Core [omni.isaac.core]

Articulations

class Articulation(prim_path: str, name: str = 'articulation', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: bool = True, articulation_controller: Optional[omni.isaac.core.controllers.articulation_controller.ArticulationController] = None)

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

Parameters
  • prim_path (str) – [description]

  • name (str, optional) – [description]. Defaults to “articulation”.

  • 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 (bool, optional) – [description]. Defaults to True.

  • articulation_controller (Optional[ArticulationController], optional) – a custom ArticulationController which inherits from it. Defaults to creating the basic ArticulationController.

Raises

Exception – [description]

apply_action(control_actions: omni.isaac.core.utils.types.ArticulationAction, indices: Optional[Union[List, numpy.ndarray]] = None)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

[summary]

Returns

[description]

Return type

int

change_prim_path(new_prim_path: str)None

Moves prim from the old path to a new one.

Parameters

new_prim_path (str) – new path of the prim to be moved to.

disable_gravity()None

[summary]

property dof_properties

[summary]

Returns

[description]

Return type

np.ndarray

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_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_efforts()numpy.ndarray

[summary]

Raises

Exception – [description]

Returns

[description]

Return type

np.ndarray

get_joint_positions()numpy.ndarray

[summary]

Raises

Exception – [description]

Returns

[description]

Return type

np.ndarray

get_joint_velocities()numpy.ndarray

[summary]

Raises

Exception – [description]

Returns

[description]

Return type

np.ndarray

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_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

[summary]

Returns

[description]

Return type

bool

initialize()

[summary]

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

Returns: str: name given to the prim when instantiating it. Otherwise None.

property num_dof

[summary]

Returns

[description]

Return type

int

post_reset()None

[summary]

property prim

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path

Returns: str: prim path in the stage.

read_kinematic_hierarchy()None

[summary]

set_angular_velocity(velocity: numpy.ndarray)None

[summary]

Parameters

velocity (np.ndarray) – [description]

set_default_state(position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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, indices: Optional[Union[List, numpy.ndarray]] = None)None

[summary]

Parameters
  • efforts (np.ndarray) – [description]

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

Raises

Exception – [description]

set_joint_positions(positions: numpy.ndarray, 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, 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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • translation (Optional[np.ndarray], 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[np.ndarray], 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_local_scale(scale: Optional[numpy.ndarray])None

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

Parameters

scale (Optional[np.ndarray]) – 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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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.

class ArticulationGripper(gripper_dof_names: list, gripper_open_position: Optional[numpy.ndarray] = None, gripper_closed_position: Optional[numpy.ndarray] = None)

[summary]

Parameters
  • gripper_dof_names (list) – [description]

  • gripper_open_position (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • gripper_closed_position (Optional[np.ndarray], optional) – [description]. Defaults to None.

apply_action(action: omni.isaac.core.utils.types.ArticulationAction)None

[summary]

Parameters

action (ArticulationAction) – [description]

property closed_position

[summary]

Returns

[description]

Return type

np.ndarray

property dof_indices

[summary]

Returns

[description]

Return type

np.ndarray

get_positions()numpy.ndarray

[summary]

Returns

[description]

Return type

np.ndarray

get_velocities()numpy.ndarray

[summary]

Returns

[description]

Return type

np.ndarray

initialize(root_prim_path: str, articulation_controller: omni.isaac.core.controllers.articulation_controller.ArticulationController)None

[summary]

Parameters
Raises

Exception – [description]

property open_position

[summary]

Returns

[description]

Return type

np.ndarray

set_positions(positions: numpy.ndarray)None

[summary]

Parameters

positions (np.ndarray) – [description]

set_velocities(velocities: numpy.ndarray)None

[summary]

Parameters

velocities (np.ndarray) – [description]

Controllers

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, indices: Optional[Union[List, numpy.ndarray]] = None)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()numpy.ndarray

[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, dof_infos)None

[summary]

Parameters
  • handle ([type]) – [description]

  • dof_infos ([type]) – [description]

set_effort_modes(mode: str, 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)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(value: Optional[float] = None, 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]

class BaseController(name: str)

[summary]

Parameters

name (str) – [description]

abstract forward(*args, **kwargs)omni.isaac.core.utils.types.ArticulationAction
A controller should take inputs and returns an ArticulationAction to be then passed to the

ArticulationController.

Parameters

observations (dict) – [description]

Raises

NotImplementedError – [description]

Returns

[description]

Return type

ArticulationAction

reset()None

Resets state of the controller.

class BaseGripperController(name: str)

[summary]

Parameters

name (str) – [description]

abstract close(current_joint_positions: numpy.ndarray)omni.isaac.core.utils.types.ArticulationAction

[summary]

Parameters

current_joint_positions (np.ndarray) – [description]

Raises

NotImplementedError – [description]

Returns

[description]

Return type

ArticulationAction

forward(action: str, current_joint_positions: numpy.ndarray)omni.isaac.core.utils.types.ArticulationAction

Action has be “open” or “close”

Parameters
  • action (str) – “open” or “close”

  • current_joint_positions (np.ndarray) – [description]

Raises

Exception – [description]

Returns

[description]

Return type

ArticulationAction

abstract open(current_joint_positions: numpy.ndarray)omni.isaac.core.utils.types.ArticulationAction

[summary]

Parameters

current_joint_positions (np.ndarray) – [description]

Raises

NotImplementedError – [description]

Returns

[description]

Return type

ArticulationAction

reset()None

[summary]

Loggers

class DataLogger

[summary]

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

[summary]

Parameters
  • data (dict) – [description]

  • current_time_step (float) – [description]

  • current_time (float) – [description]

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

[summary]

Parameters

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

clear()None

[summary]

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

[summary]

Parameters

data_frame_index (int) – [description]

Returns

[description]

Return type

DataFrame

is_started()bool

[summary]

Returns

[description]

Return type

bool

load(log_path: str)None

[summary]

Parameters

log_path (str) – [description]

pause()None

[summary]

reset()None

[summary]

save(log_path: str)None

[summary]

Parameters

log_path (str) – [description]

start()None

[summary]

Materials

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

[summary]

Returns

[description]

Return type

UsdShade.Material

property name

[summary]

Returns

[description]

Return type

str

property prim

[summary]

Returns

[description]

Return type

Usd.Prim

property prim_path

[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

[summary]

Returns

[description]

Return type

[type]

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, 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.

  • 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

property material

[summary]

Returns

[description]

Return type

UsdShade.Material

property name

[summary]

Returns

[description]

Return type

str

property prim

[summary]

Returns

[description]

Return type

Usd.Prim

property prim_path

[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]

property shaders_list

[summary]

Returns

[description]

Return type

[type]

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

[summary]

Returns

[description]

Return type

UsdShade.Material

property name

[summary]

Returns

[description]

Return type

str

property prim

[summary]

Returns

[description]

Return type

Usd.Prim

property prim_path

[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]

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

[summary]

Returns

[description]

Return type

UsdShade.Material

property name

[summary]

Returns

[description]

Return type

str

property prim

[summary]

Returns

[description]

Return type

Usd.Prim

property prim_path

[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

[summary]

Returns

[description]

Return type

[type]

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

[summary]

Returns

[description]

Return type

UsdShade.Material

property name

[summary]

Returns

[description]

Return type

str

property prim

[summary]

Returns

[description]

Return type

Usd.Prim

property prim_path

[summary]

Returns

[description]

Return type

str

property shaders_list

[summary]

Returns

[description]

Return type

[type]

Objects

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: bool = True, mass: Optional[float] = None, color: Optional[numpy.ndarray] = None, linear_velocity: Optional[numpy.ndarray] = None, angular_velocity: Optional[numpy.ndarray] = None, static_friction: float = 0.0, dynamic_friction: float = 0.0, restitution: float = 0.8, radius: float = 5, height: float = 5, physics_material_path: 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 “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 (bool, optional) – [description]. Defaults to True.

  • mass (Optional[float], optional) – [description]. Defaults to None.

  • color (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • linear_velocity (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • angular_velocity (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • static_friction (float, optional) – [description]. Defaults to 0.0.

  • dynamic_friction (float, optional) – [description]. Defaults to 0.0.

  • restitution (float, optional) – [description]. Defaults to 0.8.

  • radius (float, optional) – [description]. Defaults to 5.

  • height (float, optional) – [description]. Defaults to 5.

  • physics_material_path (Optional[PhysicsMaterial], 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.

change_prim_path(new_prim_path: str)None

Moves prim from the old path to a new one.

Parameters

new_prim_path (str) – new path of the prim to be moved to.

property geom

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_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_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_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

property handles_initialized

[summary]

Returns

[description]

Return type

bool

initialize()None

initilaizes dynamic control/ physX handles. If the object is added to a scene before the first world reset, handles will be initialized.

