Core Omnigraph Nodes [omni.isaac.core_nodes]
IsaacConvertDepthToPointCloud
Converts a 32FC1 image buffer into Point Cloud data
- Inputs
execIn (execution): The input execution port.
dataPtr (uint64): Pointer to the raw rgba array data. Default to 0.
cudaDeviceIndex (int): Index of the device where the data lives (-1 for host data). Default to -1.
width (uint): Buffer array width, same as input.
height (uint): Buffer array height, same as input.
focalLength (float): focal length.
horizontalAperture (float): horizontal aperture.
verticalAperture (float): vertical aperture.
bufferSize (uint): Size (in bytes) of the buffer (0 if the input is a texture).
format (uint64): Format. Default to 33.
- Outputs
execOut (execution): Output execution triggers when lidar sensor has completed a full scan.
dataPtr (uint64): Pointer to the rgb buffer data.
cudaDeviceIndex (int): Index of the device where the data lives (-1 for host data).
bufferSize (uint): Size (in bytes) of the buffer (0 if the input is a texture).
height (uint): Height of point cloud buffer, will always return 1.
width (uint): number of points in point cloud buffer.
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.
IsaacReadTimes
[‘Read time related value from Fabric.’]
- Inputs
execIn (execution): The input execution port.
renderResults (uint64): Render results.
gpu (uint64): Pointer to shared context containing gpu foundations valid only in the postRender graph.
- Outputs
execOut (execution): The output execution port.
simulationTime (double): Current Simulation Time in Seconds.
simulationTimeMonotonic (double): Current Monotonic Simulation Time in Seconds.
systemTime (double): Current System Time in Seconds.
frameNumber (int64): frameNumber.
durationNumerator (int64): durationNumerator.
durationDenominator (uint64): durationDenominator.
sampleTimeOffsetInSimFrames (uint64): sampleTimeOffsetInSimFrames.
externalTimeOfSimNs (int64): externalTimeOfSimNs.
rationalTimeOfSimNumerator (int64): rationalTimeOfSimNumerator.
rationalTimeOfSimDenominator (uint64): rationalTimeOfSimDenominator.
swhFrameNumber (int64): swhFrameNumber.
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.
IsaacConvertRGBAToRGB
Converts a RGBA image buffer into RGB
- Inputs
execIn (execution): The input execution port.
dataPtr (uint64): Pointer to the raw rgba array data. Default to 0.
cudaDeviceIndex (int): Index of the device where the data lives (-1 for host data). Default to -1.
width (uint): Buffer array width.
height (uint): Buffer array height.
encoding (token): Encoding as a token. Default to rgba8.
bufferSize (uint): Size (in bytes) of the buffer (0 if the input is a texture).
format (uint64): Format.
- Outputs
execOut (execution): Output execution triggers when conversion complete.
dataPtr (uint64): Pointer to the rgb buffer data.
cudaDeviceIndex (int): Index of the device where the data lives (-1 for host data).
encoding (token): Encoding as a token.
width (uint): Buffer array width, same as input.
height (uint): Buffer array height, same as input.
bufferSize (uint): Size (in bytes) of the buffer (0 if the input is a texture).
IsaacComputeOdometry
Holds values related to odometry, this node is not a replcement for the IMU sensor and the associated Read IMU node
- Inputs
execIn (execution): The input execution port.
chassisPrim (target): Usd prim reference to the articulation root or rigid body prim.
- Outputs
execOut (execution): The output execution port.
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.
linearAcceleration (vectord[3]): Linear acceleration vector in m/s^2.
angularAcceleration (vectord[3]): Angular acceleration vector in rad/s^2.
OnPhysicsStep
Executes an output execution pulse for every physics Simulation Step
Inputs
- Outputs
step (execution): The execution output.
deltaSimulationTime (double): Simulation Time elapsed since the last update (seconds).
deltaSystemTime (double): System Time elapsed since last update (seconds).
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.
IsaacCreateViewport
Isaac Sim node that creates a unique viewport
- Inputs
execIn (execution): Input execution trigger.
name (token): Name of the viewport window.
viewportId (uint): If name is empty, ID is used as the name, ID == 0 is the default viewport.
- Outputs
viewport (token): Name of the created viewport.
execOut (execution): Input execution trigger.
IsaacGetViewportRenderProduct
Isaac Sim node that returns the render product for a given viewport
- Inputs
execIn (execution): Input execution trigger.
viewport (token): Name of the viewport to get renderproduct for.
- Outputs
renderProductPath (token): Render product path for the created hydra texture.
execOut (execution): Output execution trigger.
IsaacSetCameraOnRenderProduct
Isaac Sim node that sets the camera prim of an existing render product
- Inputs
execIn (execution): Input execution trigger.
renderProductPath (token): Path of the render product.
cameraPrim (target): Usd prim reference to the camera associated with this render product.
- Outputs
execOut (execution): Output execution trigger.
IsaacReadCameraInfo
Isaac Sim node that reads camera info for a viewport
- Inputs
viewport (token): Name of the viewport, or empty for the default viewport.
renderProductPath (token): Path of the render product.
- Outputs
width (uint): Width for output image.
height (uint): Height for output image.
focalLength (float): focal length.
horizontalAperture (float): horizontal aperture.
verticalAperture (float): vertical aperture.
horizontalOffset (float): horizontal offset.
verticalOffset (float): vertical offset.
projectionType (token): projection type.
cameraFisheyeParams (float[]): Camera fisheye projection parameters.
physicalDistortionModel (token): physical distortion model used for approximation, empty if not specified on camera prim.
physicalDistortionCoefficients (float[]): physical distortion model used for approximation, empty if not specified on camera prim.
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.
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.
IsaacReadFilePath
Loads contents of file when given path, if file exists
- Inputs
path (path): Input path to file.
- Outputs
fileContents ([‘string’, ‘token’]): Output contents of file at path, returns empty string if file is not found.
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 (target, optional): 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.
IsaacCreateRenderProduct
Isaac Sim node that creates a render product for use with offscreen rendering
- Inputs
execIn (execution): Input execution trigger.
width (uint): Width of the render product, in pixels. Default to 1280.
height (uint): Height of the render product, in pixels. Default to 720.
cameraPrim (target): Usd prim reference to the camera associated with this render product.
enabled (bool): Set to false to disable downstream execution and RP creation. Default to True.
- Outputs
renderProductPath (token): Render product path for the created hydra texture.
execOut (execution): Output execution trigger.
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.
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 is 1, set to zero to disable execution of connected nodes. Default to 1.
- Outputs
execOut (execution): The output execution.
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.