Dynamic Control [omni.isaac.dynamic_control]

The Dynamic Control extension provides a set of utilities to control physics objects. It provides opaque handles for different physics objects that remain valid between PhysX scene resets, which occur whenever play or stop is pressed.

Basic Usage

Start physics simulation, at least one frame of simulation must occur before the Dynamic Control interface will become fully active.

import omni
omni.timeline.get_timeline_interface().play()

Acquire the Dynamic Control interface and interact with an articulation. The code block below assumes a Franka Emika Panda robot is in the stage with a base path of /Franka

from omni.isaac.dynamic_control import _dynamic_control
dc = _dynamic_control.acquire_dynamic_control_interface()

# Get a handle to the Franka articulation
# This handle will automatically update if simulation is stopped and restarted
art = dc.get_articulation("/Franka")

# Get information about the structure of the articulation
num_joints = dc.get_articulation_joint_count(art)
num_dofs = dc.get_articulation_dof_count(art)
num_bodies = dc.get_articulation_body_count(art)

# Get a specific degree of freedom on an articulation
dof_ptr = dc.find_articulation_dof(art, "panda_joint2")

dof_state = dc.get_dof_state(dof_ptr)
# print position for the degree of freedom
print(dof_state.pos)

# This should be called each frame of simulation if state on the articulation is being changed.
dc.wake_up_articulation(art)
dc.set_dof_position_target(dof_ptr, -1.5)

Acquiring Extension Interface

_dynamic_control.acquire_dynamic_control_interface(plugin_name: str = None, library_path: str = None) → omni::isaac::dynamic_control::DynamicControl: Acquire dynamic control interface. This is the base object that all of the dynamic control functions are defined on

_dynamic_control.release_dynamic_control_interface(arg0: omni::isaac::dynamic_control::DynamicControl) → None: Release dynamic control interface. Generally this does not need to be called, the dynamic control interface is released on extension shutdown

Dynamic Control API

class DynamicControl

The following functions are provided on the dynamic control interface

apply_body_force(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: carb._carb.Float3, arg2: carb._carb.Float3, arg3: bool) → bool: Apply a force to a rigid body at a position, coordinates can be specified in global or local coordinates

apply_body_torque(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: carb._carb.Float3, arg2: bool) → bool: Apply a torque to a rigid body, can be specified in global or local coordinates

create_d6_joint(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: omni.isaac.dynamic_control._dynamic_control.D6JointProperties) → int: Create a D6 joint

create_rigid_body_attractor(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: omni.isaac.dynamic_control._dynamic_control.AttractorProperties) → int: Greate an attractor for ridig body

destroy_d6_joint(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → bool: Destroy D6 joint

destroy_rigid_body_attractor(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → bool: Destroy attractor

find_articulation_body(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: str) → int: Finds actor rigid body given its name

find_articulation_body_index(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: str) → int: Find index in articulation body array, -1 on error

find_articulation_dof(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: str) → int: Finds actor degree-of-freedom given its name

find_articulation_dof_index(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: str) → int: get index in articulation DOF array, -1 on error

find_articulation_joint(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: str) → int: Get the joint from an atriculation given their name

get_articulation(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: str) → int

Returns: Handle to the articulation, INVALID_HANDLE otherwise
Return type: handle

get_articulation_body(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: int) → int: Gets actor rigid body given its index

get_articulation_body_count(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int: Gets number of rigid bodies for an actor

get_articulation_body_states(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: int) → object: Get array of an actor’s rigid body states

get_articulation_dof(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: int) → int: Gets actor degree-of-freedom given its index

get_articulation_dof_count(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int: Gets number of degrees-of-freedom for an actor

get_articulation_dof_efforts(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → object: Get array of efforts for articulation

get_articulation_dof_masses(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → object: Get array of an actor’s degree-of-freedom effective masses

get_articulation_dof_position_targets(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → object: Get array of position targets for articulation

get_articulation_dof_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → object: Get array of an actor’s degree-of-freedom properties

get_articulation_dof_states(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: int) → object: Get array of an actor’s degree-of-freedom states

get_articulation_dof_velocity_targets(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → object: Get array of velocity targets for articulation

get_articulation_joint(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: int) → int: Gets the joint from an articulation given an index

get_articulation_joint_count(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int: Get the number of joints in an articulation

get_articulation_name(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → str

Returns: The name of the articulation
Return type: string

get_articulation_path(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → str

Returns: The path to the articulation
Return type: string

get_articulation_properties(*args, **kwargs)

Overloaded function.

get_articulation_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: omni.isaac.dynamic_control._dynamic_control.ArticulationProperties) -> bool

Get Properties for an articulation

get_articulation_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) -> object

Get Properties for an articulation

get_articulation_root_body(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int: Get the root rigid body of an actor

get_attractor_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → object: Get properties for attractor

get_d6_joint(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: str) → int

Returns: Handle to the d6 joint, INVALID_HANDLE otherwise
Return type: handle

get_dof(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: str) → int

Returns: Handle to the degree of freedom, INVALID_HANDLE otherwise
Return type: handle

get_dof_child_body(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int: Get child rigid body for degree of freedom

get_dof_effort(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → float: Get effort applied to degree of freedom

get_dof_joint(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int: Get joint associated with the degree of freedom

get_dof_name(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → str: Get Name of this degree of freedom

get_dof_parent_body(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int: Get parent rigid body for degree of freedom

get_dof_path(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → str: Get path to degree of freedom

get_dof_position(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → float: Get position/rotation for this degree of freedom

get_dof_position_target(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → float: Get position target for degree of freedom

get_dof_properties(*args, **kwargs)

