Core [omni.isaac.core]¶

Articulations¶

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

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[Sequence[float]], optional) – [description]. Defaults to None.
translation (Optional[Sequence[float]], optional) – [description]. Defaults to None.
orientation (Optional[Sequence[float]], optional) – [description]. Defaults to None.
scale (Optional[Sequence[float]], optional) – [description]. Defaults to None.
visible (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) → 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

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

property dof_names¶

List of prim names for each DOF.

Returns: prim names
Return type: list(string)

property dof_properties¶

[summary]

Returns: [description]
Return type: np.ndarray

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

get_angular_velocity() → numpy.ndarray¶

[summary]

Returns: [description]
Return type: np.ndarray

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

[summary]

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

get_applied_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_default_state() → omni.isaac.core.utils.types.JointsState ¶

Accessor for the default joints state.

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

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

[summary]

Returns: [description]
Return type: JointsState

get_linear_velocity() → numpy.ndarray¶

[summary]

Returns: [description]
Return type: np.ndarray

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

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

Returns

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

Return type

Tuple[np.ndarray, np.ndarray]

get_local_scale() → numpy.ndarray¶

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

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

get_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(physics_sim_view=None)¶: [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 non_root_articulation_link¶

_summary_

Returns: _description_
Return type: bool

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.

set_angular_velocity(velocity: numpy.ndarray) → None¶

[summary]

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

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

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

Parameters

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

set_enabled_self_collisions(flag: bool) → None¶

[summary]

Parameters: flag (bool) – [description]

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

[summary]

Parameters

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

Raises

Exception – [description]

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

[summary]

Parameters

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

Raises

Exception – [description]

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

[summary]

Parameters

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

Raises

Exception – [description]

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

[summary]

Parameters

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

set_linear_velocity(velocity: numpy.ndarray)¶

Sets the linear velocity of the prim in stage.

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

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

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

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the 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[Sequence[float]]) → None¶

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

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

set_sleep_threshold(threshold: float) → None¶

[summary]

Parameters: threshold (float) – [description]

set_solver_position_iteration_count(count: int) → None¶

[summary]

Parameters: count (int) – [description]

set_solver_velocity_iteration_count(count: int)¶

[summary]

Parameters: count (int) – [description]

set_stabilization_threshold(threshold: float) → None¶

[summary]

Parameters: threshold (float) – [description]

set_visibility(visible: bool) → None¶

Sets the visibility of the prim in stage.

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

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

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

Parameters

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

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

root_prim_path (str) – [description]
articulation_controller (ArticulationController) – [description]

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]

class ArticulationView(prim_paths_expr: str, name: str = 'rigid_prim_view', positions: Optional[Union[numpy.ndarray, torch.Tensor]] = None, translations: Optional[Union[numpy.ndarray, torch.Tensor]] = None, orientations: Optional[Union[numpy.ndarray, torch.Tensor]] = None, scales: Optional[Union[numpy.ndarray, torch.Tensor]] = None, visibilities: Optional[Union[numpy.ndarray, torch.Tensor]] = None)¶

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

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

Parameters

prim_paths_expr (str) – prim paths regex to encapsulate all prims that match it. example: “/World/Env[1-5]/Franka” will match /World/Env1/Franka, /World/Env2/Franka..etc. (a non regex prim path can also be used to encapsulate one rigid prim).
name (str, optional) – shortname to be used as a key by Scene class. Note: needs to be unique if the object is added to the Scene. Defaults to “rigid_prim_view”.
positions (Optional[Union[np.ndarray, torch.Tensor]], optional) – default positions in the world frame of the prims. shape is (N, 3). Defaults to None, which means left unchanged.
translations (Optional[Union[np.ndarray, torch.Tensor]], optional) – default translations in the local frame of the prims (with respect to its parent prims). shape is (N, 3). Defaults to None, which means left unchanged.
orientations (Optional[Union[np.ndarray, torch.Tensor]], optional) – default quaternion orientations in the world/ local frame of the prims (depends if translation or position is specified). quaternion is scalar-first (w, x, y, z). shape is (N, 4).
scales (Optional[Union[np.ndarray, torch.Tensor]], optional) – local scales to be applied to the prim’s dimensions in the view. shape is (N, 3). Defaults to None, which means left unchanged.
visibilities (Optional[Union[np.ndarray, torch.Tensor]], optional) – set to false for an invisible prim in the stage while rendering. shape is (N,). Defaults to None.

