, torch.Tensor]] = None, lifts: Optional[Union[numpy.ndarray, torch.Tensor]] = None, drags: Optional[Union[numpy.ndarray, torch.Tensor]] = None)

The view class to deal with particleMaterial prims. Provides high level functions to deal with particle material (1 or more particle materials) as well as its attributes/ properties. This object wraps all matching materials found at the regex provided at the prim_paths_expr. This object wraps all matching materials Prims found at the regex provided at the prim_paths_expr.

property count: int: Returns: int: number of rigid shapes for the prims in the view.

get_adhesion_offset_scales(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the adhesion offset scale of materials indicated by the indices.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

adhesion offset scale tensor with shape (M, )

Return type

Union[np.ndarray, torch.Tensor]

get_adhesions(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the adhesion of materials indicated by the indices.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

adhesion tensor with shape (M, )

Return type

Union[np.ndarray, torch.Tensor]

get_cohesions(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the cohesion of materials indicated by the indices.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

cohesion tensor with shape (M, )

Return type

Union[np.ndarray, torch.Tensor]

get_dampings(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the dampings of materials indicated by the indices.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

dampings tensor with shape (M, )

Return type

Union[np.ndarray, torch.Tensor]

get_drags(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the drags of materials indicated by the indices.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

drag tensor with shape (M, )

Return type

Union[np.ndarray, torch.Tensor]

get_frictions(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the friction of materials indicated by the indices.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

friction tensor with shape (M, )

Return type

Union[np.ndarray, torch.Tensor]

get_gravity_scales(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the gravity scale of materials indicated by the indices.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

gravity scale tensor with shape (M, )

Return type

Union[np.ndarray, torch.Tensor]

get_lifts(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the lifts of materials indicated by the indices.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

lift tensor with shape (M, )

Return type

Union[np.ndarray, torch.Tensor]

get_particle_adhesion_scales(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the adhesion scale of materials indicated by the indices.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

adhesion scale tensor with shape (M, )

Return type

Union[np.ndarray, torch.Tensor]

get_particle_friction_scales(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the particle friction scale of materials indicated by the indices.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

particle friction scale tensor with shape (M, )

Return type

Union[np.ndarray, torch.Tensor]

get_surface_tensions(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the surface tension of materials indicated by the indices.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

surface tension tensor with shape (M, )

Return type

Union[np.ndarray, torch.Tensor]

get_viscosities(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the viscosity of materials indicated by the indices.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

viscosity tensor with shape (M, )

Return type

Union[np.ndarray, torch.Tensor]

get_vorticity_confinements(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the vorticity confinement of materials indicated by the indices.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

vorticity confinement tensor with shape (M, )

Return type

Union[np.ndarray, torch.Tensor]

initialize(physics_sim_view: Optional[omni.physics.tensors.bindings._physicsTensors.SimulationView] = None) → None

Create a physics simulation view if not passed and creates a rigid body view in physX.

Parameters: physics_sim_view (omni.physics.tensors.SimulationView, optional) – current physics simulation view. Defaults to None.

is_physics_handle_valid() → bool

Returns: True if the physics handle of the view is valid (i.e physics is initialized for the view). Otherwise False.
Return type: bool

is_valid(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → bool

Parameters: indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
Returns: True if all prim paths specified in the view correspond to a valid prim in stage. False otherwise.
Return type: bool

property name: str: Returns: str: name given to the view when instantiating it.

post_reset() → None: Resets the particles to their initial states.

set_adhesion_offset_scales(values: Optional[Union[numpy.ndarray, torch.Tensor]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → None

Sets the adhesion offset scale for the material prims indicated by the indices.

Parameters

values (Optional[Union[np.ndarray, torch.Tensor]], optional) – material adhesion offset scale tensor with the shape (M, ).
indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_adhesions(values: Optional[Union[numpy.ndarray, torch.Tensor]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → None

Sets the particle adhesion for the material prims indicated by the indices.

Parameters

values (Optional[Union[np.ndarray, torch.Tensor]], optional) – material particle adhesion scale tensor with the shape (M, ).
indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_cohesions(values: Optional[Union[numpy.ndarray, torch.Tensor]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → None

Sets the particle cohesion for the material prims indicated by the indices.

Parameters

values (Optional[Union[np.ndarray, torch.Tensor]], optional) – material particle cohesion scale tensor with the shape (M, ).
indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_dampings(values: Optional[Union[numpy.ndarray, torch.Tensor]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → None

Sets the dampings for the material prims indicated by the indices.

Parameters

values (Optional[Union[np.ndarray, torch.Tensor]], optional) – material damping tensor with the shape (M, ).
indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_drags(values: Optional[Union[numpy.ndarray, torch.Tensor]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → None

Sets the drags for the material prims indicated by the indices.

Parameters

values (Optional[Union[np.ndarray, torch.Tensor]], optional) – material drag tensor with the shape (M, ).
indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_frictions(values: Optional[Union[numpy.ndarray, torch.Tensor]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → None

Sets the friction for the material prims indicated by the indices.

Parameters

values (Optional[Union[np.ndarray, torch.Tensor]], optional) – material friction tensor with the shape (M, ).
indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_gravity_scales(values: Optional[Union[numpy.ndarray, torch.Tensor]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → None

Sets the gravity scale for the material prims indicated by the indices.

Parameters

values (Optional[Union[np.ndarray, torch.Tensor]], optional) – material gravity scale tensor with the shape (M, ).
indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_lifts(values: Optional[Union[numpy.ndarray, torch.Tensor]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → None

Sets the lifts for the material prims indicated by the indices.

Parameters

values (Optional[Union[np.ndarray, torch.Tensor]], optional) – material lift tensor with the shape (M, ).
indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_particle_adhesion_scales(values: Optional[Union[numpy.ndarray, torch.Tensor]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → None

Sets the particle adhesion for the material prims indicated by the indices.

Parameters

values (Optional[Union[np.ndarray, torch.Tensor]], optional) – material particle adhesion scale tensor with the shape (M, ).
indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_particle_friction_scales(values: Optional[Union[numpy.ndarray, torch.Tensor]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → None

Sets the particle friction scale for the material prims indicated by the indices.

Parameters

values (Optional[Union[np.ndarray, torch.Tensor]], optional) – material particle friction scale tensor with the shape (M, ).
indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_surface_tensions(values: Optional[Union[numpy.ndarray, torch.Tensor]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → None

Sets the particle surface tension for the material prims indicated by the indices.

Parameters

values (Optional[Union[np.ndarray, torch.Tensor]], optional) – material particle surface tension scale tensor with the shape (M, ).
indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_viscosities(values: Optional[Union[numpy.ndarray, torch.Tensor]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → None

Sets the particle viscosity for the material prims indicated by the indices.

Parameters

values (Optional[Union[np.ndarray, torch.Tensor]], optional) – material particle viscosity scale tensor with the shape (M, ).
indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_vorticity_confinements(values: Optional[Union[numpy.ndarray, torch.Tensor]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → None

Sets the vorticity confinement for the material prims indicated by the indices.