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

Returns: str: name given to the prim when instantiating it. Otherwise None.

post_reset()None

Resets the prim to its default state.

property prim

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path

Returns: str: prim path in the stage.

set_angular_velocity(velocity: numpy.ndarray)None

Sets the angular velocity of the prim in stage.

Parameters

velocity (np.ndarray) – angular velocity to set the rigid prim to. Shape (3,).

set_collision_approximation(approximation_type: str)None
Parameters

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

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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = 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 (np.ndarray) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (np.ndarray) – 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_height(height: float)None

[summary]

Parameters

height (float) – [description]

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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • translation (Optional[np.ndarray], 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[np.ndarray], 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_local_scale(scale: Optional[numpy.ndarray])None

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

Parameters

scale (Optional[np.ndarray]) – 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_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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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.

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: bool = True, mass: Optional[float] = None, color: Optional[numpy.ndarray] = None, linear_velocity: Optional[numpy.ndarray] = None, angular_velocity: Optional[numpy.ndarray] = None, static_friction: float = 0.0, dynamic_friction: float = 0.0, restitution: float = 0.8, radius: float = 5, height: float = 5, physics_material_path: 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 “dynamic_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 (bool, optional) – [description]. Defaults to True.

  • mass (Optional[float], optional) – [description]. Defaults to None.

  • color (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • linear_velocity (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • angular_velocity (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • static_friction (float, optional) – [description]. Defaults to 0.0.

  • dynamic_friction (float, optional) – [description]. Defaults to 0.0.

  • restitution (float, optional) – [description]. Defaults to 0.8.

  • radius (float, optional) – [description]. Defaults to5.

  • height (float, optional) – [description]. Defaults to 5.

  • physics_material_path (Optional[PhysicsMaterial], 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.

change_prim_path(new_prim_path: str)None

Moves prim from the old path to a new one.

Parameters

new_prim_path (str) – new path of the prim to be moved to.

property geom

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_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_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_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

property handles_initialized

[summary]

Returns

[description]

Return type

bool

initialize()None

initilaizes dynamic control/ physX handles. If the object is added to a scene before the first world reset, handles will be initialized.

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

Returns: str: name given to the prim when instantiating it. Otherwise None.

post_reset()None

Resets the prim to its default state.

property prim

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path

Returns: str: prim path in the stage.

set_angular_velocity(velocity: numpy.ndarray)None

Sets the angular velocity of the prim in stage.

Parameters

velocity (np.ndarray) – angular velocity to set the rigid prim to. Shape (3,).

set_collision_approximation(approximation_type: str)None
Parameters

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

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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = 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 (np.ndarray) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (np.ndarray) – 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_height(height: float)None

[summary]

Parameters

height (float) – [description]

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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • translation (Optional[np.ndarray], 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[np.ndarray], 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_local_scale(scale: Optional[numpy.ndarray])None

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

Parameters

scale (Optional[np.ndarray]) – 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_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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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.

class DynamicCuboid(prim_path: str, name: str = 'dynamic_cube', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: bool = True, mass: Optional[float] = 0.02, color: Optional[numpy.ndarray] = None, linear_velocity: Optional[numpy.ndarray] = None, angular_velocity: Optional[numpy.ndarray] = None, static_friction: float = 0.2, dynamic_friction: float = 1.0, restitution: float = 0.0, size: Optional[numpy.ndarray] = None, physics_material_path: 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 “dynamic_cube”.

  • 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 (bool, optional) – [description]. Defaults to True.

  • mass (Optional[float], optional) – [description]. Defaults to 0.02.

  • color (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • linear_velocity (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • angular_velocity (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • static_friction (float, optional) – [description]. Defaults to 0.2.

  • dynamic_friction (float, optional) – [description]. Defaults to 1.0.

  • restitution (float, optional) – [description]. Defaults to 0.0.

  • size (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.

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.

change_prim_path(new_prim_path: str)None

Moves prim from the old path to a new one.

Parameters

new_prim_path (str) – new path of the prim to be moved to.

property geom

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_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_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_rest_offset()float
Returns

rest offset of the collision shape.

Return type

float

get_size()numpy.ndarray

[summary]

Returns

[description]

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

property handles_initialized

[summary]

Returns

[description]

Return type

bool

initialize()None

initilaizes dynamic control/ physX handles. If the object is added to a scene before the first world reset, handles will be initialized.

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

Returns: str: name given to the prim when instantiating it. Otherwise None.

post_reset()None

Resets the prim to its default state.

property prim

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path

Returns: str: prim path in the stage.

set_angular_velocity(velocity: numpy.ndarray)None

Sets the angular velocity of the prim in stage.

Parameters

velocity (np.ndarray) – angular velocity to set the rigid prim to. Shape (3,).

set_collision_approximation(approximation_type: str)None
Parameters

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

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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = 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 (np.ndarray) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (np.ndarray) – 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_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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • translation (Optional[np.ndarray], 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[np.ndarray], 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_local_scale(scale: Optional[numpy.ndarray])None

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

Parameters

scale (Optional[np.ndarray]) – 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_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_size(size: numpy.ndarray)None

[summary]

Parameters

size (float) – [description]

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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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.

class DynamicCylinder(prim_path: str, name: str = 'dynamic_cylinder', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: bool = True, mass: Optional[float] = None, color: Optional[numpy.ndarray] = None, linear_velocity: Optional[numpy.ndarray] = None, angular_velocity: Optional[numpy.ndarray] = None, static_friction: float = 0.0, dynamic_friction: float = 0.0, restitution: float = 0.8, radius: float = 5, height: float = 5, physics_material_path: 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 “dynamic_cylinder”.

  • 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 (bool, optional) – [description]. Defaults to True.

  • mass (Optional[float], optional) – [description]. Defaults to None.

  • color (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • linear_velocity (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • angular_velocity (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • static_friction (float, optional) – [description]. Defaults to 0.0.

  • dynamic_friction (float, optional) – [description]. Defaults to 0.0.

  • restitution (float, optional) – [description]. Defaults to 0.8.

  • radius (float, optional) – [description]. Defaults to 5.

  • height (float, optional) – [description]. Defaults to 5.

  • physics_material_path (Optional[PhysicsMaterial], 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.

change_prim_path(new_prim_path: str)None

Moves prim from the old path to a new one.

Parameters

new_prim_path (str) – new path of the prim to be moved to.

property geom

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_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_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_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

property handles_initialized

[summary]

Returns

[description]

Return type

bool

initialize()None

initilaizes dynamic control/ physX handles. If the object is added to a scene before the first world reset, handles will be initialized.

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

Returns: str: name given to the prim when instantiating it. Otherwise None.

post_reset()None

Resets the prim to its default state.

property prim

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path

Returns: str: prim path in the stage.

set_angular_velocity(velocity: numpy.ndarray)None

Sets the angular velocity of the prim in stage.

Parameters

velocity (np.ndarray) – angular velocity to set the rigid prim to. Shape (3,).

set_collision_approximation(approximation_type: str)None
Parameters

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

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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = 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 (np.ndarray) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (np.ndarray) – 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_height(height: float)None

[summary]

Parameters

height (float) – [description]

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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • translation (Optional[np.ndarray], 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[np.ndarray], 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_local_scale(scale: Optional[numpy.ndarray])None

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

Parameters

scale (Optional[np.ndarray]) – 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_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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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.

class DynamicSphere(prim_path: str, name: str = 'dynamic_sphere', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: bool = True, mass: Optional[float] = None, color: Optional[numpy.ndarray] = None, linear_velocity: Optional[numpy.ndarray] = None, angular_velocity: Optional[numpy.ndarray] = None, static_friction: float = 0.0, dynamic_friction: float = 0.0, restitution: float = 0.8, radius: float = 5, physics_material_path: 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 “dynamic_sphere”.

  • 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 (bool, optional) – [description]. Defaults to True.

  • mass (Optional[float], optional) – [description]. Defaults to None.

  • color (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • linear_velocity (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • angular_velocity (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • static_friction (float, optional) – [description]. Defaults to 0.0.

  • dynamic_friction (float, optional) – [description]. Defaults to 0.0.

  • restitution (float, optional) – [description]. Defaults to 0.8.

  • radius (float, optional) – [description]. Defaults to 5.

  • physics_material_path (Optional[PhysicsMaterial], 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.

change_prim_path(new_prim_path: str)None

Moves prim from the old path to a new one.

Parameters

new_prim_path (str) – new path of the prim to be moved to.

property geom

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_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_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_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

property handles_initialized

[summary]

Returns

[description]

Return type

bool

initialize()None

initilaizes dynamic control/ physX handles. If the object is added to a scene before the first world reset, handles will be initialized.

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

Returns: str: name given to the prim when instantiating it. Otherwise None.

post_reset()None

Resets the prim to its default state.

property prim

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path

Returns: str: prim path in the stage.

set_angular_velocity(velocity: numpy.ndarray)None

Sets the angular velocity of the prim in stage.