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

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

Parameters

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

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

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

Parameters

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

Raises

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

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

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

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

Gets the angular velocities of prims in the view.

Parameters

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

Returns

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

Return type

Union[np.ndarray, torch.Tensor]

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

Gets current applied actions in an ArticulationActions object.

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

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

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

get_articulation_body_count() → int¶

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

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

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

get_dof_index(dof_name: str) → int¶

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

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

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

Returns

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

Return type

Union[np.ndarray, torch.Tensor]

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

Gets the dof types given the dof names.

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

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

Gets effort modes for articulations in the view.

Parameters

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

Returns

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

Return type

List

get_enabled_self_collisions(indices: Optional[Union[numpy.ndarray, List, torch.Tensor]] = None) → Union[numpy.ndarray, torch.Tensor]¶

Gets the enable self collisions flag

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

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

Gets stiffness and damping of articulations in the view.

Parameters

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

Returns

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

Return type

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

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

Gets the joint positions of articulations in the view.

Parameters

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

Returns

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

Return type

Union[np.ndarray, torch.Tensor]

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

Gets the joint velocities of articulations in the view.

Parameters

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

Returns

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

Return type

Union[np.ndarray, torch.Tensor]

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

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

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

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

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

Gets the linear velocities of prims in the view.

Parameters

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

Returns

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

Return type

Union[np.ndarray, torch.Tensor]

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

Gets prim poses in the view with respect to the local frame (the prim’s parent frame). :param indices: indicies to specify which prims

to query. Shape (M,). Where M <= size of the encapsulated prims in the view. Defaults to None (i.e: all prims in the view)

Parameters: clone (bool, optional) – True to return a clone of the internal buffer. Otherwise False. Defaults to True.
Returns: first index is positions in the local frame of the prims. shape is (M, 3). second index is quaternion orientations in the local frame of the prims. quaternion is scalar-first (w, x, y, z). shape is (M, 4).
Return type: Union[Tuple[np.ndarray, np.ndarray], Tuple[torch.Tensor, torch.Tensor]]

get_local_scales(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → Union[numpy.ndarray, torch.Tensor]¶

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

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

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

Gets maximum efforts for articulation in the view.

Parameters

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

Returns

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

Return type

Union[np.ndarray, torch.Tensor]

get_sleep_thresholds(indices: Optional[Union[numpy.ndarray, List, torch.Tensor]] = None) → Union[numpy.ndarray, torch.Tensor]¶

Gets sleep thresholds for articulations in the view.

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

get_solver_position_iteration_counts(indices: Optional[Union[numpy.ndarray, List, torch.Tensor]] = None) → Union[numpy.ndarray, torch.Tensor]¶

Gets the physics solver itertion counts for joint positions.

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

get_solver_velocity_iteration_counts(indices: Optional[Union[numpy.ndarray, List, torch.Tensor]] = None) → Union[numpy.ndarray, torch.Tensor]¶

Gets the physics solver itertion counts for joint velocities.

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

get_stabilization_thresholds(indices: Optional[Union[numpy.ndarray, List, torch.Tensor]] = None) → Union[numpy.ndarray, torch.Tensor]¶

Gets the stabilizaion thresholds.

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

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

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

Parameters

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

Returns

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

Return type

Union[np.ndarray, torch.Tensor]

get_visibilities(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → Union[numpy.ndarray, torch.Tensor]¶

Returns the current visibilities of the prims in stage.

Parameters

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

Returns

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

Return type

Union[np.ndarray, torch.Tensor]

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

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

Parameters

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

Returns

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

Return type

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

get_world_scales(indices: Optional[Union[numpy.ndarray, list, torch.Tensor]] = None) → Union[numpy.ndarray, torch.Tensor]¶

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

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

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

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

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

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

is_physics_handle_valid() → bool¶

Returns

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

Return type

bool

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

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

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

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

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

property non_root_articulation_link¶: Returns: bool: False if the prim corresponds to an ariculation root. Otherwise True.

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

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

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

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

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

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

Parameters

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

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

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

Parameters

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

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

Sets effort modes for articulations in the view.

Parameters

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

Raises

Exception – _description_

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

Sets the enable self collisions flag

Parameters

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

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

Sets stiffness and damping of articulations in the view.