Parameters

values (Optional[Union[np.ndarray, torch.Tensor]], optional) – material particle vorticity confinement scale tensor with the shape (M, ).
indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

Deformable Material

class DeformableMaterial(prim_path: str, name: Optional[str] = 'deformable_material', dynamic_friction: Optional[float] = None, youngs_modulus: Optional[float] = None, poissons_ratio: Optional[float] = None, elasticity_damping: Optional[float] = None, damping_scale: Optional[float] = None)

A wrapper around deformable material used to simulate soft bodies.

get_damping_scale() → float

Returns: The damping scale coefficient.
Return type: float

get_dynamic_friction() → float

Returns: The dynamic friction coefficient.
Return type: float

get_elasticity_damping() → float

Returns: The elasticity damping coefficient.
Return type: float

get_poissons_ratio() → float

Returns: The poissons ratio.
Return type: float

get_youngs_modululs() → float

Returns: The youngs modululs coefficient.
Return type: float

initialize(physics_sim_view=None) → None

is_valid() → bool

Returns: True is the current prim path corresponds to a valid prim in stage. False otherwise.
Return type: bool

property material: pxr.UsdShade.Material: Returns: UsdShade.Material: The USD Material object.

property name: Optional[str]: Returns: str: name given to the prim when instantiating it. Otherwise None.

post_reset() → None: Resets the prim to its default state.

property prim: pxr.Usd.Prim: Returns: Usd.Prim: The USD prim present.

property prim_path: str: Returns: str: The stage path to the material.

set_damping_scale(value: float) → None

Sets the damping scale coefficient.

Parameters: value (float) – The damping scale coefficient Range: [0, inf)

set_dynamic_friction(value: float) → None

Sets the dynamic_friction coefficient.

The dynamic_friction takes effect in all interactions between particles and rigids or deformables. For solid particle-particle interactions it is multiplied by the particle dynamic_friction scale.

Parameters: value (float) – The dynamic_friction coefficient. Range: [0, inf), Units: dimensionless

set_elasticity_damping(value: float) → None

Sets the global velocity elasticity damping coefficient.

Parameters: value (float) – The elasticity damping coefficient. Range: [0, inf), Units: dimensionless

set_poissons_ratio(value: float) → None

Sets the poissons ratio coefficient

Parameters: value (float) – The poissons ratio. Range: (0 , 0.5)

set_youngs_modululs(value: float) → None

Sets the youngs_modululs for fluid particles.

Parameters: value (float) – The youngs_modululs. Range: [0, inf)

Deformable Material View

class DeformableMaterialView(prim_paths_expr: str, name: str = 'deformable_material_view', dynamic_frictions: Optional[Union[numpy.ndarray, torch.Tensor]] = None, youngs_moduli: Optional[Union[numpy.ndarray, torch.Tensor]] = None, poissons_ratios: Optional[Union[numpy.ndarray, torch.Tensor]] = None, elasticity_dampings: Optional[Union[numpy.ndarray, torch.Tensor]] = None, damping_scales: Optional[Union[numpy.ndarray, torch.Tensor]] = None)

The view class to deal with deformableMaterial prims. Provides high level functions to deal with deformable material (1 or more deformable materials) as well as its attributes/ properties. This object wraps all matching materials found at the regex provided at the prim_paths_expr. This object wraps all matching materials Prims found at the regex provided at the prim_paths_expr.

property count: int: Returns: int: number of rigid shapes for the prims in the view.

get_damping_scales(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the damping scale of materials indicated by the indices.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

damping scale tensor with shape (M, )

Return type

Union[np.ndarray, torch.Tensor]

get_dynamic_frictions(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the dynamic friction of materials indicated by the indices.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

dynamic friction tensor with shape (M, )

Return type

Union[np.ndarray, torch.Tensor]

get_elasticity_dampings(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the elasticity dampings of materials indicated by the indices.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

elasticity dampings tensor with shape (M, )

Return type

Union[np.ndarray, torch.Tensor]

get_poissons_ratios(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the poissons ratios of materials indicated by the indices.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

poissons ratio tensor with shape (M, )

Return type

Union[np.ndarray, torch.Tensor]

get_youngs_moduli(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None, clone: bool = True) → Union[numpy.ndarray, torch.Tensor]

Gets the Youngs moduli of materials indicated by the indices.

Parameters

indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.

Returns

Youngs moduli tensor with shape (M, )

Return type

Union[np.ndarray, torch.Tensor]

initialize(physics_sim_view: Optional[omni.physics.tensors.bindings._physicsTensors.SimulationView] = None) → None

Create a physics simulation view if not passed and creates a rigid body view in physX.

Parameters: physics_sim_view (omni.physics.tensors.SimulationView, optional) – current physics simulation view. Defaults to None.

is_physics_handle_valid() → bool

Returns: True if the physics handle of the view is valid (i.e physics is initialized for the view). Otherwise False.
Return type: bool

is_valid(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → bool

Parameters: indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indicies to specify which prims to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).
Returns: True if all prim paths specified in the view correspond to a valid prim in stage. False otherwise.
Return type: bool

property name: str: Returns: str: name given to the view when instantiating it.

post_reset() → None: Resets the deformables to their initial states.

set_damping_scales(values: Optional[Union[numpy.ndarray, torch.Tensor]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → None

Sets the damping scale for the material prims indicated by the indices.

Parameters

values (Optional[Union[np.ndarray, torch.Tensor]], optional) – material damping scale tensor with the shape (M, ).
indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_dynamic_frictions(values: Optional[Union[numpy.ndarray, torch.Tensor]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → None

Sets the dynamic friction for the material prims indicated by the indices.

Parameters

values (Optional[Union[np.ndarray, torch.Tensor]], optional) – material dynamic friction tensor with the shape (M, ).
indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_elasticity_dampings(values: Optional[Union[numpy.ndarray, torch.Tensor]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → None

Sets the elasticity_dampings for the material prims indicated by the indices.

Parameters

values (Optional[Union[np.ndarray, torch.Tensor]], optional) – material damping tensor with the shape (M, ).
indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_poissons_ratios(values: Optional[Union[numpy.ndarray, torch.Tensor]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → None

Sets the poissons ratios for the material prims indicated by the indices.

Parameters

values (Optional[Union[np.ndarray, torch.Tensor]], optional) – material poissons ratio tensor with the shape (M, ).
indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

set_youngs_moduli(values: Optional[Union[numpy.ndarray, torch.Tensor]], indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → None

Sets the youngs moduli for the material prims indicated by the indices.

Parameters

values (Optional[Union[np.ndarray, torch.Tensor]], optional) – material drag tensor with the shape (M, ).
indices (Optional[Union[np.ndarray, list, torch.Tensor]], optional) – indices to specify which material prims to manipulate. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view).

