Core Omnigraph Nodes [omni.isaac.core_nodes]

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.

IsaacArticulationController

Controller for articulated robots. The controller takes either joint names or joint indices, and move them by the given position/velocity/effort commands. Note angular units are expressed in radians while angles in USD are expressed in degrees and will be adjusted accordingly by the articulation controller.

The controller takes either joint names or joint indices, and move them by the given position/velocity/effort commands. Note angular units are expressed in radians while angles in USD are expressed in degrees and will be adjusted accordingly by the articulation controller.

Inputs
  • execIn (execution): The input execution.

  • targetPrim (target, optional): The target robot prim with robot articulation root. Ensure robotPath is empty for this to be considered.

  • robotPath (string): path to the robot articulation root. If this is populated, targetPrim is ignored.

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

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.

IsaacArticulationState

Articulated robot state. The node takes either joint names or joint indices, and outputs the joint positions and velocities, as well as the measured joint efforts, forces, and torques.

The node takes either joint names or joint indices, and outputs the joint positions and velocities, as well as the measured joint efforts, forces, and torques.

Inputs
  • execIn (execution): The input execution.

  • targetPrim (target, optional): The target robot prim with robot articulation root. Ensure robotPath is empty for this to be considered.

  • robotPath (string): Path to the robot articulation root. If this is populated, targetPrim is ignored.

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

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

Outputs
  • jointPositions (double[]): Joint positions.

  • jointVelocities (double[]): Joint velocities.

  • measuredJointEfforts (double[]): Measured joint efforts.

  • measuredJointForces (double[3][]): Measured joint reaction forces.

  • measuredJointTorques (double[3][]): Measured joint reaction torques.

  • jointNames (token[]): Joint names.

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.

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.

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.

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.

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.

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.

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).

IsaacTimeSplitter

Spit time values

Inputs
  • time ([‘double’, ‘float’, ‘half’, ‘int’, ‘int64’, ‘uint’, ‘uint64’]): Time (in seconds).

Outputs
  • seconds (int): Seconds [INT_MIN, INT_MAX].

  • milliseconds (uint): Milliseconds [0, 1e3).

  • microseconds (uint): Microseconds [0, 1e6).

  • nanoseconds (uint): Nanoseconds [0, 1e9).

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.

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.

IsaacReadCameraInfo

Isaac Sim node that reads camera info for a viewport

Inputs
  • 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.

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.

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.

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.

IsaacReadWorldPose

Isaac Sim node that reads world pose of an xform

Inputs
  • prim (target): Usd prim reference read fabric pose from.

  • includeScale (bool): If True the output bundle would include scale. Default to False.

Outputs
  • primsBundle (bundle): An output bundle containing xformOp data.

OgnIsaacRunOneSimulationFrame

Executes an output execution pulse the first time this node is ran

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

Outputs
  • step (execution): The execution output.

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).

IsaacRealTimeFactor

[‘This node calculates the real time factor (RTF)’]

Outputs
  • rtf (float): RTF value calculated per frame.

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.

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.