Parameters

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

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

Sets the joint efforts of articulations in the view.

Parameters

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

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

Sets the joint position targets for the implicit pd controllers.

Parameters

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

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

Sets the joint positions of articulations in the view.

Parameters

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

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

Sets the joint velocities of articulations in the view.

Parameters

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

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

Sets the joint velocity targets for the implicit pd controllers.

Parameters

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

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

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

Parameters

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

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

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

Parameters

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

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

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

Parameters

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

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

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

Parameters

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

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

Sets maximum efforts for articulation in the view.

Parameters

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

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

Sets sleep thresholds for articulations in the view.

Parameters

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

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

Sets the physics solver itertion counts for joint positions.

Parameters

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

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

Sets the physics solver itertion counts for joint velocities.

Parameters

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

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

Sets the stabilizaion thresholds.

Parameters

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

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

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

Parameters

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

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

Sets the visibilities of the prims in stage.

Parameters

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

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

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

Parameters

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

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

Switches control mode between velocity, position or effort.

Parameters

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

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

Switches dof control mode between velocity, position or effort.

Parameters

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

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) → None¶

[summary]

Parameters

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

Raises

Exception – [description]

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

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

get_effort_modes() → List[str]¶

[summary]

Raises

Exception – [description]
NotImplementedError – [description]

Returns

[description]

Return type

np.ndarray

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

[summary]

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

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

[summary]

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

get_max_efforts() → numpy.ndarray¶

[summary]

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

initialize(handle, articulation_view) → None¶

[summary]

Parameters

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

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

[summary]

Parameters

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

Raises

Exception – [description]
Exception – [description]

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

[summary]

Parameters

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

Raises

Exception – [description]

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

[summary]

Parameters

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

Raises

Exception – [description]

switch_control_mode(mode: str) → None¶

[summary]

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

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

[summary]

Parameters

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

Raises

Exception – [description]

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¶

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

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

Adds data to the log

Parameters

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

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

Parameters

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

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

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

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

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

get_num_of_data_frames() → int¶

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

is_started() → bool¶

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

load(log_path: str) → None¶

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

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

pause() → None¶: Pauses data collection.

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

save(log_path: str) → None¶

Saves the current data in the logger to a json file

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

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

Materials¶

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: Optional[bool] = None, color: Optional[numpy.ndarray] = None, radius: Optional[numpy.ndarray] = None, height: Optional[numpy.ndarray] = None, visual_material: Optional[omni.isaac.core.materials.visual_material.VisualMaterial] = None, physics_material: Optional[omni.isaac.core.materials.physics_material.PhysicsMaterial] = None, mass: Optional[float] = None, density: Optional[float] = None, linear_velocity: Optional[Sequence[float]] = None, angular_velocity: Optional[Sequence[float]] = None)¶

_summary_

Parameters

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

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

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

Parameters

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

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

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

Parameters

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

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

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

property geom¶: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

get_angular_velocity()¶

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

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

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

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

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

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

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

get_collision_approximation() → str¶

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

get_collision_enabled() → bool¶: Returns:

get_contact_offset() → float¶

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

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

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

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

Returns

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

Return type

DynamicState

get_density() → float¶

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

get_height() → float¶

[summary]

Returns: [description]
Return type: float

get_linear_velocity() → numpy.ndarray¶

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

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

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

Returns

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

Return type

Tuple[np.ndarray, np.ndarray]

get_local_scale() → numpy.ndarray¶

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

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

get_mass() → float¶

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

get_min_torsional_patch_radius() → float¶

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

get_radius() → float¶

[summary]

Returns: [description]
Return type: float

get_rest_offset() → float¶

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

get_torsional_patch_radius() → float¶

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

get_visibility() → bool¶

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

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

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

Returns

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

Return type

Tuple[np.ndarray, np.ndarray]

get_world_scale() → numpy.ndarray¶

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

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

initialize(physics_sim_view=None) → None¶: 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.

property non_root_articulation_link¶

_summary_

Returns: _description_
Return type: bool

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. :param velocity: angular velocity to set the rigid prim to. Shape (3,). :type velocity: np.ndarray

set_collision_approximation(approximation_type: str) → None¶

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

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

set_contact_offset(offset: float) → None¶

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

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

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

Parameters

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

set_density(density: float) → None¶

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

set_height(height: float) → None¶

[summary]

Parameters: height (float) – [description]

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

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

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

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the 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[Sequence[float]]) → None¶

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

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

set_mass(mass: float) → None¶

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

set_min_torsional_patch_radius(radius: float) → None¶

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

set_radius(radius: float) → None¶

[summary]

Parameters: radius (float) – [description]

set_rest_offset(offset: float) → None¶

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

set_torsional_patch_radius(radius: float) → None¶

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

set_visibility(visible: bool) → None¶

Sets the visibility of the prim in stage.