Objects

from omni.isaac.core.objects.cone import DynamicCone, FixedCone, VisualCone from omni.isaac.core.objects.cuboid import DynamicCuboid, FixedCuboid, VisualCuboid from omni.isaac.core.objects.cylinder import DynamicCylinder, FixedCylinder, VisualCylinder from omni.isaac.core.objects.sphere import DynamicSphere, FixedSphere, VisualSphere

Ground Plane

class GroundPlane(prim_path: str, name: str = 'ground_plane', size: Optional[float] = None, z_position: Optional[float] = None, scale: Optional[numpy.ndarray] = None, visible: Optional[bool] = None, color: Optional[numpy.ndarray] = None, physics_material: Optional[omni.isaac.core.materials.physics_material.PhysicsMaterial] = None, visual_material: Optional[omni.isaac.core.materials.visual_material.VisualMaterial] = None)

[summary]

Parameters

prim_path (str) – [description]
name (str, optional) – [description]. Defaults to “ground_plane”.
size (Optional[float], optional) – [description]. Defaults to 5000.0.
z_position (float, optional) – [description]. Defaults to 0.
scale (Optional[np.ndarray], optional) – [description]. Defaults to None.
visible (bool, optional) – [description]. Defaults to True.
color (Optional[np.ndarray], optional) – [description]. Defaults to None.
physics_material_path (Optional[PhysicsMaterial], optional) – [description]. Defaults to None.
visual_material (Optional[VisualMaterial], optional) – [description]. Defaults to None.
static_friction (float, optional) – [description]. Defaults to 0.5.
dynamic_friction (float, optional) – [description]. Defaults to 0.5.
restitution (float, optional) – [description]. Defaults to 0.8.

apply_physics_material(physics_material: omni.isaac.core.materials.physics_material.PhysicsMaterial, weaker_than_descendants: bool = False)

Used to apply physics material to the held prim and optionally its descendants.

Parameters

physics_material (PhysicsMaterial) – physics material to be applied to the held prim. This where you want to define friction, restitution..etc. Note: if a physics material is not defined, the defaults will be used from PhysX.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.

property collision_geometry_prim: omni.isaac.core.prims.geometry_prim.GeometryPrim

_summary_

Returns: _description_
Return type: GeometryPrim

get_applied_physics_material() → omni.isaac.core.materials.physics_material.PhysicsMaterial

Returns the current applied physics material in case it was applied using apply_physics_material or not.

Returns: the current applied physics material.
Return type: PhysicsMaterial

get_default_state() → omni.isaac.core.utils.types.XFormPrimState

Returns: returns the default state of the prim (position and orientation) that is used after each reset.
Return type: XFormPrimState

get_world_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the world’s frame.

Returns

first index is position in the world frame of the prim. shape is (3, ).: second index is quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

initialize(physics_sim_view=None) → None

is_valid() → bool

Returns: True is the current prim path corresponds to a valid prim in stage. False otherwise.
Return type: bool

property name: Optional[str]: Returns: str: name given to the prim when instantiating it. Otherwise None.

post_reset() → None: Resets the prim to its default state (position and orientation).

property prim: pxr.Usd.Prim: Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str: Returns: str: prim path in the stage.

set_default_state(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets the default state of the prim (position and orientation), that will be used after each reset.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the world’s frame.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

property xform_prim: omni.isaac.core.prims.xform_prim.XFormPrim

_summary_

Returns: _description_
Return type: XFormPrim

Fixed Capsule

class FixedCapsule(prim_path: str, name: str = 'fixed_capsule', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: Optional[bool] = None, color: Optional[numpy.ndarray] = None, radius: Optional[numpy.ndarray] = None, height: Optional[float] = None, visual_material: Optional[omni.isaac.core.materials.visual_material.VisualMaterial] = None, physics_material: Optional[omni.isaac.core.materials.physics_material.PhysicsMaterial] = None)

_summary_

Parameters

prim_path (str) – _description_
name (str, optional) – _description_. Defaults to “fixed_capsule”.
position (Optional[np.ndarray], optional) – _description_. Defaults to None.
translation (Optional[np.ndarray], optional) – _description_. Defaults to None.
orientation (Optional[np.ndarray], optional) – _description_. Defaults to None.
scale (Optional[np.ndarray], optional) – _description_. Defaults to None.
visible (Optional[bool], optional) – _description_. Defaults to None.
color (Optional[np.ndarray], optional) – _description_. Defaults to None.
radius (Optional[np.ndarray], optional) – _description_. Defaults to None.
height (Optional[float], optional) – _description_. Defaults to None.
visual_material (Optional[VisualMaterial], optional) – _description_. Defaults to None.
physics_material (Optional[PhysicsMaterial], optional) – _description_. Defaults to None.

apply_physics_material(physics_material: omni.isaac.core.materials.physics_material.PhysicsMaterial, weaker_than_descendants: bool = False)

Used to apply physics material to the held prim and optionally its descendants.

Parameters

physics_material (PhysicsMaterial) – physics material to be applied to the held prim. This where you want to define friction, restitution..etc. Note: if a physics material is not defined, the defaults will be used from PhysX.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.

apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) → None

Used to apply visual material to the held prim and optionally its descendants.

Parameters

visual_material (VisualMaterial) – visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.

property geom: pxr.UsdGeom.Gprim: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

get_applied_physics_material() → omni.isaac.core.materials.physics_material.PhysicsMaterial

Returns the current applied physics material in case it was applied using apply_physics_material or not.

Returns: the current applied physics material.
Return type: PhysicsMaterial

get_applied_visual_material() → omni.isaac.core.materials.visual_material.VisualMaterial

Returns the current applied visual material in case it was applied using apply_visual_material OR: it’s one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.

Returns: the current applied visual material if its type is currently supported.
Return type: VisualMaterial

get_collision_approximation() → str

Returns: approximation used for collision, could be “none”, “convexHull” or “convexDecomposition”
Return type: str

get_collision_enabled() → bool: Returns:

get_contact_force_matrix(dt: float = 1.0) → Union[numpy.ndarray, torch.Tensor]

If the object is initialized with filter_paths_expr list, this method returns the contact forces between the prims in the view and the filter prims. i.e., a matrix of dimension (self._contact_view.num_filters, 3) where num_filters is the determined according to the filter_paths_expr parameter.

Parameters: dt (float) – time step multiplier to convert the underlying impulses to forces. If the default value is used then the forces are in fact contact impulses
Returns: Net contact forces of the prims with shape (self._geometry_prim_view._contact_view.num_filters, 3).
Return type: Union[np.ndarray, torch.Tensor]

get_contact_offset() → float

Returns: contact offset of the collision shape.
Return type: float

get_default_state() → omni.isaac.core.utils.types.XFormPrimState

Returns: returns the default state of the prim (position and orientation) that is used after each reset.
Return type: XFormPrimState

get_height() → float

[summary]

Returns: [description]
Return type: float

get_local_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the local frame (the prim’s parent frame).

Returns

first index is position in the local frame of the prim. shape is (3, ).: second index is quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_local_scale() → numpy.ndarray

Gets prim’s scale with respect to the local frame (the parent’s frame).

