Core Omnigraph Nodes [omni.isaac.core_nodes]

IsaacReadCameraInfo

Isaac Sim node that reads camera info for a viewport

Inputs
  • viewport (token): Name of the viewport, or empty for the default viewport.

Outputs
  • width (uint): Width for output image.

  • height (uint): Height for output image.

  • focalLength (float)

  • horizontalAperture (float)

  • verticalAperture (float)

  • horizontalOffset (float)

  • verticalOffset (float)

  • projectionType (token)

IsaacTestNode

Isaac Sim Test Node

Inputs
  • execIn (execution): The input execution.

  • input (string): string passed here is returned on the output of this node.

Outputs
  • output (string): return the value of input.

IsaacGenerateRGBA

Isaac Sim Node that generates a constant rgba buffer

Inputs
  • color (colorf[4]): Color for output image.

  • width (uint): Width for output image. Default to 100.

  • height (uint): Height for output image. Default to 100.

Outputs
  • data (uchar[]): Buffer rgba array data.

  • width (uint): Width for output image.

  • height (uint): Height for output image.

  • encoding (token): Encoding as a token.

IsaacGenerate32FC1

Isaac Sim Node that generates a constant 32FC1 buffer

Inputs
  • value (float): Value for output image.

  • width (uint): Width for output image. Default to 100.

  • height (uint): Height for output image. Default to 100.

Outputs
  • data (uchar[]): Buffer 32FC1 array data.

  • width (uint): Width for output image.

  • height (uint): Height for output image.

  • encoding (token): Encoding as a token.

OgnIsaacScaleToFromStageUnit

[‘This node converts meters to/from stage units’]

Inputs
  • conversion (token): Convert meters to/from stage units. Default to Convert to stage units.

  • value ([‘numerics’]): The input value.

Outputs
  • result ([‘numerics’]): The output value.

IsaacCreateViewport

Isaac Sim node that creates a named viewport if it doesn’t already exist. If creating multiple viewports chain multiple nodes together

Inputs
  • execIn (execution): Input execution trigger.

  • viewportId (uint): Id of viewport to create up to, the first created/found viewport is returned. If this Id is larger than the number of viewports a new viewport is created each time the node is called until that many viewports exist.

Outputs
  • viewport (token): Name of the created viewport.

  • execOut (execution): Input execution trigger.

IsaacConvertDepthToPointCloud

Converts a 32FC1 image buffer into Point Cloud data

Inputs
  • execIn (execution): The input execution port.

  • data (uchar[]): Buffer 32FC1 image array data. Default to [].

  • format (uint64): Format. Default to 33.

  • width (uint): Buffer array width, same as input.

  • height (uint): Buffer array height, same as input.

  • focalLength (float)

  • horizontalAperture (float)

  • verticalAperture (float)

Outputs
  • execOut (execution): Output execution triggers when lidar sensor has completed a full scan.

  • pointCloudData (pointf[3][]): Buffer of 3d points containing point cloud data.

IsaacReadSimulationTime

Holds values related to simulation timestamps

Inputs
  • resetOnStop (bool): If True the simulation time will reset when stop is pressed, False means time increases monotonically. Default to False.

  • swhFrameNumber (int64): Optional fabric frame number, leave as zero to get the latest simulation frame time. Default to 0.

Outputs
  • simulationTime (double): Current Simulation Time in Seconds.

IsaacReadFilePath

Loads contents of file when given path, if file exists

Inputs
  • path (path): Input path to file.

Outputs
  • fileContents (string): Output contents of file at path, returns empty string if file is not found.

IsaacSetViewportResolution

Isaac Sim node that sets the resolution on a viewport

Inputs
  • execIn (execution): Input execution trigger.

  • viewport (token): Name of viewport to set resolution of.

  • width (uint): Width of the viewport, in pixels. Default to 1280.

  • height (uint): Height of the viewport, in pixels. Default to 720.

Outputs
  • execOut (execution): Input execution trigger.

IsaacConvertRGBAToRGB

Converts a RGBA image buffer into RGB

Inputs
  • execIn (execution): The input execution port.

  • data (uchar[]): Buffer rgba array data. Default to [].

  • width (uint): Buffer array width.

  • height (uint): Buffer array height.

  • encoding (token): Encoding as a token. Default to rgba8.

Outputs
  • execOut (execution): Output execution triggers when conversion complete.

  • data (uchar[]): Buffer rgb array data.

  • encoding (token): Encoding as a token.

  • width (uint): Buffer array width, same as input.

  • height (uint): Buffer array height, same as input.

IsaacArticulationController

Controller for articulated robots

The controller takes either joint names or joint indices, and move them by the given position/velocity/effort commands

Inputs
  • execIn (execution): The input execution.

  • targetPrim (bundle): The target robot prim.

  • usePath (bool): use robot and com path instead of selecting them from stage tree. Default to True.

  • robotPath (string): path to the robot articulation root.

  • jointNames (token[]): commanded joint names. Use either Joint Names or Joint Indices, if neither is given, default to all joints.

  • jointIndices (int[]): commanded joint indices. Use either Joint Names or Joint Indices, if neither is given, default to all joints.

  • positionCommand (double[]): position commands.

  • velocityCommand (double[]): velocity commands.

  • effortCommand (double[]): effort commands.

IsaacReadSystemTime

Holds values related to system timestamps

Inputs
  • swhFrameNumber (int64): Optional fabric frame number, leave as zero to get the latest system frame time. Default to 0.

Outputs
  • systemTime (double): Current System Time in Seconds.

IsaacComputeOdometry

Holds values related to odometry

Inputs
  • execIn (execution): The input execution port.

  • chassisPrim (bundle): Usd prim reference to the articulation root or rigid body prim.

Outputs
  • position (vectord[3]): Position vector in meters.

  • orientation (quatd[4]): Rotation as a quaternion (IJKR).

  • linearVelocity (vectord[3]): Linear velocity vector in m/s.

  • angularVelocity (vectord[3]): Angular velocity vector in rad/s.

IsaacSimulationGate

Gate node that only passes through execution if simulation is playing

Inputs
  • execIn (execution): The input execution.

  • step (uint): Number of ticks per execution output. Default to 1.

Outputs
  • execOut (execution): The output execution.

IsaacReadEnvVar

Loads in environment variable if present

Inputs
  • envVar (string): Input OS environment variable name as string.

Outputs
  • value (string): Output OS environment variable value, returns empty string if variable is not found.