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

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

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

Parameters

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

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

_summary_

Parameters

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

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

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

Parameters

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

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

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

Parameters

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

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

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

property geom¶: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

get_angular_velocity()¶

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

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

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

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

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

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

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

get_collision_approximation() → str¶

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

get_collision_enabled() → bool¶: Returns:

get_contact_offset() → float¶

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

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

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

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

Returns

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

Return type

DynamicState

get_density() → float¶

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

get_height() → float¶

[summary]

Returns: [description]
Return type: float

get_linear_velocity() → numpy.ndarray¶

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

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

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

Returns

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

Return type

Tuple[np.ndarray, np.ndarray]

get_local_scale() → numpy.ndarray¶

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

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

get_mass() → float¶

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

get_min_torsional_patch_radius() → float¶

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

get_radius() → float¶

[summary]

Returns: [description]
Return type: float

get_rest_offset() → float¶

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

get_torsional_patch_radius() → float¶

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

get_visibility() → bool¶

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

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

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

Returns

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

Return type

Tuple[np.ndarray, np.ndarray]

get_world_scale() → numpy.ndarray¶

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

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

initialize(physics_sim_view=None) → None¶: 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.

property non_root_articulation_link¶

_summary_

Returns: _description_
Return type: bool

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. :param velocity: angular velocity to set the rigid prim to. Shape (3,). :type velocity: np.ndarray

set_collision_approximation(approximation_type: str) → None¶

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

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

set_contact_offset(offset: float) → None¶

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

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

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

Parameters

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

set_density(density: float) → None¶

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

set_height(height: float) → None¶

[summary]

Parameters: height (float) – [description]

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

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

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

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the 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[Sequence[float]]) → None¶

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

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

set_mass(mass: float) → None¶

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

set_min_torsional_patch_radius(radius: float) → None¶

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

set_radius(radius: float) → None¶

[summary]

Parameters: radius (float) – [description]

set_rest_offset(offset: float) → None¶

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

set_torsional_patch_radius(radius: float) → None¶

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

set_visibility(visible: bool) → None¶

Sets the visibility of the prim in stage.

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

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

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

Parameters

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

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: Optional[bool] = None, color: Optional[numpy.ndarray] = None, size: Optional[numpy.ndarray] = None, visual_material: Optional[omni.isaac.core.materials.visual_material.VisualMaterial] = None, physics_material: Optional[omni.isaac.core.materials.physics_material.PhysicsMaterial] = None, mass: Optional[float] = None, density: Optional[float] = None, linear_velocity: Optional[Sequence[float]] = None, angular_velocity: Optional[Sequence[float]] = None)¶

_summary_

Parameters

prim_path (str) – _description_
name (str, optional) – _description_. Defaults to “dynamic_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 (Optional[bool], optional) – _description_. Defaults to None.
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.
physics_material (Optional[PhysicsMaterial], optional) – _description_. Defaults to None.
mass (Optional[float], optional) – _description_. Defaults to None.
density (Optional[float], optional) – _description_. Defaults to None.
linear_velocity (Optional[Sequence[float]], optional) – _description_. Defaults to None.
angular_velocity (Optional[Sequence[float]], optional) – _description_. Defaults to None.

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

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

Parameters

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

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

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

Parameters

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

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

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

property geom¶: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

get_angular_velocity()¶

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

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

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

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

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

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

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

get_collision_approximation() → str¶

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

get_collision_enabled() → bool¶: Returns:

get_contact_offset() → float¶

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

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

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

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

Returns

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

Return type

DynamicState

get_density() → float¶

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

get_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

initialize(physics_sim_view=None) → 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.

property non_root_articulation_link¶

_summary_

Returns: _description_
Return type: bool

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. :param velocity: angular velocity to set the rigid prim to. Shape (3,). :type velocity: np.ndarray

set_collision_approximation(approximation_type: str) → None¶

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

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

set_contact_offset(offset: float) → None¶

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

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

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

Parameters

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

set_density(density: float) → None¶

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

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

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

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

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the 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[Sequence[float]]) → None¶