Returns: scale applied to the prim’s dimensions in the local frame. shape is (3, ).
Return type: np.ndarray

get_min_torsional_patch_radius() → float

Returns: minimum radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].
Return type: float

get_net_contact_forces(dt: float = 1.0) → Union[numpy.ndarray, torch.Tensor]

If contact forces of the prims in the view are tracked, this method returns the net contact forces on prims. i.e., a matrix of dimension (1, 3)

Parameters: dt (float) – time step multiplier to convert the underlying impulses to forces. If the default value is used then the forces are in fact contact impulses
Returns: Net contact forces of the prims with shape (3).
Return type: Union[np.ndarray, torch.Tensor]

get_radius() → float

[summary]

Returns: [description]
Return type: float

get_rest_offset() → float

Returns: rest offset of the collision shape.
Return type: float

get_torsional_patch_radius() → float

Returns: radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].
Return type: float

get_visibility() → bool

Returns: true if the prim is visible in stage. false otherwise.
Return type: bool

get_world_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the world’s frame.

Returns

first index is position in the world frame of the prim. shape is (3, ).: second index is quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_world_scale() → numpy.ndarray

Gets prim’s scale with respect to the world’s frame.

Returns: scale applied to the prim’s dimensions in the world frame. shape is (3, ).
Return type: np.ndarray

initialize(physics_sim_view=None) → None

is_valid() → bool

Returns: True is the current prim path corresponds to a valid prim in stage. False otherwise.
Return type: bool

is_visual_material_applied() → bool

Returns: True if there is a visual material applied. False otherwise.
Return type: bool

property name: Optional[str]: Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool

_summary_

Returns: _description_
Return type: bool

post_reset() → None: Resets the prim to its default state (position and orientation).

property prim: pxr.Usd.Prim: Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str: Returns: str: prim path in the stage.

set_collision_approximation(approximation_type: str) → None

Parameters: approximation_type (str) – approximation used for collision, could be “none”, “convexHull” or “convexDecomposition”

set_collision_enabled(enabled: bool) → None: Args:

set_contact_offset(offset: float) → None

Parameters: offset (float) – Contact offset of a collision shape. Allowed range [maximum(0, rest_offset), 0]. Default value is -inf, means default is picked by simulation based on the shape extent.

set_default_state(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets the default state of the prim (position and orientation), that will be used after each reset.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_height(height: float) → None

[summary]

Parameters: height (float) – [description]

set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the local frame (the prim’s parent frame).

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_local_scale(scale: Optional[Sequence[float]]) → None

Sets prim’s scale with respect to the local frame (the prim’s parent frame).

Parameters: scale (Optional[Sequence[float]]) – scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.

set_min_torsional_patch_radius(radius: float) → None

Parameters: radius (float) – minimum radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].

set_radius(radius: float) → None

[summary]

Parameters: radius (float) – [description]

set_rest_offset(offset: float) → None

Parameters: offset (float) – Rest offset of a collision shape. Allowed range [-max_float, contact_offset. Default value is -inf, means default is picked by simulatiion. For rigid bodies its zero.

set_torsional_patch_radius(radius: float) → None

Parameters: radius (float) – radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].

set_visibility(visible: bool) → None

Sets the visibility of the prim in stage.

Parameters: visible (bool) – flag to set the visibility of the usd prim in stage.

set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the world’s frame.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

Visual Capsule

class VisualCapsule(prim_path: str, name: str = 'visual_capsule', position: Optional[Sequence[float]] = None, translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None, scale: Optional[Sequence[float]] = None, visible: Optional[bool] = None, color: Optional[numpy.ndarray] = None, radius: Optional[float] = None, height: Optional[float] = None, visual_material: Optional[omni.isaac.core.materials.visual_material.VisualMaterial] = None)

_summary_

Parameters

prim_path (str) – _description_
name (str, optional) – _description_. Defaults to “visual_capsule”.
position (Optional[Sequence[float]], optional) – _description_. Defaults to None.
translation (Optional[Sequence[float]], optional) – _description_. Defaults to None.
orientation (Optional[Sequence[float]], optional) – _description_. Defaults to None.
scale (Optional[Sequence[float]], optional) – _description_. Defaults to None.
visible (Optional[bool], optional) – _description_. Defaults to None.
color (Optional[np.ndarray], optional) – _description_. Defaults to None.
radius (Optional[float], optional) – _description_. Defaults to None.
height (Optional[float], optional) – _description_. Defaults to None.
visual_material (Optional[VisualMaterial], optional) – _description_. Defaults to None.

Raises

Exception – _description_

apply_physics_material(physics_material: omni.isaac.core.materials.physics_material.PhysicsMaterial, weaker_than_descendants: bool = False)

Used to apply physics material to the held prim and optionally its descendants.

Parameters

physics_material (PhysicsMaterial) – physics material to be applied to the held prim. This where you want to define friction, restitution..etc. Note: if a physics material is not defined, the defaults will be used from PhysX.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.

apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) → None

Used to apply visual material to the held prim and optionally its descendants.

Parameters

visual_material (VisualMaterial) – visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.

property geom: pxr.UsdGeom.Gprim: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

get_applied_physics_material() → omni.isaac.core.materials.physics_material.PhysicsMaterial

Returns the current applied physics material in case it was applied using apply_physics_material or not.

Returns: the current applied physics material.
Return type: PhysicsMaterial

get_applied_visual_material() → omni.isaac.core.materials.visual_material.VisualMaterial

Returns the current applied visual material in case it was applied using apply_visual_material OR: it’s one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.

Returns: the current applied visual material if its type is currently supported.
Return type: VisualMaterial

get_collision_approximation() → str

Returns: approximation used for collision, could be “none”, “convexHull” or “convexDecomposition”
Return type: str

get_collision_enabled() → bool: Returns:

get_contact_force_matrix(dt: float = 1.0) → Union[numpy.ndarray, torch.Tensor]

If the object is initialized with filter_paths_expr list, this method returns the contact forces between the prims in the view and the filter prims. i.e., a matrix of dimension (self._contact_view.num_filters, 3) where num_filters is the determined according to the filter_paths_expr parameter.

Parameters: dt (float) – time step multiplier to convert the underlying impulses to forces. If the default value is used then the forces are in fact contact impulses
Returns: Net contact forces of the prims with shape (self._geometry_prim_view._contact_view.num_filters, 3).
Return type: Union[np.ndarray, torch.Tensor]

get_contact_offset() → float

Returns: contact offset of the collision shape.
Return type: float

get_default_state() → omni.isaac.core.utils.types.XFormPrimState

Returns: returns the default state of the prim (position and orientation) that is used after each reset.
Return type: XFormPrimState

get_height() → float

[summary]

Returns: [description]
Return type: float

get_local_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the local frame (the prim’s parent frame).

Returns

first index is position in the local frame of the prim. shape is (3, ).: second index is quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_local_scale() → numpy.ndarray

Gets prim’s scale with respect to the local frame (the parent’s frame).