Parameters

velocity (np.ndarray) – angular velocity to set the rigid prim to. Shape (3,).

set_collision_approximation(approximation_type: str)None
Parameters

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

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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = 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 (np.ndarray) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (np.ndarray) – 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_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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • translation (Optional[np.ndarray], 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[np.ndarray], 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_local_scale(scale: Optional[numpy.ndarray])None

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

Parameters

scale (Optional[np.ndarray]) – 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_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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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.

class FixedCuboid(prim_path: str, name: str = 'dynamic_cube', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: bool = True, color: Optional[numpy.ndarray] = None, static_friction: float = 0.2, dynamic_friction: float = 1.0, restitution: float = 0.0, size: Optional[numpy.ndarray] = None, physics_material_path: 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 “dynamic_cube”.

  • 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 (bool, optional) – [description]. Defaults to True.

  • color (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • static_friction (float, optional) – [description]. Defaults to 0.2.

  • dynamic_friction (float, optional) – [description]. Defaults to 1.0.

  • restitution (float, optional) – [description]. Defaults to 0.0.

  • size (float, optional) – [description]. Defaults to 0.5.

  • physics_material_path (Optional[PhysicsMaterial], 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.

change_prim_path(new_prim_path: str)None

Moves prim from the old path to a new one.

Parameters

new_prim_path (str) – new path of the prim to be moved to.

property geom

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_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_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_rest_offset()float
Returns

rest offset of the collision shape.

Return type

float

get_size()numpy.ndarray

[summary]

Returns

[description]

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

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

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

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path

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_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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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_local_pose(translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • translation (Optional[np.ndarray], 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[np.ndarray], 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_local_scale(scale: Optional[numpy.ndarray])None

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

Parameters

scale (Optional[np.ndarray]) – 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_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_size(size: numpy.ndarray)None

[summary]

Parameters

size (float) – [description]

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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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.

class VisualCapsule(prim_path: str, name: str = 'visual_capsule', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: bool = True, color: Optional[numpy.ndarray] = None, radius: float = 5, height: float = 5, 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[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 (bool, optional) – [description]. Defaults to True.

  • color (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • radius (float, optional) – [description]. Defaults to 5.

  • height (float, optional) – [description]. Defaults to 5.

  • 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.

change_prim_path(new_prim_path: str)None

Moves prim from the old path to a new one.

Parameters

new_prim_path (str) – new path of the prim to be moved to.

property geom

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_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_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

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

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

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path

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_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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • translation (Optional[np.ndarray], 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[np.ndarray], 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_local_scale(scale: Optional[numpy.ndarray])None

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

Parameters

scale (Optional[np.ndarray]) – 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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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.

class VisualCone(prim_path: str, name: str = 'visual_cone', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: bool = True, color: Optional[numpy.ndarray] = None, radius: float = 5, height: float = 5, 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[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 (bool, optional) – [description]. Defaults to True.

  • color (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • radius (float, optional) – [description]. Defaults to 5.

  • height (float, optional) – [description]. Defaults to 5.

  • 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.

change_prim_path(new_prim_path: str)None

Moves prim from the old path to a new one.

Parameters

new_prim_path (str) – new path of the prim to be moved to.

property geom

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_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_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

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

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

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path

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_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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • translation (Optional[np.ndarray], 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[np.ndarray], 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_local_scale(scale: Optional[numpy.ndarray])None

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

Parameters

scale (Optional[np.ndarray]) – 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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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.

class VisualCuboid(prim_path: str, name: str = 'visual_cube', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: bool = True, color: Optional[numpy.ndarray] = None, size: Optional[numpy.ndarray] = 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_cube”.

  • 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 (bool, optional) – [description]. Defaults to True.

  • color (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • size (Optional[np.ndarray], 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.

change_prim_path(new_prim_path: str)None

Moves prim from the old path to a new one.

Parameters

new_prim_path (str) – new path of the prim to be moved to.

property geom

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_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_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_rest_offset()float
Returns

rest offset of the collision shape.

Return type

float

get_size()numpy.ndarray

[summary]

Returns

[description]

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

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

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

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path

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_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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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_local_pose(translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • translation (Optional[np.ndarray], 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[np.ndarray], 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_local_scale(scale: Optional[numpy.ndarray])None

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

Parameters

scale (Optional[np.ndarray]) – 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_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_size(size: numpy.ndarray)None

[summary]

Parameters

size (float) – [description]

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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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.

class VisualCylinder(prim_path: str, name: str = 'visual_cylinder', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: bool = True, color: Optional[numpy.ndarray] = None, radius: float = 5, height: float = 5, visual_material: Optional[omni.isaac.core.materials.visual_material.VisualMaterial] = None)

[summary]

Parameters
  • prim_path (str) – [description]

  • name (str, optional) – [description]. Defaults to “visual_cylinder”.

  • 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 (bool, optional) – [description]. Defaults to True.

  • color (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • radius (float, optional) – [description]. Defaults to 5.

  • height (float, optional) – [description]. Defaults to 5.

  • 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.

change_prim_path(new_prim_path: str)None

Moves prim from the old path to a new one.

Parameters

new_prim_path (str) – new path of the prim to be moved to.

property geom

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_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_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

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

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

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path

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_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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • translation (Optional[np.ndarray], 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[np.ndarray], 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_local_scale(scale: Optional[numpy.ndarray])None

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

Parameters

scale (Optional[np.ndarray]) – 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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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.

class VisualSphere(prim_path: str, name: str = 'visual_sphere', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: bool = True, color: Optional[numpy.ndarray] = None, radius: float = 5, visual_material: Optional[omni.isaac.core.materials.visual_material.VisualMaterial] = None)

[summary]

Parameters
  • prim_path (str) – [description]

  • name (str, optional) – [description]. Defaults to “visual_sphere”.

  • 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 (bool, optional) – [description]. Defaults to True.

  • color (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • radius (float, optional) – [description]. Defaults to 5.

  • 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.

change_prim_path(new_prim_path: str)None

Moves prim from the old path to a new one.

Parameters

new_prim_path (str) – new path of the prim to be moved to.

property geom

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_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_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_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

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

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

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path

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_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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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_local_pose(translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • translation (Optional[np.ndarray], 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[np.ndarray], 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_local_scale(scale: Optional[numpy.ndarray])None

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

Parameters

scale (Optional[np.ndarray]) – 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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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.

Physics Context

class PhysicsContext(physics_dt: float = 0.016666666666666666, prim_path: str = '/World/physicsScene')
Provides high level functions to deal with a physics scene and its settings. This will create a

a PhysicsScene prim at the specified prim path in case there is no PhysicsScene present in the current stage. If there is a PhysicsScene present, it will discard the prim_path specified and sets the default settings on the current PhysicsScene found.

Parameters
  • physics_dt (float, optional) – specifies the physics_dt of the simulation. Defaults to 1.0 / 60.0.

  • prim_path (Optional[str], optional) – specifies the prim path to create a PhysicsScene at, only in the case where no PhysicsScene already defined. Defaults to “/World/physicsScene”.

Raises
  • Exception – If prim_path is not absolute.

  • Exception – if prim_path already exists and its type is not a PhysicsScene.

enable_ccd(flag: bool)None
Enables a second broad phase after integration that makes it possible to prevent objects from tunneling

through each other.

Parameters

flag (bool) – enables or diables ccd on the PhysicsScene

Raises

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

enable_gpu_dynamics(flag: bool)None

Enables gpu dynamics pipeline, required for deformables for instance.

Parameters

flag (bool) – enables or diables gpu dynamics on the PhysicsScene

Raises

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

enable_stablization(flag: bool)None

Enables additional stabilization pass in the solver.

Parameters

flag (bool) – enables or diables stabilization on the PhysicsScene

Raises

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

get_broadphase_type()str

Gets current broadcast phase algorithm type.

Raises

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Returns

Broadcast phase algorithm used.

Return type

str

get_current_physics_scene_prim()Optional[pxr.Usd.Prim]

Used to return the PhysicsScene prim in stage by traversing the stage.

Returns

returns a PhysicsScene prim if found in current stage. Otherwise, None.

Return type

Optional[Usd.Prim]

get_gravity()Tuple[List, float]

Gets current gravity.

Raises

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Returns

returns a tuple, first element corresponds to the gravity direction vector and second element is the magnitude.

Return type

Tuple[list, float]

get_physics_dt()float

Returns the current physics dt.

Raises

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Returns

physics dt.

Return type

float

get_solver_type()str

Gets current solver type.

Raises

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Returns

solver used for simulation.

Return type

str

is_ccd_enabled()bool

Checks if ccd is enabled.

Raises

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Returns

True if ccd is enabled, otherwise False.

Return type

bool

is_gpu_dynamics_enabled()bool

Checks if Gpu Dynamics is enabled.

Raises

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Returns

True if Gpu Dynamics is enabled, otherwise False.

Return type

bool

is_stablization_enabled()bool

Checks if stabilization is enabled.