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

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

set_mass(mass: float) → None¶

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

set_min_torsional_patch_radius(radius: float) → None¶

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

set_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[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None¶

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

Parameters

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

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: Optional[bool] = None, color: Optional[numpy.ndarray] = None, radius: Optional[numpy.ndarray] = None, height: Optional[numpy.ndarray] = None, visual_material: Optional[omni.isaac.core.materials.visual_material.VisualMaterial] = None, physics_material: Optional[omni.isaac.core.materials.physics_material.PhysicsMaterial] = None, mass: Optional[float] = None, density: Optional[float] = None, linear_velocity: Optional[Sequence[float]] = None, angular_velocity: Optional[Sequence[float]] = None)¶

_summary_

Parameters

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

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

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

Parameters

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

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

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

Parameters

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

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

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

property geom¶: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

get_angular_velocity()¶

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

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

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

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

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

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

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

get_collision_approximation() → str¶

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

get_collision_enabled() → bool¶: Returns:

get_contact_offset() → float¶

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

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

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

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

Returns

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

Return type

DynamicState

get_density() → float¶

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

get_height() → float¶

[summary]

Returns: [description]
Return type: float

get_linear_velocity() → numpy.ndarray¶

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

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

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

Returns

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

Return type

Tuple[np.ndarray, np.ndarray]

get_local_scale() → numpy.ndarray¶

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

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

get_mass() → float¶

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

get_min_torsional_patch_radius() → float¶

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

get_radius() → float¶

[summary]

Returns: [description]
Return type: float

get_rest_offset() → float¶

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

get_torsional_patch_radius() → float¶

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

get_visibility() → bool¶

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

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

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

Returns

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

Return type

Tuple[np.ndarray, np.ndarray]

get_world_scale() → numpy.ndarray¶

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

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

initialize(physics_sim_view=None) → None¶: 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.

property non_root_articulation_link¶

_summary_

Returns: _description_
Return type: bool

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. :param velocity: angular velocity to set the rigid prim to. Shape (3,). :type velocity: np.ndarray

set_collision_approximation(approximation_type: str) → None¶

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

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

set_contact_offset(offset: float) → None¶

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

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

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

Parameters

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

set_density(density: float) → None¶

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

set_height(height: float) → None¶

[summary]

Parameters: height (float) – [description]

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

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

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

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the 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[Sequence[float]]) → None¶

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

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

set_mass(mass: float) → None¶

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

set_min_torsional_patch_radius(radius: float) → None¶

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

set_radius(radius: float) → None¶

[summary]

Parameters: radius (float) – [description]

set_rest_offset(offset: float) → None¶

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

set_torsional_patch_radius(radius: float) → None¶

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

set_visibility(visible: bool) → None¶

Sets the visibility of the prim in stage.

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

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

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

Parameters

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

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: Optional[bool] = None, color: Optional[numpy.ndarray] = None, radius: Optional[numpy.ndarray] = None, visual_material: Optional[omni.isaac.core.materials.visual_material.VisualMaterial] = None, physics_material: Optional[omni.isaac.core.materials.physics_material.PhysicsMaterial] = None, mass: Optional[float] = None, density: Optional[float] = None, linear_velocity: Optional[Sequence[float]] = None, angular_velocity: Optional[Sequence[float]] = None)¶

_summary_

Parameters

prim_path (str) – _description_
name (str, optional) – _description_. Defaults to “dynamic_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 (Optional[bool], optional) – _description_. Defaults to None.
color (Optional[np.ndarray], optional) – _description_. Defaults to None.
radius (Optional[np.ndarray], optional) – _description_. Defaults to None.
visual_material (Optional[VisualMaterial], optional) – _description_. Defaults to None.
physics_material (Optional[PhysicsMaterial], optional) – _description_. Defaults to None.
mass (Optional[float], optional) – _description_. Defaults to None.
density (Optional[float], optional) – _description_. Defaults to None.
linear_velocity (Optional[Sequence[float]], optional) – _description_. Defaults to None.
angular_velocity (Optional[Sequence[float]], optional) – _description_. Defaults to None.