Returns: scale applied to the prim’s dimensions in the local frame. shape is (3, ).
Return type: np.ndarray

get_min_torsional_patch_radius() → float

Returns: minimum radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].
Return type: float

get_net_contact_forces(dt: float = 1.0) → Union[numpy.ndarray, torch.Tensor]

If contact forces of the prims in the view are tracked, this method returns the net contact forces on prims. i.e., a matrix of dimension (1, 3)

Parameters: dt (float) – time step multiplier to convert the underlying impulses to forces. If the default value is used then the forces are in fact contact impulses
Returns: Net contact forces of the prims with shape (3).
Return type: Union[np.ndarray, torch.Tensor]

get_radius() → float

[summary]

Returns: [description]
Return type: float

get_rest_offset() → float

Returns: rest offset of the collision shape.
Return type: float

get_torsional_patch_radius() → float

Returns: radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].
Return type: float

get_visibility() → bool

Returns: true if the prim is visible in stage. false otherwise.
Return type: bool

get_world_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the world’s frame.

Returns

first index is position in the world frame of the prim. shape is (3, ).: second index is quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_world_scale() → numpy.ndarray

Gets prim’s scale with respect to the world’s frame.

Returns: scale applied to the prim’s dimensions in the world frame. shape is (3, ).
Return type: np.ndarray

initialize(physics_sim_view=None) → None

is_valid() → bool

Returns: True is the current prim path corresponds to a valid prim in stage. False otherwise.
Return type: bool

is_visual_material_applied() → bool

Returns: True if there is a visual material applied. False otherwise.
Return type: bool

property name: Optional[str]: Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool

_summary_

Returns: _description_
Return type: bool

post_reset() → None: Resets the prim to its default state (position and orientation).

property prim: pxr.Usd.Prim: Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str: Returns: str: prim path in the stage.

set_collision_approximation(approximation_type: str) → None

Parameters: approximation_type (str) – approximation used for collision, could be “none”, “convexHull” or “convexDecomposition”

set_collision_enabled(enabled: bool) → None: Args:

set_contact_offset(offset: float) → None

Parameters: offset (float) – Contact offset of a collision shape. Allowed range [maximum(0, rest_offset), 0]. Default value is -inf, means default is picked by simulation based on the shape extent.

set_default_state(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets the default state of the prim (position and orientation), that will be used after each reset.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_height(height: float) → None

[summary]

Parameters: height (float) – [description]

set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the local frame (the prim’s parent frame).

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_local_scale(scale: Optional[Sequence[float]]) → None

Sets prim’s scale with respect to the local frame (the prim’s parent frame).

Parameters: scale (Optional[Sequence[float]]) – scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.

set_min_torsional_patch_radius(radius: float) → None

Parameters: radius (float) – minimum radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].

set_radius(radius: float) → None

[summary]

Parameters: radius (float) – [description]

set_rest_offset(offset: float) → None

Parameters: offset (float) – Rest offset of a collision shape. Allowed range [-max_float, contact_offset. Default value is -inf, means default is picked by simulatiion. For rigid bodies its zero.

set_torsional_patch_radius(radius: float) → None

Parameters: radius (float) – radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].

set_visibility(visible: bool) → None

Sets the visibility of the prim in stage.

Parameters: visible (bool) – flag to set the visibility of the usd prim in stage.

set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the world’s frame.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

Dynamic Capsule

class DynamicCapsule(prim_path: str, name: str = 'dynamic_capsule', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: Optional[bool] = None, color: Optional[numpy.ndarray] = None, radius: Optional[numpy.ndarray] = None, height: Optional[numpy.ndarray] = None, visual_material: Optional[omni.isaac.core.materials.visual_material.VisualMaterial] = None, physics_material: Optional[omni.isaac.core.materials.physics_material.PhysicsMaterial] = None, mass: Optional[float] = None, density: Optional[float] = None, linear_velocity: Optional[Sequence[float]] = None, angular_velocity: Optional[Sequence[float]] = None)

_summary_

Parameters

prim_path (str) – _description_
name (str, optional) – _description_. Defaults to “dynamic_capsule”.
position (Optional[np.ndarray], optional) – _description_. Defaults to None.
translation (Optional[np.ndarray], optional) – _description_. Defaults to None.
orientation (Optional[np.ndarray], optional) – _description_. Defaults to None.
scale (Optional[np.ndarray], optional) – _description_. Defaults to None.
visible (Optional[bool], optional) – _description_. Defaults to None.
color (Optional[np.ndarray], optional) – _description_. Defaults to None.
radius (Optional[np.ndarray], optional) – _description_. Defaults to None.
height (Optional[np.ndarray], optional) – _description_. Defaults to None.
visual_material (Optional[VisualMaterial], optional) – _description_. Defaults to None.
physics_material (Optional[PhysicsMaterial], optional) – _description_. Defaults to None.
mass (Optional[float], optional) – _description_. Defaults to None.
density (Optional[float], optional) – _description_. Defaults to None.
linear_velocity (Optional[Sequence[float]], optional) – _description_. Defaults to None.
angular_velocity (Optional[Sequence[float]], optional) – _description_. Defaults to None.

apply_physics_material(physics_material: omni.isaac.core.materials.physics_material.PhysicsMaterial, weaker_than_descendants: bool = False)

Used to apply physics material to the held prim and optionally its descendants.

Parameters

physics_material (PhysicsMaterial) – physics material to be applied to the held prim. This where you want to define friction, restitution..etc. Note: if a physics material is not defined, the defaults will be used from PhysX.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.

apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) → None

Used to apply visual material to the held prim and optionally its descendants.

Parameters

visual_material (VisualMaterial) – visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.

disable_rigid_body_physics() → None: disable rigid body physics (enabled by default): Object will not be moved by external forces such as gravity and collisions

enable_rigid_body_physics() → None: enable rigid body physics (enabled by default): Object will be moved by external forces such as gravity and collisions

property geom: pxr.UsdGeom.Gprim: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

get_angular_velocity()

Returns: current angular velocity of the the rigid prim. Shape (3,).
Return type: np.ndarray

get_applied_physics_material() → omni.isaac.core.materials.physics_material.PhysicsMaterial

Returns the current applied physics material in case it was applied using apply_physics_material or not.

Returns: the current applied physics material.
Return type: PhysicsMaterial

get_applied_visual_material() → omni.isaac.core.materials.visual_material.VisualMaterial

Returns the current applied visual material in case it was applied using apply_visual_material OR: it’s one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.

Returns: the current applied visual material if its type is currently supported.
Return type: VisualMaterial

get_collision_approximation() → str

Returns: approximation used for collision, could be “none”, “convexHull” or “convexDecomposition”
Return type: str

get_collision_enabled() → bool: Returns:

get_contact_force_matrix(dt: float = 1.0) → Union[numpy.ndarray, torch.Tensor]

If the object is initialized with filter_paths_expr list, this method returns the contact forces between the prims in the view and the filter prims. i.e., a matrix of dimension (self._contact_view.num_filters, 3) where num_filters is the determined according to the filter_paths_expr parameter.