Raises

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Returns

True if stabilization is enabled, otherwise False.

Return type

bool

set_broadphase_type(broadcast_type: str)None

Broadcast phase algorithm used in simulation.

Parameters

broadcast_type (str) – type of broadcasting to be used, can be “MBP”

Raises

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

set_gravity(value: float)None

sets the gravity direction and magnitude.

Parameters

value (float) – gravity value to be used in simulation.

Raises

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

set_physics_dt(dt: float = 0.016666666666666666, substeps: int = 1)None

Sets the physics dt on the PhysicsScene

Parameters
  • dt (float, optional) – physics dt. Defaults to 1.0/60.0.

  • substeps (int, optional) – number of physics steps to run for before rendering a frame. Defaults to 1.

Raises
  • Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

  • ValueError – Physics dt must be a >= 0.

  • ValueError – Physics dt must be a <= 1.0.

set_solver_type(solver_type: str)None

solver used for simulation.

Parameters

solver_type (str) – can be “TGS” or “PGS”. for references look at..

Raises

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Prims

class GeometryPrim(prim_path: str, name: str = 'geometry_prim', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: bool = True, collision: bool = False)
Provides high level functions to deal with a Geom prim and its attributes/ properties.

The prim_path should correspond to type UsdGeom.Cube, UsdGeom.Capsule, UsdGeom.Cone, UsdGeom.Cylinder, UsdGeom.Sphere or UsdGeom.Mesh.

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 “xform_prim”.

  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • translation (Optional[np.ndarray], 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[np.ndarray], 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[np.ndarray], 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.

  • collision (bool, optional) – Set to True if the geometry should have a collider (i.e not only a visual geometry). Defaults to False.

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.

change_prim_path(new_prim_path: str)None

Moves prim from the old path to a new one.

Parameters

new_prim_path (str) – new path of the prim to be moved to.

property geom

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_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_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_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

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

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

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path

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_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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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_local_pose(translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • translation (Optional[np.ndarray], 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[np.ndarray], 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_local_scale(scale: Optional[numpy.ndarray])None

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

Parameters

scale (Optional[np.ndarray]) – 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_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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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.

class RigidPrim(prim_path: str, name: str = 'rigid_prim', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: bool = True, mass: Optional[float] = None, linear_velocity: Optional[numpy.ndarray] = None, angular_velocity: Optional[numpy.ndarray] = None)

Provides high level functions to deal with a rigid body prim and its attributes/ properties. If there is an prim present at the path, it will use it. Otherwise, a new XForm prim at the specified prim path will be created.

Notes: if the prim does not already have a rigid body api applied to it before init, it will apply it.

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 “rigid_prim”.

  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • translation (Optional[np.ndarray], 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[np.ndarray], 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[np.ndarray], 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.

  • mass (Optional[float], optional) – mass in kg. Defaults to None.

  • linear_velocity (Optional[np.ndarray], optional) – linear velocity in the world frame. Defaults to None.

  • angular_velocity (Optional[np.ndarray], optional) – angular velocity in the world frame. Defaults to None.

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.

change_prim_path(new_prim_path: str)None

Moves prim from the old path to a new one.

Parameters

new_prim_path (str) – new path of the prim to be moved to.

get_angular_velocity()
Returns

current angular velocity of the the rigid prim. Shape (3,).

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_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_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_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

[summary]

Returns

[description]

Return type

bool

initialize()None

initilaizes dynamic control/ physX handles. If the object is added to a scene before the first world reset, handles will be initialized.

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

Returns: str: name given to the prim when instantiating it. Otherwise None.

post_reset()None

Resets the prim to its default state.

property prim

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path

Returns: str: prim path in the stage.

set_angular_velocity(velocity: numpy.ndarray)None

Sets the angular velocity of the prim in stage.

Parameters

velocity (np.ndarray) – angular velocity to set the rigid prim to. Shape (3,).

set_default_state(position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = 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 (np.ndarray) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (np.ndarray) – 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_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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • translation (Optional[np.ndarray], 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[np.ndarray], 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_local_scale(scale: Optional[numpy.ndarray])None

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

Parameters

scale (Optional[np.ndarray]) – 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_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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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.

class XFormPrim(prim_path: str, name: str = 'xform_prim', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: bool = True)

Provides high level functions to deal with an Xform prim and its attributes/ properties. If there is an Xform prim present at the path, it will use it. Otherwise, a new XForm prim at the specified prim path will be created.

Note: the prim will have “xformOp:orient”, “xformOp:translate” and “xformOp:scale” only post init,

unless it is a non-root articulation link.

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 “xform_prim”.

  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • translation (Optional[np.ndarray], 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[np.ndarray], 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[np.ndarray], 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.

Raises

Exception – if translation and position defined at the same time

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.

change_prim_path(new_prim_path: str)None

Moves prim from the old path to a new one.

Parameters

new_prim_path (str) – new path of the prim to be moved to.

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_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_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_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

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

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

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path

Returns: str: prim path in the stage.

set_default_state(position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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_local_pose(translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • translation (Optional[np.ndarray], 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[np.ndarray], 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_local_scale(scale: Optional[numpy.ndarray])None

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

Parameters

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

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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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.

Robots

class Robot(prim_path: str, name: str = 'robot', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: bool = True, articulation_controller: Optional[omni.isaac.core.controllers.articulation_controller.ArticulationController] = None)

[summary]

Parameters
  • prim_path (str) – [description]

  • name (str, optional) – [description]. Defaults to “robot”.

  • 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 (bool, optional) – [description]. Defaults to True.

  • articulation_controller (Optional[ArticulationController], optional) – [description]. Defaults to None.

apply_action(control_actions: omni.isaac.core.utils.types.ArticulationAction, indices: Optional[Union[List, numpy.ndarray]] = None)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

[summary]

Returns

[description]

Return type

int

change_prim_path(new_prim_path: str)None

Moves prim from the old path to a new one.

Parameters

new_prim_path (str) – new path of the prim to be moved to.

disable_gravity()None

[summary]

property dof_properties

[summary]

Returns

[description]

Return type

np.ndarray

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_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_efforts()numpy.ndarray

[summary]

Raises

Exception – [description]

Returns

[description]

Return type

np.ndarray

get_joint_positions()numpy.ndarray

[summary]

Raises

Exception – [description]

Returns

[description]

Return type

np.ndarray

get_joint_velocities()numpy.ndarray

[summary]

Raises

Exception – [description]

Returns

[description]

Return type

np.ndarray

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_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

[summary]

Returns

[description]

Return type

bool

initialize()

[summary]

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

Returns: str: name given to the prim when instantiating it. Otherwise None.

property num_dof

[summary]

Returns

[description]

Return type

int

post_reset()None

[summary]

property prim

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path

Returns: str: prim path in the stage.

read_kinematic_hierarchy()None

[summary]

set_angular_velocity(velocity: numpy.ndarray)None

[summary]

Parameters

velocity (np.ndarray) – [description]

set_default_state(position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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, indices: Optional[Union[List, numpy.ndarray]] = None)None

[summary]

Parameters
  • efforts (np.ndarray) – [description]

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

Raises

Exception – [description]

set_joint_positions(positions: numpy.ndarray, 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, 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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • translation (Optional[np.ndarray], 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[np.ndarray], 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_local_scale(scale: Optional[numpy.ndarray])None

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

Parameters

scale (Optional[np.ndarray]) – 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[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)None

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

Parameters
  • position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

  • orientation (Optional[np.ndarray], 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.

Scenes

class Scene

This class provides functions to add objects of interest in the stage to retrieve their information and set their reset default state in an easy way. For example: - performing certain commands post_reset - getting bounding boxes of the objects - Deleting the objects/ removing them from stage..etc.

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

add(obj: omni.isaac.core.prims.xform_prim.XFormPrim)omni.isaac.core.prims.xform_prim.XFormPrim

[summary]

Parameters

obj (XFormPrim) – [description]

Raises
  • Exception – [description]

  • Exception – [description]

Returns

[description]

Return type

XFormPrim

add_default_ground_plane(z_position: float = 0, name='default_ground_plane', prim_path: str = '/World/defaultGroundPlane', static_friction: float = 0.5, dynamic_friction: float = 0.5, restitution: float = 0.8)None

[summary]

Parameters
  • z_position (float, optional) – [description]. Defaults to 0.

  • name (str, optional) – [description]. Defaults to “default_ground_plane”.

  • prim_path (str, optional) – [description]. Defaults to “/World/defaultGroundPlane”.

  • 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.

Returns

[description]

Return type

[type]

add_ground_plane(size: Optional[float] = None, z_position: float = 0, name='ground_plane', prim_path: str = '/World/groundPlane', static_friction: float = 0.5, dynamic_friction: float = 0.5, restitution: float = 0.8, color: Optional[numpy.ndarray] = None)None

[summary]

Parameters
  • size (Optional[float], optional) – [description]. Defaults to None.