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

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

Parameters

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

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

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

Parameters

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

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

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

property geom¶: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

get_angular_velocity()¶

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

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

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

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

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

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

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

get_collision_approximation() → str¶

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

get_collision_enabled() → bool¶: Returns:

get_contact_offset() → float¶

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

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

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

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

Returns

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

Return type

DynamicState

get_density() → float¶

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

get_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

initialize(physics_sim_view=None) → 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.

property non_root_articulation_link¶

_summary_

Returns: _description_
Return type: bool

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. :param velocity: angular velocity to set the rigid prim to. Shape (3,). :type velocity: np.ndarray

set_collision_approximation(approximation_type: str) → None¶

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

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

set_contact_offset(offset: float) → None¶

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

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

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

Parameters

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

set_density(density: float) → None¶

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

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

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

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

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the 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[Sequence[float]]) → None¶

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

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

set_mass(mass: float) → None¶

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

set_min_torsional_patch_radius(radius: float) → None¶

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

set_radius(radius: float) → None¶

[summary]

Parameters: radius (float) – [description]

set_rest_offset(offset: float) → None¶

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

set_torsional_patch_radius(radius: float) → None¶

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

set_visibility(visible: bool) → None¶

Sets the visibility of the prim in stage.

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

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

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

Parameters

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

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

_summary_

Parameters

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

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

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

Parameters

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

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

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

Parameters

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

property geom¶: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

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

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

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

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

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

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

get_collision_approximation() → str¶

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

get_collision_enabled() → bool¶: Returns:

get_contact_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.

property non_root_articulation_link¶

_summary_

Returns: _description_
Return type: bool

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_collision_enabled(enabled: bool) → None¶: Args:

set_contact_offset(offset: float) → None¶

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

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

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

Parameters

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

set_height(height: float) → None¶

[summary]

Parameters: height (float) – [description]

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

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

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the 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[Sequence[float]]) → None¶

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

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

set_min_torsional_patch_radius(radius: float) → None¶

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

set_radius(radius: float) → None¶

[summary]

Parameters: radius (float) – [description]

set_rest_offset(offset: float) → None¶

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

set_torsional_patch_radius(radius: float) → None¶

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

set_visibility(visible: bool) → None¶

Sets the visibility of the prim in stage.

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

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

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

Parameters

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

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

_summary_

Parameters

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

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

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

Parameters

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

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

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

Parameters

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

property geom¶: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

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

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

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

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

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

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

get_collision_approximation() → str¶

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

get_collision_enabled() → bool¶: Returns:

get_contact_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.

property non_root_articulation_link¶

_summary_

Returns: _description_
Return type: bool

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_collision_enabled(enabled: bool) → None¶: Args:

set_contact_offset(offset: float) → None¶

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

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

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

Parameters

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

set_height(height: float) → None¶

[summary]

Parameters: height (float) – [description]

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

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

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the 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[Sequence[float]]) → None¶

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

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

set_min_torsional_patch_radius(radius: float) → None¶

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

set_radius(radius: float) → None¶

[summary]

Parameters: radius (float) – [description]

set_rest_offset(offset: float) → None¶

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

set_torsional_patch_radius(radius: float) → None¶

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

set_visibility(visible: bool) → None¶

Sets the visibility of the prim in stage.

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

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

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

Parameters

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

class FixedCuboid(prim_path: str, name: str = 'fixed_cube', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, scale: Optional[numpy.ndarray] = None, visible: Optional[bool] = None, color: Optional[numpy.ndarray] = None, size: Optional[numpy.ndarray] = None, visual_material: Optional[omni.isaac.core.materials.visual_material.VisualMaterial] = None, physics_material: Optional[omni.isaac.core.materials.physics_material.PhysicsMaterial] = None)¶

_summary_

Parameters

prim_path (str) – _description_
name (str, optional) – _description_. Defaults to “fixed_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 (Optional[bool], optional) – _description_. Defaults to None.
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.
physics_material (Optional[PhysicsMaterial], optional) – _description_. Defaults to None.