Parameters: dt (float) – time step multiplier to convert the underlying impulses to forces. If the default value is used then the forces are in fact contact impulses
Returns: Net contact forces of the prims with shape (self._geometry_prim_view._contact_view.num_filters, 3).
Return type: Union[np.ndarray, torch.Tensor]

get_contact_offset() → float

Returns: contact offset of the collision shape.
Return type: float

get_current_dynamic_state() → omni.isaac.core.utils.types.DynamicState

Returns: the dynamic state of the rigid body including position, orientation, linear_velocity and angular_velocity.
Return type: DynamicState

get_default_state() → omni.isaac.core.utils.types.DynamicState

Returns

returns the default state of the prim (position, orientation, linear_velocity and: angular_velocity) that is used after each reset.

Return type

DynamicState

get_density() → float

Returns: density of the rigid body.
Return type: float

get_height() → float

[summary]

Returns: [description]
Return type: float

get_linear_velocity() → numpy.ndarray

Returns: current linear velocity of the the rigid prim. Shape (3,).
Return type: np.ndarray

get_local_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the local frame (the prim’s parent frame).

Returns

first index is position in the local frame of the prim. shape is (3, ).: second index is quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_local_scale() → numpy.ndarray

Gets prim’s scale with respect to the local frame (the parent’s frame).

Returns: scale applied to the prim’s dimensions in the local frame. shape is (3, ).
Return type: np.ndarray

get_mass() → float

Returns: mass of the rigid body in kg.
Return type: float

get_min_torsional_patch_radius() → float

Returns: minimum radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].
Return type: float

get_net_contact_forces(dt: float = 1.0) → Union[numpy.ndarray, torch.Tensor]

If contact forces of the prims in the view are tracked, this method returns the net contact forces on prims. i.e., a matrix of dimension (1, 3)

Parameters: dt (float) – time step multiplier to convert the underlying impulses to forces. If the default value is used then the forces are in fact contact impulses
Returns: Net contact forces of the prims with shape (3).
Return type: Union[np.ndarray, torch.Tensor]

get_radius() → float

[summary]

Returns: [description]
Return type: float

get_rest_offset() → float

Returns: rest offset of the collision shape.
Return type: float

get_sleep_threshold() → float

Returns

Mass-normalized kinetic energy threshold below which: an actor may go to sleep. Range: [0, inf) Defaults: 0.00005 * tolerancesSpeed* tolerancesSpeed Units: distance^2 / second^2.

Return type

float

get_torsional_patch_radius() → float

Returns: radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].
Return type: float

get_visibility() → bool

Returns: true if the prim is visible in stage. false otherwise.
Return type: bool

get_world_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the world’s frame.

Returns

first index is position in the world frame of the prim. shape is (3, ).: second index is quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_world_scale() → numpy.ndarray

Gets prim’s scale with respect to the world’s frame.

Returns: scale applied to the prim’s dimensions in the world frame. shape is (3, ).
Return type: np.ndarray

initialize(physics_sim_view=None) → None

is_valid() → bool

Returns: True is the current prim path corresponds to a valid prim in stage. False otherwise.
Return type: bool

is_visual_material_applied() → bool

Returns: True if there is a visual material applied. False otherwise.
Return type: bool

property name: Optional[str]: Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool

_summary_

Returns: _description_
Return type: bool

post_reset() → None: Resets the prim to its default state (position and orientation).

property prim: pxr.Usd.Prim: Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str: Returns: str: prim path in the stage.

set_angular_velocity(velocity: numpy.ndarray) → None: Sets the angular velocity of the prim in stage. :param velocity: angular velocity to set the rigid prim to. Shape (3,). :type velocity: np.ndarray

set_collision_approximation(approximation_type: str) → None

Parameters: approximation_type (str) – approximation used for collision, could be “none”, “convexHull” or “convexDecomposition”

set_collision_enabled(enabled: bool) → None: Args:

set_contact_offset(offset: float) → None

Parameters: offset (float) – Contact offset of a collision shape. Allowed range [maximum(0, rest_offset), 0]. Default value is -inf, means default is picked by simulation based on the shape extent.

set_default_state(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None, linear_velocity: Optional[numpy.ndarray] = None, angular_velocity: Optional[numpy.ndarray] = None) → None

Sets the default state of the prim, that will be used after each reset.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.
linear_velocity (np.ndarray) – linear velocity to set the rigid prim to. Shape (3,).
angular_velocity (np.ndarray) – angular velocity to set the rigid prim to. Shape (3,).

set_density(density: float) → None

Parameters: mass (float) – density of the rigid body.

set_height(height: float) → None

[summary]

Parameters: height (float) – [description]

set_linear_velocity(velocity: numpy.ndarray): Sets the linear velocity of the prim in stage. :param velocity: linear velocity to set the rigid prim to. Shape (3,). :type velocity: np.ndarray

set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the local frame (the prim’s parent frame).

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_local_scale(scale: Optional[Sequence[float]]) → None

Sets prim’s scale with respect to the local frame (the prim’s parent frame).

Parameters: scale (Optional[Sequence[float]]) – scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.

set_mass(mass: float) → None

Parameters: mass (float) – mass of the rigid body in kg.

set_min_torsional_patch_radius(radius: float) → None

Parameters: radius (float) – minimum radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].

set_radius(radius: float) → None

[summary]

Parameters: radius (float) – [description]

set_rest_offset(offset: float) → None

Parameters: offset (float) – Rest offset of a collision shape. Allowed range [-max_float, contact_offset. Default value is -inf, means default is picked by simulatiion. For rigid bodies its zero.

set_sleep_threshold(threshold: float) → None

Parameters: threshold (float) – Mass-normalized kinetic energy threshold below which an actor may go to sleep. Range: [0, inf) Defaults: 0.00005 * tolerancesSpeed* tolerancesSpeed Units: distance^2 / second^2.

set_torsional_patch_radius(radius: float) → None

Parameters: radius (float) – radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].

set_visibility(visible: bool) → None

Sets the visibility of the prim in stage.

Parameters: visible (bool) – flag to set the visibility of the usd prim in stage.

set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the world’s frame.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

Fixed Cone

class FixedCone(prim_path: str, name: str = 'fixed_cone', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: Optional[bool] = None, color: Optional[numpy.ndarray] = None, radius: Optional[numpy.ndarray] = None, height: Optional[float] = None, visual_material: Optional[omni.isaac.core.materials.visual_material.VisualMaterial] = None, physics_material: Optional[omni.isaac.core.materials.physics_material.PhysicsMaterial] = None)

_summary_

Parameters

prim_path (str) – _description_
name (str, optional) – _description_. Defaults to “fixed_cone”.
position (Optional[np.ndarray], optional) – _description_. Defaults to None.
translation (Optional[np.ndarray], optional) – _description_. Defaults to None.
orientation (Optional[np.ndarray], optional) – _description_. Defaults to None.
scale (Optional[np.ndarray], optional) – _description_. Defaults to None.
visible (Optional[bool], optional) – _description_. Defaults to None.
color (Optional[np.ndarray], optional) – _description_. Defaults to None.
radius (Optional[np.ndarray], optional) – _description_. Defaults to None.
height (Optional[float], optional) – _description_. Defaults to None.
visual_material (Optional[VisualMaterial], optional) – _description_. Defaults to None.
physics_material (Optional[PhysicsMaterial], optional) – _description_. Defaults to None.

apply_physics_material(physics_material: omni.isaac.core.materials.physics_material.PhysicsMaterial, weaker_than_descendants: bool = False)

Used to apply physics material to the held prim and optionally its descendants.