  • z_position (float, optional) – [description]. Defaults to 0.

  • name (str, optional) – [description]. Defaults to “ground_plane”.

  • prim_path (str, optional) – [description]. Defaults to “/World/groundPlane”.

  • 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.

  • color (Optional[np.ndarray], optional) – [description]. Defaults to None.

Returns

[description]

Return type

[type]

clear()None

Clears the stage from all added objects to the Scene.

compute_object_AABB(name: str)Tuple[numpy.ndarray, numpy.ndarray]

[summary]

Parameters

name (str) – [description]

Raises

Exception – [description]

Returns

[description]

Return type

Tuple[np.ndarray, np.ndarray]

disable_bounding_boxes_computations()None

[summary]

enable_bounding_boxes_computations()None

[summary]

get_object(name: Optional[str] = None, prim_path: Optional[str] = None)omni.isaac.core.prims.xform_prim.XFormPrim

[summary]

Parameters
  • name (Optional[str], optional) – [description]. Defaults to None.

  • prim_path (Optional[str], optional) – [description]. Defaults to None.

Returns

[description]

Return type

XFormPrim

object_exists(name: str)bool

[summary]

Parameters

name (str) – [description]

Returns

[description]

Return type

XFormPrim

post_reset()None

calls post_reset on all added objects to the Scene Registery.

remove_object(name: Optional[str] = None, prim_path: Optional[str] = None)None

[summary]

Parameters
  • name (Optional[str], optional) – [description]. Defaults to None.

  • prim_path (Optional[str], optional) – [description]. Defaults to None.

property stage

[summary]

Returns

[description]

Return type

Usd.Stage

class SceneRegistry
add_articulated_system(name, articulated_system: omni.isaac.core.articulations.articulation.Articulation)None

[summary]

Parameters
  • name ([type]) – [description]

  • articulated_system (Articulation) – [description]

add_geometry_object(name, geometry_object: omni.isaac.core.prims.geometry_prim.GeometryPrim)None

[summary]

Parameters
  • name ([type]) – [description]

  • geometry_object (GeometryPrim) – [description]

add_rigid_object(name, rigid_object: omni.isaac.core.prims.rigid_prim.RigidPrim)None

[summary]

Parameters
  • name ([type]) – [description]

  • rigid_object (RigidPrim) – [description]

add_robot(name, robot: omni.isaac.core.robots.robot.Robot)None

[summary]

Parameters
  • name ([type]) – [description]

  • robot (Robot) – [description]

add_xform(name, xform: omni.isaac.core.prims.xform_prim.XFormPrim)None

[summary]

Parameters
  • name ([type]) – [description]

  • robot (Robot) – [description]

property articulated_systems

[summary]

Returns

[description]

Return type

dict

get_object(name: Optional[str] = None, prim_path: Optional[str] = None)omni.isaac.core.prims.xform_prim.XFormPrim

[summary]

Parameters
  • name (Optional[str], optional) – [description]. Defaults to None.

  • prim_path (Optional[str], optional) – [description]. Defaults to None.

Raises

Exception – [description]

Returns

[description]

Return type

XFormPrim

name_exists(name: str)bool

[summary]

Parameters

name (str) – [description]

Returns

[description]

Return type

bool

prim_path_exists(prim_path: str)bool

[summary]

Parameters

prim_path (str) – [description]

Returns

[description]

Return type

bool

remove_object(name: Optional[str] = None, prim_path: Optional[str] = None)None

[summary]

Parameters
  • name (Optional[str], optional) – [description]. Defaults to None.

  • prim_path (Optional[str], optional) – [description]. Defaults to None.

Raises
  • Exception – [description]

  • Exception – [description]

  • NotImplementedError – [description]

  • Exception – [description]

property rigid_objects

[summary]

Returns

[description]

Return type

dict

property robots

[summary]

Returns

[description]

Return type

dict

property xforms

[summary]

Returns

[description]

Return type

dict

Simulation Context

class SimulationContext(physics_dt: float = 0.016666666666666666, rendering_dt: float = 0.016666666666666666, stage_units_in_meters: float = 0.01)

This class provide functions that take care of many time-related events such as perform a physics or a render step for instance. Adding/ removing callback functions that gets triggered with certain events such as a physics step, timeline event (pause or play..etc), stage open/ close..etc.

It also includes an instance of PhysicsContext which takes care of many physics related settings such as setting physics dt, solver type..etc.

Parameters
  • physics_dt (float, optional) – dt between physics steps. Defaults to 1.0 / 60.0.

  • rendering_dt (float, optional) – dt between rendering steps. Note: rendering means rendering a frame of the current application and not only rendering a frame to the viewports/ cameras. So UI elements of Isaac Sim will be refereshed with this dt as well if running non-headless. Defaults to 1.0 / 60.0.

  • stage_units_in_meters (float, optional) – The metric units of assets. This will affect gravity value..etc. Defaults to 0.01.

add_physics_callback(callback_name: str, callback_fn: Callable[[float], None])None
Adds a callback which will be called before each physics step.

callback_fn should take an argument of step_size: float

Parameters
  • callback_name (str) – should be unique.

  • callback_fn (Callable[[float], None]) – [description]

add_render_callback(callback_name: str, callback_fn: Callable)None
Adds a callback which will be called after each rendering event such as .render().

callback_fn should take an argument of event

Parameters
  • callback_name (str) – [description]

  • callback_fn (Callable) – [description]

add_stage_callback(callback_name: str, callback_fn: Callable)None
Adds a callback which will be called after each stage event such as open/close.

callback_fn should take an argument of event

Parameters
  • callback_name (str) – [description]

  • callback_fn (Callable[[omni.usd.StageEvent], None]) – [description]

add_timeline_callback(callback_name: str, callback_fn: Callable)None
Adds a callback which will be called after each timeline event such as play/pause.

callback_fn should take an argument of event

Parameters
  • callback_name (str) – [description]

  • callback_fn (Callable[[omni.timeline.TimelineEvent], None]) – [description]

property app

[summary]

Returns

[description]

Return type

omni.kit.app.IApp

clear_all_callbacks()None

Clears all callbacks which were added using add_*_callback fn.

classmethod clear_instance()

[summary]

clear_physics_callbacks()None

[summary]

clear_render_callbacks()None

[summary]

clear_stage_callbacks()None

[summary]

clear_timeline_callbacks()None

[summary]

property current_time

[summary]

Returns

[description]

Return type

float

property current_time_step_index

[summary]

Returns

[description]

Return type

int

get_physics_context()omni.isaac.core.physics_context.physics_context.PhysicsContext

[summary]

Raises

Exception – [description]

Returns

[description]

Return type

PhysicsContext

get_physics_dt()float

[summary]

Raises

Exception – [description]

Returns

current physics dt of the PhysicsContext

Return type

float

get_rendering_dt()float

[summary]

Raises

Exception – [description]

Returns

current rendering dt

Return type

float

async init_simulation_context_async()None
classmethod instance()
is_playing()bool

Returns: True if the simulator is playing.

is_simulating()bool

Returns: True if physics simulation is happening. Note: can return True if start_simulation is called even if play was pressed/ called.

is_stopped()bool

Returns: True if the simulator is stopped.

pause()None

Pauses the physics simulation

async pause_async()None

Pauses the physics simulation

physics_callback_exists(callback_name: str)bool

[summary]

Parameters

callback_name (str) – [description]

Returns

[description]

Return type

bool

play()None

Start playing simulation, it does one step internally to propagate all physics handles properly.

async play_async()None

[summary]

remove_physics_callback(callback_name: str)None

[summary]

Parameters

callback_name (str) – [description]

remove_render_callback(callback_name: str)None

[summary]

Parameters

callback_name (str) – [description]

remove_stage_callback(callback_name: str)None

[summary]

Parameters

callback_name (str) – [description]

remove_timeline_callback(callback_name: str)None

[summary]

Parameters

callback_name (str) – [description]

render()None

Refreshes the Isaac Sim app rendering components including UI elements and view ports..etc.

render_callback_exists(callback_name: str)bool

[summary]

Parameters

callback_name (str) – [description]

Returns

[description]

Return type

bool

set_simulation_dt(physics_dt: float = 0.016666666666666666, rendering_dt: float = 0.016666666666666666)None

Specify the physics step and rendering step size to use when stepping and rendering. It is recommended that the two values are divisible.

Parameters
  • physics_dt (float) – The physics time-step. (default: 1.0/60.0)

  • rendering_dt (float) – The physics time-step. (default: 1.0/60.0)

property stage

[summary]

Returns

[description]

Return type

Usd.Stage

stage_callback_exists(callback_name: str)bool

[summary]

Parameters

callback_name (str) – [description]

Returns

[description]

Return type

bool

start_simulation()None
Starts physics simulation, which should not to be confused with .play(). It is recommended to use .play()

instead.

Raises

Exception – [description]

step(render: bool = True)None

Steps the physics simulation while rendering or without.