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

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

Parameters

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

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

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

Parameters

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

property geom¶: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

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

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

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

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

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

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

get_collision_approximation() → str¶

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

get_collision_enabled() → bool¶: Returns:

get_contact_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.

property non_root_articulation_link¶

_summary_

Returns: _description_
Return type: bool

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_collision_enabled(enabled: bool) → None¶: Args:

set_contact_offset(offset: float) → None¶

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

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

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

Parameters

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

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

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

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the 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[Sequence[float]]) → None¶

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

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

set_min_torsional_patch_radius(radius: float) → None¶

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

set_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[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None¶

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

Parameters

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

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

_summary_

Parameters

prim_path (str) – _description_
name (str, optional) – _description_. Defaults to “fixed_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 (Optional[bool], optional) – _description_. Defaults to None.
color (Optional[np.ndarray], optional) – _description_. Defaults to None.
radius (Optional[np.ndarray], optional) – _description_. Defaults to None.
height (Optional[float], optional) – _description_. Defaults to None.
visual_material (Optional[VisualMaterial], optional) – _description_. Defaults to None.
physics_material (Optional[PhysicsMaterial], optional) – _description_. Defaults to None.

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

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

Parameters

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

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

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

Parameters

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

property geom¶: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

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

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

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

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

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

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

get_collision_approximation() → str¶

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

get_collision_enabled() → bool¶: Returns:

get_contact_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.

property non_root_articulation_link¶

_summary_

Returns: _description_
Return type: bool

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_collision_enabled(enabled: bool) → None¶: Args:

set_contact_offset(offset: float) → None¶

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

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

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

Parameters

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

set_height(height: float) → None¶

[summary]

Parameters: height (float) – [description]

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

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

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the 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[Sequence[float]]) → None¶

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

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

set_min_torsional_patch_radius(radius: float) → None¶

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

set_radius(radius: float) → None¶

[summary]

Parameters: radius (float) – [description]

set_rest_offset(offset: float) → None¶

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

set_torsional_patch_radius(radius: float) → None¶

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

set_visibility(visible: bool) → None¶

Sets the visibility of the prim in stage.

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

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

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

Parameters

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

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

_summary_

Parameters

prim_path (str) – _description_
name (str, optional) – _description_. Defaults to “fixed_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 (Optional[bool], optional) – _description_. Defaults to None.
color (Optional[np.ndarray], optional) – _description_. Defaults to None.
radius (Optional[np.ndarray], optional) – _description_. Defaults to None.
visual_material (Optional[VisualMaterial], optional) – _description_. Defaults to None.
physics_material (Optional[PhysicsMaterial], optional) – _description_. Defaults to None.

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

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

Parameters

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

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

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

Parameters

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

property geom¶: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

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

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

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

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

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

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

get_collision_approximation() → str¶

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

get_collision_enabled() → bool¶: Returns:

get_contact_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.

property non_root_articulation_link¶

_summary_

Returns: _description_
Return type: bool

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_collision_enabled(enabled: bool) → None¶: Args:

set_contact_offset(offset: float) → None¶

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

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

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

Parameters

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

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

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

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the 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[Sequence[float]]) → None¶

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

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

set_min_torsional_patch_radius(radius: float) → None¶

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

set_radius(radius: float) → None¶

[summary]

Parameters: radius (float) – [description]

set_rest_offset(offset: float) → None¶

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

set_torsional_patch_radius(radius: float) → None¶

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

set_visibility(visible: bool) → None¶

Sets the visibility of the prim in stage.

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

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

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

Parameters

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

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

_summary_

Parameters

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

Raises

Exception – _description_

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

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

Parameters

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

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

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

Parameters

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

property geom¶: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

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

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

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

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

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

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

get_collision_approximation() → str¶

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

get_collision_enabled() → bool¶: Returns:

get_contact_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.

property non_root_articulation_link¶

_summary_

Returns: _description_
Return type: bool

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_collision_enabled(enabled: bool) → None¶: Args:

set_contact_offset(offset: float) → None¶

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

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

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

Parameters

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

set_height(height: float) → None¶

[summary]

Parameters: height (float) – [description]

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

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

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the 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[Sequence[float]]) → None¶

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

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

set_min_torsional_patch_radius(radius: float) → None¶

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

set_radius(radius: float) → None¶

[summary]

Parameters: radius (float) – [description]

set_rest_offset(offset: float) → None¶

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

set_torsional_patch_radius(radius: float) → None¶

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

set_visibility(visible: bool) → None¶

Sets the visibility of the prim in stage.