Parameters

physics_material (PhysicsMaterial) – physics material to be applied to the held prim. This where you want to define friction, restitution..etc. Note: if a physics material is not defined, the defaults will be used from PhysX.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.

apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) → None

Used to apply visual material to the held prim and optionally its descendants.

Parameters

visual_material (VisualMaterial) – visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.

property geom: pxr.UsdGeom.Gprim: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

get_applied_physics_material() → omni.isaac.core.materials.physics_material.PhysicsMaterial

Returns the current applied physics material in case it was applied using apply_physics_material or not.

Returns: the current applied physics material.
Return type: PhysicsMaterial

get_applied_visual_material() → omni.isaac.core.materials.visual_material.VisualMaterial

Returns the current applied visual material in case it was applied using apply_visual_material OR: it’s one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.

Returns: the current applied visual material if its type is currently supported.
Return type: VisualMaterial

get_collision_approximation() → str

Returns: approximation used for collision, could be “none”, “convexHull” or “convexDecomposition”
Return type: str

get_collision_enabled() → bool: Returns:

get_contact_force_matrix(dt: float = 1.0) → Union[numpy.ndarray, torch.Tensor]

If the object is initialized with filter_paths_expr list, this method returns the contact forces between the prims in the view and the filter prims. i.e., a matrix of dimension (self._contact_view.num_filters, 3) where num_filters is the determined according to the filter_paths_expr parameter.

Parameters: dt (float) – time step multiplier to convert the underlying impulses to forces. If the default value is used then the forces are in fact contact impulses
Returns: Net contact forces of the prims with shape (self._geometry_prim_view._contact_view.num_filters, 3).
Return type: Union[np.ndarray, torch.Tensor]

get_contact_offset() → float

Returns: contact offset of the collision shape.
Return type: float

get_default_state() → omni.isaac.core.utils.types.XFormPrimState

Returns: returns the default state of the prim (position and orientation) that is used after each reset.
Return type: XFormPrimState

get_height() → float

[summary]

Returns: [description]
Return type: float

get_local_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the local frame (the prim’s parent frame).

Returns

first index is position in the local frame of the prim. shape is (3, ).: second index is quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_local_scale() → numpy.ndarray

Gets prim’s scale with respect to the local frame (the parent’s frame).

Returns: scale applied to the prim’s dimensions in the local frame. shape is (3, ).
Return type: np.ndarray

get_min_torsional_patch_radius() → float

Returns: minimum radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].
Return type: float

get_net_contact_forces(dt: float = 1.0) → Union[numpy.ndarray, torch.Tensor]

If contact forces of the prims in the view are tracked, this method returns the net contact forces on prims. i.e., a matrix of dimension (1, 3)

Parameters: dt (float) – time step multiplier to convert the underlying impulses to forces. If the default value is used then the forces are in fact contact impulses
Returns: Net contact forces of the prims with shape (3).
Return type: Union[np.ndarray, torch.Tensor]

get_radius() → float

[summary]

Returns: [description]
Return type: float

get_rest_offset() → float

Returns: rest offset of the collision shape.
Return type: float

get_torsional_patch_radius() → float

Returns: radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].
Return type: float

get_visibility() → bool

Returns: true if the prim is visible in stage. false otherwise.
Return type: bool

get_world_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the world’s frame.

Returns

first index is position in the world frame of the prim. shape is (3, ).: second index is quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_world_scale() → numpy.ndarray

Gets prim’s scale with respect to the world’s frame.

Returns: scale applied to the prim’s dimensions in the world frame. shape is (3, ).
Return type: np.ndarray

initialize(physics_sim_view=None) → None

is_valid() → bool

Returns: True is the current prim path corresponds to a valid prim in stage. False otherwise.
Return type: bool

is_visual_material_applied() → bool

Returns: True if there is a visual material applied. False otherwise.
Return type: bool

property name: Optional[str]: Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool

_summary_

Returns: _description_
Return type: bool

post_reset() → None: Resets the prim to its default state (position and orientation).

property prim: pxr.Usd.Prim: Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str: Returns: str: prim path in the stage.

set_collision_approximation(approximation_type: str) → None

Parameters: approximation_type (str) – approximation used for collision, could be “none”, “convexHull” or “convexDecomposition”

set_collision_enabled(enabled: bool) → None: Args:

set_contact_offset(offset: float) → None

Parameters: offset (float) – Contact offset of a collision shape. Allowed range [maximum(0, rest_offset), 0]. Default value is -inf, means default is picked by simulation based on the shape extent.

set_default_state(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets the default state of the prim (position and orientation), that will be used after each reset.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_height(height: float) → None

[summary]

Parameters: height (float) – [description]

set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the local frame (the prim’s parent frame).

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_local_scale(scale: Optional[Sequence[float]]) → None

Sets prim’s scale with respect to the local frame (the prim’s parent frame).

Parameters: scale (Optional[Sequence[float]]) – scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.

set_min_torsional_patch_radius(radius: float) → None

Parameters: radius (float) – minimum radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].

set_radius(radius: float) → None

[summary]

Parameters: radius (float) – [description]

set_rest_offset(offset: float) → None

Parameters: offset (float) – Rest offset of a collision shape. Allowed range [-max_float, contact_offset. Default value is -inf, means default is picked by simulatiion. For rigid bodies its zero.

set_torsional_patch_radius(radius: float) → None

Parameters: radius (float) – radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].

set_visibility(visible: bool) → None

Sets the visibility of the prim in stage.

Parameters: visible (bool) – flag to set the visibility of the usd prim in stage.

set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the world’s frame.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

Visual Cone

class VisualCone(prim_path: str, name: str = 'visual_cone', position: Optional[Sequence[float]] = None, translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None, scale: Optional[Sequence[float]] = None, visible: Optional[bool] = None, color: Optional[numpy.ndarray] = None, radius: Optional[float] = None, height: Optional[float] = None, visual_material: Optional[omni.isaac.core.materials.visual_material.VisualMaterial] = None)

_summary_

Parameters

prim_path (str) – _description_
name (str, optional) – _description_. Defaults to “visual_cone”.
position (Optional[Sequence[float]], optional) – _description_. Defaults to None.
translation (Optional[Sequence[float]], optional) – _description_. Defaults to None.
orientation (Optional[Sequence[float]], optional) – _description_. Defaults to None.
scale (Optional[Sequence[float]], optional) – _description_. Defaults to None.
visible (Optional[bool], optional) – _description_. Defaults to None.
color (Optional[np.ndarray], optional) – _description_. Defaults to None.
radius (Optional[float], optional) – _description_. Defaults to None.
height (Optional[float], optional) – _description_. Defaults to None.
visual_material (Optional[VisualMaterial], optional) – _description_. Defaults to None.