Parameters

render (bool, optional) – Set to False to only do a physics simulation without rendering. Note: app UI will be frozen (since its not rendering) in this case. Defaults to True.

Raises

Exception – [description]

stop()None

Stops the physics simulation

async stop_async()None

Stops the physics simulation

timeline_callback_exists(callback_name: str)bool

[summary]

Parameters

callback_name (str) – [description]

Returns

[description]

Return type

bool

World

class World(physics_dt: float = 0.016666666666666666, rendering_dt: float = 0.016666666666666666, stage_units_in_meters: float = 0.01)

This class inherits from SimulationContext which provides the following.

SimulationContext provide functions that take care of many time-related events such as perform a physics or a render step for instance. Adding/ removing callback functions that gets triggered with certain events such as a physics step, timeline event (pause or play..etc), stage open/ close..etc.

It also includes an instance of PhysicsContext which takes care of many physics related settings such as setting physics dt, solver type..etc.

In addition to what is provided from SimulationContext, this class allows the user to add a task to the world and it contains a scene object.

To control the default reset state of different objects easily, the object could be added to a Scene. Besides this, the object is bound to a short keyword that fascilitates objects retrievals, like in a dict.

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

Parameters
  • physics_dt (Optional[float], optional) – dt between physics steps. Defaults to 1.0 / 60.0.

  • rendering_dt (Optional[float], optional) – dt between rendering steps. Note: rendering means rendering a frame of the current application and not only rendering a frame to the viewports/ cameras. So UI elements of Isaac Sim will be refereshed with this dt as well if running non-headless. Defaults to 1.0 / 60.0.

  • stage_units_in_meters (float, optional) – The metric units of assets. This will affect gravity value..etc. Defaults to 0.01.

add_physics_callback(callback_name: str, callback_fn: Callable[[float], None])None
Adds a callback which will be called before each physics step.

callback_fn should take an argument of step_size: float

Parameters
  • callback_name (str) – should be unique.

  • callback_fn (Callable[[float], None]) – [description]

add_render_callback(callback_name: str, callback_fn: Callable)None
Adds a callback which will be called after each rendering event such as .render().

callback_fn should take an argument of event

Parameters
  • callback_name (str) – [description]

  • callback_fn (Callable) – [description]

add_stage_callback(callback_name: str, callback_fn: Callable)None
Adds a callback which will be called after each stage event such as open/close.

callback_fn should take an argument of event

Parameters
  • callback_name (str) – [description]

  • callback_fn (Callable[[omni.usd.StageEvent], None]) – [description]

add_task(task: omni.isaac.core.tasks.base_task.BaseTask)None

Tasks should have a unique name.

Parameters

task (BaseTask) – [description]

add_timeline_callback(callback_name: str, callback_fn: Callable)None
Adds a callback which will be called after each timeline event such as play/pause.

callback_fn should take an argument of event

Parameters
  • callback_name (str) – [description]

  • callback_fn (Callable[[omni.timeline.TimelineEvent], None]) – [description]

property app

[summary]

Returns

[description]

Return type

omni.kit.app.IApp

calculate_metrics(task_name: Optional[str] = None)None

Gets metrics from all the tasks that were added

Parameters

task_name (Optional[str], optional) – [description]. Defaults to None.

Returns

[description]

Return type

[type]

clear()None

Clears the stage leaving the PhysicsScene only if under /World.

clear_all_callbacks()None

Clears all callbacks which were added using add_*_callback fn.

classmethod clear_instance()

[summary]

clear_physics_callbacks()None

[summary]

clear_render_callbacks()None

[summary]

clear_stage_callbacks()None

[summary]

clear_timeline_callbacks()None

[summary]

property current_time

[summary]

Returns

[description]

Return type

float

property current_time_step_index

[summary]

Returns

[description]

Return type

int

property dc_interface

[summary]

Returns

[description]

Return type

_dynamic_control.DynamicControl

get_current_tasks()List[omni.isaac.core.tasks.base_task.BaseTask]

[summary]

Returns

[description]

Return type

List[BaseTask]

get_data_logger()omni.isaac.core.loggers.data_logger.DataLogger

Returns the data logger of the world.

Returns

[description]

Return type

DataLogger

get_observations(task_name: Optional[str] = None)dict

Gets observations from all the tasks that were added

Parameters

task_name (Optional[str], optional) – [description]. Defaults to None.

Returns

[description]

Return type

dict

get_physics_context()omni.isaac.core.physics_context.physics_context.PhysicsContext

[summary]

Raises

Exception – [description]

Returns

[description]

Return type

PhysicsContext

get_physics_dt()float

[summary]

Raises

Exception – [description]

Returns

current physics dt of the PhysicsContext

Return type

float

get_rendering_dt()float

[summary]

Raises

Exception – [description]

Returns

current rendering dt

Return type

float

get_task(name: str)omni.isaac.core.tasks.base_task.BaseTask
async init_simulation_context_async()None
classmethod instance()
is_done(task_name: Optional[str] = None)None

[summary]

Parameters

task_name (Optional[str], optional) – [description]. Defaults to None.

Returns

[description]

Return type

[type]

is_playing()bool

Returns: True if the simulator is playing.

is_simulating()bool

Returns: True if physics simulation is happening. Note: can return True if start_simulation is called even if play was pressed/ called.

is_stopped()bool

Returns: True if the simulator is stopped.

pause()None

Pauses the physics simulation

async pause_async()None

Pauses the physics simulation

physics_callback_exists(callback_name: str)bool

[summary]

Parameters

callback_name (str) – [description]

Returns

[description]

Return type

bool

play()None

Start playing simulation, it does one step internally to propagate all physics handles properly.

async play_async()None

[summary]

remove_physics_callback(callback_name: str)None

[summary]

Parameters

callback_name (str) – [description]

remove_render_callback(callback_name: str)None

[summary]

Parameters

callback_name (str) – [description]

remove_stage_callback(callback_name: str)None

[summary]

Parameters

callback_name (str) – [description]

remove_timeline_callback(callback_name: str)None

[summary]

Parameters

callback_name (str) – [description]

render()None

Refreshes the Isaac Sim app rendering components including UI elements and view ports..etc.

render_callback_exists(callback_name: str)bool

[summary]

Parameters

callback_name (str) – [description]

Returns

[description]

Return type

bool

reset()None

Resets the stage to its initial state and each object included in the Scene to its default state as specified by .set_default_state and the __init__ funcs.

Note: - All tasks should be added before the first reset is called unless a .clear() was called. - All articulations should be added before the first reset is called unless a .clear() was called. - This method takes care of initializing articulation handles with the first reset called. - This will do one step internally regardless - calls post_reset on each object in the Scene - calls post_reset on each Task

things like setting pd gains for instance should happend at a Task reset or a Robot reset since the defaults are restored after .stop() is called.

async reset_async()None

Resets the stage to its initial state and each object included in the Scene to its default state as specified by .set_default_state and the __init__ funcs.

Note: - All tasks should be added before the first reset is called unless a .clear() was called. - All articulations should be added before the first reset is called unless a .clear() was called. - This method takes care of initializing articulation handles with the first reset called. - This will do one step internally regardless - calls post_reset on each object in the Scene - calls post_reset on each Task

things like setting pd gains for instance should happend at a Task reset or a Robot reset since the defaults are restored after .stop() is called.

property scene

[summary]

Returns

[description]

Return type

Scene

set_simulation_dt(physics_dt: float = 0.016666666666666666, rendering_dt: float = 0.016666666666666666)None

Specify the physics step and rendering step size to use when stepping and rendering. It is recommended that the two values are divisible.

Parameters
  • physics_dt (float) – The physics time-step. (default: 1.0/60.0)

  • rendering_dt (float) – The physics time-step. (default: 1.0/60.0)

property stage

[summary]

Returns

[description]

Return type

Usd.Stage

stage_callback_exists(callback_name: str)bool

[summary]

Parameters

callback_name (str) – [description]

Returns

[description]

Return type

bool

start_simulation()None
Starts physics simulation, which should not to be confused with .play(). It is recommended to use .play()

instead.

Raises

Exception – [description]

step(render: bool = True)None

Steps the physics simulation while rendering or without.

  • Note: task pre_step is called here.

Parameters

render (bool, optional) – Set to False to only do a physics simulation without rendering. Note: app UI will be frozen (since its not rendering) in this case. Defaults to True.

step_async(step_size: float)None

Calls all functions that should be called pre stepping the physics

  • Note: task pre_step is called here.

Parameters

step_size (float) – [description]

Raises

Exception – [description]

stop()None

Stops the physics simulation

async stop_async()None

Stops the physics simulation

timeline_callback_exists(callback_name: str)bool

[summary]

Parameters

callback_name (str) – [description]

Returns

[description]

Return type

bool

Tasks

class BaseTask(name: str, offset: Optional[numpy.ndarray] = None)

This class provides a way to set up a task in a scene and modularize adding objects to stage, getting observations needed for the behavioral layer, caclulating metrics needed about the task, calling certain things pre-stepping, creating multiple tasks at the same time and much more.