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

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

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

Parameters

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

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

_summary_

Parameters

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

Raises

Exception – _description_

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

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

Parameters

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

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

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

Parameters

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

property geom¶: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

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

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

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

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

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

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

get_collision_approximation() → str¶

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

get_collision_enabled() → bool¶: Returns:

get_contact_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.

property non_root_articulation_link¶

_summary_

Returns: _description_
Return type: bool

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_collision_enabled(enabled: bool) → None¶: Args:

set_contact_offset(offset: float) → None¶

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

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

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

Parameters

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

set_height(height: float) → None¶

[summary]

Parameters: height (float) – [description]

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

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

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the 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[Sequence[float]]) → None¶

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

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

set_min_torsional_patch_radius(radius: float) → None¶

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

set_radius(radius: float) → None¶

[summary]

Parameters: radius (float) – [description]

set_rest_offset(offset: float) → None¶

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

set_torsional_patch_radius(radius: float) → None¶

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

set_visibility(visible: bool) → None¶

Sets the visibility of the prim in stage.

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

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

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

Parameters

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

class VisualCuboid(prim_path: str, name: str = 'visual_cube', position: Optional[Sequence[float]] = None, translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None, scale: Optional[Sequence[float]] = None, visible: Optional[bool] = None, color: Optional[numpy.ndarray] = None, 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[Sequence[float]], optional) – _description_. Defaults to None.
translation (Optional[Sequence[float]], optional) – _description_. Defaults to None.
orientation (Optional[Sequence[float]], optional) – _description_. Defaults to None.
scale (Optional[Sequence[float]], optional) – _description_. Defaults to None.
visible (Optional[bool], optional) – _description_. Defaults to None.
color (Optional[np.ndarray], optional) – _description_. Defaults to None.
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.

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_collision_enabled() → bool¶: Returns:

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.

property non_root_articulation_link¶

_summary_

Returns: _description_
Return type: bool

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_collision_enabled(enabled: bool) → None¶: Args:

set_contact_offset(offset: float) → None¶

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

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

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

Parameters

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

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

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

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the 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[Sequence[float]]) → None¶

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

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

set_min_torsional_patch_radius(radius: float) → None¶

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

set_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[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None¶

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

Parameters

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

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

_summary_

Parameters

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

Raises

Exception – _description_

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

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

Parameters

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

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

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

Parameters

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

property geom¶: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

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

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

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

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

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

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

get_collision_approximation() → str¶

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

get_collision_enabled() → bool¶: Returns:

get_contact_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.

property non_root_articulation_link¶

_summary_

Returns: _description_
Return type: bool

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_collision_enabled(enabled: bool) → None¶: Args:

set_contact_offset(offset: float) → None¶

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

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

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

Parameters

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

set_height(height: float) → None¶

[summary]

Parameters: height (float) – [description]

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

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

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the 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[Sequence[float]]) → None¶

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

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

set_min_torsional_patch_radius(radius: float) → None¶

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

set_radius(radius: float) → None¶

[summary]

Parameters: radius (float) – [description]

set_rest_offset(offset: float) → None¶

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

set_torsional_patch_radius(radius: float) → None¶

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

set_visibility(visible: bool) → None¶

Sets the visibility of the prim in stage.

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

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

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

Parameters

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

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

_summary_

Parameters

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

Raises

Exception – _description_

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

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

Parameters

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

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

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

Parameters

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

property geom¶: Returns: UsdGeom.Gprim: USD geometry object encapsulated.

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

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

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

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

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

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

get_collision_approximation() → str¶

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

get_collision_enabled() → bool¶: Returns:

get_contact_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.

property non_root_articulation_link¶

_summary_

Returns: _description_
Return type: bool

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_collision_enabled(enabled: bool) → None¶: Args:

set_contact_offset(offset: float) → None¶

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

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

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

Parameters

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

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

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

Parameters

translation (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the 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[Sequence[float]]) → None¶

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

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

set_min_torsional_patch_radius(radius: float) → None¶

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

set_radius(radius: float) → None¶

[summary]

Parameters: radius (float) – [description]

set_rest_offset(offset: float) → None¶

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

set_torsional_patch_radius(radius: float) → None¶

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

set_visibility(visible: bool) → None¶

Sets the visibility of the prim in stage.

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

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

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

Parameters

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

Physics Context¶

class PhysicsContext(physics_dt: Optional[float] = None, prim_path: str = '/physicsScene', sim_params: Optional[dict] = None, set_defaults: bool = True, backend: str = 'numpy', device: Optional[str] = None)¶

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.

Paramet