Raises

Exception – _description_

apply_physics_material(physics_material: omni.isaac.core.materials.physics_material.PhysicsMaterial, weaker_than_descendants: bool = False)

Used to apply physics material to the held prim and optionally its descendants.

Parameters

physics_material (PhysicsMaterial) – physics material to be applied to the held prim. This where you want to define friction, restitution..etc. Note: if a physics material is not defined, the defaults will be used from PhysX.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.

apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) → None

Used to apply visual material to the held prim and optionally its descendants.

Parameters

visual_material (VisualMaterial) – visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.

property geom: pxr.UsdGeom.Gprim: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

get_applied_physics_material() → omni.isaac.core.materials.physics_material.PhysicsMaterial

Returns the current applied physics material in case it was applied using apply_physics_material or not.

Returns: the current applied physics material.
Return type: PhysicsMaterial

get_applied_visual_material() → omni.isaac.core.materials.visual_material.VisualMaterial

Returns the current applied visual material in case it was applied using apply_visual_material OR: it’s one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.

Returns: the current applied visual material if its type is currently supported.
Return type: VisualMaterial

get_collision_approximation() → str

Returns: approximation used for collision, could be “none”, “convexHull” or “convexDecomposition”
Return type: str

get_collision_enabled() → bool: Returns:

get_contact_force_matrix(dt: float = 1.0) → Union[numpy.ndarray, torch.Tensor]

If the object is initialized with filter_paths_expr list, this method returns the contact forces between the prims in the view and the filter prims. i.e., a matrix of dimension (self._contact_view.num_filters, 3) where num_filters is the determined according to the filter_paths_expr parameter.

Parameters: dt (float) – time step multiplier to convert the underlying impulses to forces. If the default value is used then the forces are in fact contact impulses
Returns: Net contact forces of the prims with shape (self._geometry_prim_view._contact_view.num_filters, 3).
Return type: Union[np.ndarray, torch.Tensor]

get_contact_offset() → float

Returns: contact offset of the collision shape.
Return type: float

get_default_state() → omni.isaac.core.utils.types.XFormPrimState

Returns: returns the default state of the prim (position and orientation) that is used after each reset.
Return type: XFormPrimState

get_height() → float

[summary]

Returns: [description]
Return type: float

get_local_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the local frame (the prim’s parent frame).

Returns

first index is position in the local frame of the prim. shape is (3, ).: second index is quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_local_scale() → numpy.ndarray

Gets prim’s scale with respect to the local frame (the parent’s frame).

Returns: scale applied to the prim’s dimensions in the local frame. shape is (3, ).
Return type: np.ndarray

get_min_torsional_patch_radius() → float

Returns: minimum radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].
Return type: float

get_net_contact_forces(dt: float = 1.0) → Union[numpy.ndarray, torch.Tensor]

If contact forces of the prims in the view are tracked, this method returns the net contact forces on prims. i.e., a matrix of dimension (1, 3)

Parameters: dt (float) – time step multiplier to convert the underlying impulses to forces. If the default value is used then the forces are in fact contact impulses
Returns: Net contact forces of the prims with shape (3).
Return type: Union[np.ndarray, torch.Tensor]

get_radius() → float

[summary]

Returns: [description]
Return type: float

get_rest_offset() → float

Returns: rest offset of the collision shape.
Return type: float

get_torsional_patch_radius() → float

Returns: radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].
Return type: float

get_visibility() → bool

Returns: true if the prim is visible in stage. false otherwise.
Return type: bool

get_world_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the world’s frame.

Returns

first index is position in the world frame of the prim. shape is (3, ).: second index is quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_world_scale() → numpy.ndarray

Gets prim’s scale with respect to the world’s frame.

Returns: scale applied to the prim’s dimensions in the world frame. shape is (3, ).
Return type: np.ndarray

initialize(physics_sim_view=None) → None

is_valid() → bool

Returns: True is the current prim path corresponds to a valid prim in stage. False otherwise.
Return type: bool

is_visual_material_applied() → bool

Returns: True if there is a visual material applied. False otherwise.
Return type: bool

property name: Optional[str]: Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool

_summary_

Returns: _description_
Return type: bool

post_reset() → None: Resets the prim to its default state (position and orientation).

property prim: pxr.Usd.Prim: Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str: Returns: str: prim path in the stage.

set_collision_approximation(approximation_type: str) → None

Parameters: approximation_type (str) – approximation used for collision, could be “none”, “convexHull” or “convexDecomposition”

set_collision_enabled(enabled: bool) → None: Args:

set_contact_offset(offset: float) → None

Parameters: offset (float) – Contact offset of a collision shape. Allowed range [maximum(0, rest_offset), 0]. Default value is -inf, means default is picked by simulation based on the shape extent.

set_default_state(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets the default state of the prim (position and orientation), that will be used after each reset.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_height(height: float) → None

[summary]

Parameters: height (float) – [description]

set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the local frame (the prim’s parent frame).

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_local_scale(scale: Optional[Sequence[float]]) → None

Sets prim’s scale with respect to the local frame (the prim’s parent frame).

Parameters: scale (Optional[Sequence[float]]) – scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.

set_min_torsional_patch_radius(radius: float) → None

Parameters: radius (float) – minimum radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].

set_radius(radius: float) → None

[summary]

Parameters: radius (float) – [description]

set_rest_offset(offset: float) → None

Parameters: offset (float) – Rest offset of a collision shape. Allowed range [-max_float, contact_offset. Default value is -inf, means default is picked by simulatiion. For rigid bodies its zero.

set_torsional_patch_radius(radius: float) → None

Parameters: radius (float) – radius of the contact patch used to apply torsional friction. Allowed range [0, max_float].

set_visibility(visible: bool) → None

Sets the visibility of the prim in stage.

Parameters: visible (bool) – flag to set the visibility of the usd prim in stage.

set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the world’s frame.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

Dynamic Cone

class DynamicCone(prim_path: str, name: str = 'dynamic_cone', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: Optional[bool] = None, color: Optional[numpy.ndarray] = None, radius: Optional[numpy.ndarray] = None, height: Optional[numpy.ndarray] = None, visual_material: Optional[omni.isaac.core.materials.visual_material.VisualMaterial] = None, physics_material: Optional[omni.isaac.core.materials.physics_material.PhysicsMaterial] = None, mass: Optional[float] = None, density: Optional[float] = None, linear_velocity: Optional[Sequence[float]] = None, angular_velocity: Optional[Sequence[float]] = None)

_summary_

Parameters

prim_path (str) – _description_
name (str, </