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

Parameters
  • name (str) – needs to be unique if added to the World.

  • ffset (Optional[np.ndarray], optional) – offset applied to all assets of the task.

calculate_metrics()dict

[summary]

Raises

NotImplementedError – [description]

cleanup()None

Called before calling a reset() on the world to removed temporarly objects that were added during simulation for instance.

get_description()str

[summary]

Returns

[description]

Return type

str

get_observations()dict

Returns current observations from the objects needed for the behavioral layer.

Raises

NotImplementedError – [description]

Returns

[description]

Return type

dict

get_params()dict
Gets the params of the task,

should have the form of params_representation[“param_name”] = {“value”: param_value, “modifiable”: bool} Will be consumed by the task UI to change the params in an easy way.

Raises

NotImplementedError – [description]

Returns

[description]

Return type

dict

get_task_objects()dict

[summary]

Returns

[description]

Return type

dict

is_done()bool

Returns True of the task is done.

Raises

NotImplementedError – [description]

property name

[summary]

Returns

[description]

Return type

str

post_reset()None

Calls while doing a .reset() on the world.

pre_step(control_index: int, simulation_time: float)None

called before stepping the physics simulation.

Parameters
  • control_index (int) – [description]

  • simulation_time (float) – [description]

property scene

Scene of the world

Returns

[description]

Return type

Scene

set_params(*args, **kwargs)None

Changes the modifiable paramateres of the task

Raises

NotImplementedError – [description]

set_up_scene(scene: omni.isaac.core.scenes.scene.Scene)None
Adding assets to the stage as well as adding the encapsulated objects such as XFormPrim..etc

to the task_objects happens here.

Parameters

scene (Scene) – [description]

class FollowTarget(name: str, target_prim_path: Optional[str] = None, target_name: Optional[str] = None, target_position: Optional[numpy.ndarray] = None, target_orientation: Optional[numpy.ndarray] = None, offset: Optional[numpy.ndarray] = None)

[summary]

Parameters
  • name (str) – [description]

  • target_prim_path (Optional[str], optional) – [description]. Defaults to None.

  • target_name (Optional[str], optional) – [description]. Defaults to None.

  • target_position (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • target_orientation (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • offset (Optional[np.ndarray], optional) – [description]. Defaults to None.

add_obstacle(position: Optional[numpy.ndarray] = None)

[summary]

Parameters

position (np.ndarray, optional) – [description]. Defaults to np.array([0.1, 0.1, 1.0]).

calculate_metrics()dict

[summary]

cleanup()None

[summary]

get_description()str

[summary]

Returns

[description]

Return type

str

get_observations()dict

[summary]

Returns

[description]

Return type

dict

get_obstacle_to_delete()None

[summary]

Returns

[description]

Return type

[type]

get_params()dict

[summary]

Returns

[description]

Return type

dict

get_task_objects()dict

[summary]

Returns

[description]

Return type

dict

is_done()bool

[summary]

property name

[summary]

Returns

[description]

Return type

str

obstacles_exist()bool

[summary]

Returns

[description]

Return type

bool

post_reset()None

[summary]

pre_step(control_index: int, simulation_time: float)None

[summary]

Parameters
  • control_index (int) – [description]

  • simulation_time (float) – [description]

remove_obstacle(name: Optional[str] = None)None

[summary]

Parameters

name (Optional[str], optional) – [description]. Defaults to None.

property scene

Scene of the world

Returns

[description]

Return type

Scene

set_params(target_prim_path: Optional[str] = None, target_name: Optional[str] = None, target_position: Optional[numpy.ndarray] = None, target_orientation: Optional[numpy.ndarray] = None)None

[summary]

Parameters
  • target_prim_path (Optional[str], optional) – [description]. Defaults to None.

  • target_name (Optional[str], optional) – [description]. Defaults to None.

  • target_position (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • target_orientation (Optional[np.ndarray], optional) – [description]. Defaults to None.

abstract set_robot()None

[summary]

Raises

NotImplementedError – [description]

set_up_scene(scene: omni.isaac.core.scenes.scene.Scene)None

[summary]

Parameters

scene (Scene) – [description]

target_reached()bool

[summary]

Returns

[description]

Return type

bool

class PickPlace(name: str, cube_initial_position: Optional[numpy.ndarray] = None, cube_initial_orientation: Optional[numpy.ndarray] = None, target_position: Optional[numpy.ndarray] = None, cube_size: Optional[numpy.ndarray] = None, offset: Optional[numpy.ndarray] = None)

[summary]

Parameters
  • name (str) – [description]

  • cube_initial_position (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • cube_initial_orientation (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • target_position (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • cube_size (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • offset (Optional[np.ndarray], optional) – [description]. Defaults to None.

calculate_metrics()dict

[summary]

cleanup()None

Called before calling a reset() on the world to removed temporarly objects that were added during simulation for instance.

get_description()str

[summary]

Returns

[description]

Return type

str

get_observations()dict

[summary]

Returns

[description]

Return type

dict

get_params()dict
Gets the params of the task,

should have the form of params_representation[“param_name”] = {“value”: param_value, “modifiable”: bool} Will be consumed by the task UI to change the params in an easy way.

Raises

NotImplementedError – [description]

Returns

[description]

Return type

dict

get_task_objects()dict

[summary]

Returns

[description]

Return type

dict

is_done()bool

[summary]

property name

[summary]

Returns

[description]

Return type

str

post_reset()None

Calls while doing a .reset() on the world.

pre_step(control_index: int, simulation_time: float)None

[summary]

Parameters
  • control_index (int) – [description]

  • simulation_time (float) – [description]

property scene

Scene of the world

Returns

[description]

Return type

Scene

set_params(cube_position: Optional[numpy.ndarray] = None, cube_orientation: Optional[numpy.ndarray] = None, target_position: Optional[numpy.ndarray] = None)None

Changes the modifiable paramateres of the task

Raises

NotImplementedError – [description]

abstract set_robot()None
set_up_scene(scene: omni.isaac.core.scenes.scene.Scene)None

[summary]

Parameters

scene (Scene) – [description]

class Stacking(name: str, cube_initial_positions: numpy.ndarray, cube_initial_orientations: Optional[numpy.ndarray] = None, stack_target_position: Optional[numpy.ndarray] = None, cube_size: Optional[numpy.ndarray] = None, offset: Optional[numpy.ndarray] = None)

[summary]

Parameters
  • name (str) – [description]

  • cube_initial_positions (np.ndarray) – [description]

  • cube_initial_orientations (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • stack_target_position (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • cube_size (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • offset (Optional[np.ndarray], optional) – [description]. Defaults to None.

calculate_metrics()dict

[summary]

Raises

NotImplementedError – [description]

Returns

[description]

Return type

dict

cleanup()None

Called before calling a reset() on the world to removed temporarly objects that were added during simulation for instance.

get_cube_names()List[str]

[summary]

Returns

[description]

Return type

List[str]

get_description()str

[summary]

Returns

[description]

Return type

str

get_observations()dict

[summary]

Returns

[description]

Return type

dict

get_params()dict

[summary]

Returns

[description]

Return type

dict

get_task_objects()dict

[summary]

Returns

[description]

Return type

dict

is_done()bool

[summary]

Raises

NotImplementedError – [description]

Returns

[description]

Return type

bool

property name

[summary]

Returns

[description]

Return type

str

post_reset()None

[summary]

pre_step(control_index: int, simulation_time: float)None

[summary]

Parameters
  • control_index (int) – [description]

  • simulation_time (float) – [description]

property scene

Scene of the world

Returns

[description]

Return type

Scene

set_params(cube_name: Optional[str] = None, cube_position: Optional[str] = None, cube_orientation: Optional[str] = None, stack_target_position: Optional[str] = None)None

[summary]

Parameters
  • cube_name (Optional[str], optional) – [description]. Defaults to None.

  • cube_position (Optional[str], optional) – [description]. Defaults to None.

  • cube_orientation (Optional[str], optional) – [description]. Defaults to None.

  • stack_target_position (Optional[str], optional) – [description]. Defaults to None.

abstract set_robot()None

[summary]

Raises

NotImplementedError – [description]

set_up_scene(scene: omni.isaac.core.scenes.scene.Scene)None

[summary]

Parameters

scene (Scene) – [description]

Utils

compute_aabb(bbox_cache: pxr.UsdGeom.BBoxCache, prim_path: str, include_children: bool = False)numpy.array

Compute an AABB for a given prim_path, a combined AABB is computed if include_children is True

Parameters
  • bbox_cache (UsdGeom.BboxCache) – Existing Bounding box cache to use for computation

  • prim_path (str) – prim path to compute AABB for

  • include_children (bool, optional) – include children of specified prim in calculation. Defaults to False.

Returns

Bounding box for this prim, [min x, min y, min z, max x, max y, max z]

Return type

np.array

compute_combined_aabb(bbox_cache: pxr.UsdGeom.BBoxCache, prim_paths: List[str])numpy.array

Computes a combined AABB given a list of prim paths

Parameters
  • bbox_cache (UsdGeom.BboxCache) – Existing Bounding box cache to use for computation

  • prim_paths (typing.List[str]) – List of prim paths to compute combined AABB for

Returns

Bounding box for input prims, [min x, min y, min z, max x, max y, max z]

Return type

np.array

create_bbox_cache(time: pxr.Usd.TimeCode = Usd.TimeCode.Default(), use_extents_hint: bool = True)pxr.UsdGeom.BBoxCache

Helper function to create a Bounding Box Cache object that can be used for computations

Parameters
  • time (Usd.TimeCode, optional) – time at which cache should be initialized. Defaults to Usd.TimeCode.Default().

  • use_extents_hint (bool, optional) – Use existing extents attribute on prim to compute bounding box. Defaults to True.

Returns

Initialized bbox cache

Return type

UsdGeom.BboxCache

recompute_extents(prim: pxr.UsdGeom.Boundable, time: pxr.Usd.TimeCode = Usd.TimeCode.Default())None

Recomputes and overwrites the extents attribute for a UsdGeom.Boundable prim

Parameters

prim (UsdGeom.Boundable) – Input prim to recompute extents for

Raises

ValueError – If prim is not of UsdGeom.Boundable type

set_carb_setting(carb_settings: carb.settings._settings.ISettings, setting: str, value: Any)None

Convenience function to set settings.

Parameters
  • setting (str) – Name of setting to change.

  • value (Any) – New value for the setting.

Raises

TypeError – If the type of value does not match setting type.

ray_cast(position: numpy.array, orientation: numpy.array, offset: numpy.array, max_dist: float = 100.0)Tuple[str, float]

Projects a raycast forward along x axis with specified offset if a hit is found on a distance of 100 centimiters, returns the object usd path and its distance

Parameters
  • position (np.array) – position for ray cast

  • orientation (np.array) – orientation for ray cast

  • offset (np.array) – Offset for ray cast

  • max_dist (float, optional) – Maximum distance to test for collisions in stage units, Defaults to 100.0.

Returns

path to geometry that was hit and hit distance, returns None, 10000 if no hit occurred

Return type

typing.Tuple[str, float]

rotational_distance_angle(r1: Union[numpy.ndarray, pxr.Gf.Matrix3d, pxr.Gf.Matrix4d], r2: Union[numpy.ndarray, pxr.Gf.Matrix3d, pxr.Gf.Matrix4d])numpy.ndarray

[summary]

Parameters
  • r1 (typing.Union[np.ndarray, Gf.Matrix3d, Gf.Matrix4d]) – rotation matrices or 4x4 transformation matrices

  • r2 (typing.Union[np.ndarray, Gf.Matrix3d, Gf.Matrix4d]) – rotation matrices or 4x4 transformation matrices

  • and r2 may be np arrays or GfMatrix3d() objects. (r1) –

  • they are GfMatrix3d() objects (If) –

  • transformation matrices (the) –

  • be transposed in the distance calculations. (will) –

Returns

the magnitude of the angle of rotation from r1 to r2

Return type

np.ndarray

rotational_distance_identity_matrix_deviation(r1: Union[numpy.ndarray, pxr.Gf.Matrix4d, pxr.Gf.Matrix3d], r2: Union[numpy.ndarray, pxr.Gf.Matrix4d, pxr.Gf.Matrix3d])numpy.ndarray

[summary]

Parameters
  • r1 (typing.Union[np.ndarray, Gf.Matrix4d, Gf.Matrix3d]) – rotation matrices or 4x4 transformation matrices

  • r2 (typing.Union[np.ndarray, Gf.Matrix4d, Gf.Matrix3d]) – rotation matrices or 4x4 transformation matrices

  • and r2 may be np arrays or GfMatrix3d() objects. (r1) –

  • they are GfMatrix3d() objects (If) –

  • transformation matrices (the) –

  • be transposed in the distance calculations. (will) –

Returns

the Frobenius norm |I-r1*r2^T|, where I is the identity matrix

Return type

np.ndarray

rotational_distance_single_axis(r1: Union[numpy.ndarray, pxr.Gf.Matrix4d, pxr.Gf.Matrix3d], r2: Union[numpy.ndarray, pxr.Gf.Matrix4d, pxr.Gf.Matrix3d], axis: numpy.ndarray)numpy.ndarray

[summary]

Parameters
  • r1 (typing.Union[np.ndarray, Gf.Matrix4d, Gf.Matrix3d]) – rotation matrices or 4x4 transformation matrices

  • r2 (typing.Union[np.ndarray, Gf.Matrix4d, Gf.Matrix3d]) – rotation matrices or 4x4 transformation matrices

  • axis (np.ndarray) – a 3d vector that will be rotated by r1 and r2

  • and r2 may be np arrays or GfMatrix3d() objects. (r1) –

  • they are GfMatrix3d() objects (If) –

  • transformation matrices (the) –

  • be transposed in the distance calculations. (will) –

Returns

the angle between (r1 @ axis) and (r2 @ axis)

Return type

np.ndarray

Usage:

If the robot were holding a cup aligned with its z axis, it would be important to align the z axis of the robot with the z axis of the world frame. This could be accomplished by letting

-r1 be the rotation of the robot end effector
-r2 be any rotation matrix for a rotation about the z axis
-axis = [0,0,1]
weighted_translational_distance(t1: Union[numpy.ndarray, pxr.Gf.Matrix4d], t2: Union[numpy.ndarray, pxr.Gf.Matrix4d], weight_matrix: numpy.ndarray = array([[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]]))numpy.ndarray

[summary]

Parameters
  • t1 (typing.Union[np.ndarray, Gf.Matrix4d]) – 3d translation vectors or 4x4 transformation matrices

  • t2 (typing.Union[np.ndarray, Gf.Matrix4d]) – 3d translation vectors or 4x4 transformation matrices

  • weight_matrix (np.ndarray, optional) – a 3x3 positive semidefinite matrix of weights. Defaults to np.eye(3).

Returns

the weighted norm of the difference (t1-t2)

The distance calculation has the form sqrt(x.T W x), where

- x is the vector difference between t1 and t2.
- W is a weight matrix.

Given the identity weight matrix, this is equivalent to the |t1-t2|.

Return type

np.ndarray

Usage:

This formulation can be used to weight an arbitrary axis of the translation difference. Letting x = t1-t2 = a1*b1 + a2*b2 + a3*b3 (where b1,b2,b3 are column basis vectors, and a1,a2,a3 are constants), When W = I: x.T W x = sqrt(a1^2 + a2^2 + a3^2). To weight the b1 axis by 2, let W take the form (R.T @ ([4,1,1]@I) @ R) where

- I is the identity matrix.
- R is a rotation matrix of the form [b1,b2,b3].T

This is effectively equivalent to |[2*e1,e2,e3] @ [b1,b2,b3].T @ x| = sqrt(4*a1^2 + a2^2 + a3^2).

- e1,e2,e3 are the elementary basis vectors.
disable_extension(extension_name: str)bool

Load an extension :param extension_name: name of the extension :type extension_name: str

Returns

True if extension could be loaded, False otherwise

Return type

bool

enable_extension(extension_name: str)bool

Load an extension :param extension_name: name of the extension :type extension_name: str

Returns

True if extension could be loaded, False otherwise

Return type

bool

get_extension_id(extension_name: str)int

Get extension id for a loaded extension :param extension_name: name of the extension :type extension_name: str

Returns

Full extension id

Return type

int

get_extension_path(ext_id: int)str

Get extension path for a loaded extension :param ext_id: full id of extension :type ext_id: id

Returns

Path to loaded extension root directory

Return type

str

get_extension_path_from_name(extension_name: str)str

Get extension path for a loaded extension :param extension_name: name of the extension :type extension_name: str

Returns

Path to loaded extension root directory

Return type

str

class InverseKinematicsSolver(name: str, robot_urdf_path: str, robot_description_yaml_path: str, robot_prim_path: str, end_effector_frame_name: str)

[summary]

Parameters
  • name (str) – [description]

  • robot_urdf_path (str) – [description]

  • robot_description_yaml_path (str) – [description]

  • robot_prim_path (str) – [description]

  • end_effector_frame_name (str) – [description]

forward(target_end_effector_position: numpy.ndarray, target_end_effector_orientation: Optional[numpy.ndarray] = None)omni.isaac.core.utils.types.ArticulationAction

[summary]

Parameters
  • target_end_effector_position (np.ndarray) – [description]

  • target_end_effector_orientation (Optional[np.ndarray], optional) – [description]. Defaults to None.

Returns

[description]

Return type

Articulat