Overloaded function.

get_dof_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: omni.isaac.dynamic_control._dynamic_control.DofProperties) -> bool

Get degree of freedom properties

get_dof_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) -> object

Get degree of freedom properties

get_dof_state(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: int) → omni.isaac.dynamic_control._dynamic_control.DofState: Get current state for degree of freedom

get_dof_type(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → omni.isaac.dynamic_control._dynamic_control.DofType: Get type of degree of freedom

get_dof_velocity(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → float: Get linear/angular velocity of degree of freedom

get_dof_velocity_target(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → float: Get velocity target for degree of freedom

get_joint(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: str) → int

Returns: Handle to the joint, INVALID_HANDLE otherwise
Return type: handle

get_joint_child_body(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int: Get child rigid body for joint

get_joint_dof(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: int) → int: Get a degree of freedom for joint give its index

get_joint_dof_count(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int: Get number of degrees of freedon constrained by joint

get_joint_name(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → str: Get name of joint

get_joint_parent_body(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int: Get parent rigid body for joint

get_joint_path(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → str: Get path for joint

get_joint_type(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → omni.isaac.dynamic_control._dynamic_control.JointType: Get joint type

get_object(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: str) → int

Returns: Handle to the physics object defined by the usd path, INVALID_HANDLE otherwise
Return type: handle

get_object_type(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → omni.isaac.dynamic_control._dynamic_control.ObjectType

Returns:: omni.isaac.dynamic_control._dynamic_control.ObjectType: Type of object returned by get_object

get_object_type_name(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → str

Returns: The object type name as a string
Return type: string

get_relative_body_poses(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: List[int]) → List[omni.isaac.dynamic_control._dynamic_control.Transform]: given a list of body handles, return poses relative to the parent

get_rigid_body(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: str) → int

Returns: Handle to the rigid body, INVALID_HANDLE otherwise
Return type: handle

get_rigid_body_angular_velocity(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → carb._carb.Float3: Get the angular velocity of this rigid body

get_rigid_body_child_joint(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: int) → int: Get the child joint of a rigid body given its index

get_rigid_body_child_joint_count(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int: Gets the number of joints that are children to this rigid body

get_rigid_body_linear_velocity(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → carb._carb.Float3: Get the linear velocity of this rigid body in global coordinates

get_rigid_body_local_linear_velocity(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → carb._carb.Float3: Get the linear velocity of this rigid body in local coordinates

get_rigid_body_name(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → str: Gets the rigid body name given a handle

get_rigid_body_parent_joint(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int: Gets parent joint to a rigid body

get_rigid_body_path(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → str: Gets the path to a rigid body given its handle

get_rigid_body_pose(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → omni.isaac.dynamic_control._dynamic_control.Transform: Get the pose of a rigid body

get_rigid_body_properties(*args, **kwargs)

Overloaded function.

get_rigid_body_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: omni.isaac.dynamic_control._dynamic_control.RigidBodyProperties) -> bool

Get Properties for a rigid body

get_rigid_body_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) -> object

Get Properties for a rigid body

is_simulating(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl) → bool

Returns: True if simulating, False otherwise
Return type: bool

peek_object_type(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: str) → omni.isaac.dynamic_control._dynamic_control.ObjectType

Returns: The object type name as a string
Return type: string

set_articulation_dof_efforts(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: numpy.ndarray[numpy.float32]) → bool: Sets efforts on an actor’s degrees-of-freedom.

set_articulation_dof_position_targets(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: numpy.ndarray[numpy.float32]) → bool: Sets an actor’s degree-of-freedom position targets.

set_articulation_dof_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: numpy.ndarray[omni.isaac.dynamic_control._dynamic_control.DofProperties]) → bool: Sets properties for an actor’s degrees-of-freedom.

set_articulation_dof_states(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: numpy.ndarray[omni.isaac.dynamic_control._dynamic_control.DofState], arg2: int) → bool: Sets states for an actor’s degrees-of-freedom.

set_articulation_dof_velocity_targets(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: numpy.ndarray[numpy.float32]) → bool: Sets an actor’s degree-of-freedom velocity targets.

set_articulation_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: omni.isaac.dynamic_control._dynamic_control.ArticulationProperties) → bool: Sets properties for articulation

set_attractor_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: omni.isaac.dynamic_control._dynamic_control.AttractorProperties) → bool: Set properties for this attractor

set_attractor_target(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: omni.isaac.dynamic_control._dynamic_control.Transform) → bool: Set target pose for attractor

set_d6_joint_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: omni.isaac.dynamic_control._dynamic_control.D6JointProperties) → bool: Modifies properties of the selected joint.

set_dof_effort(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: float) → bool: Set effort on degree of freedom

set_dof_position(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: float) → bool: Set position/rotation for this degree of freedom

set_dof_position_target(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: float) → bool: Set position target for degree of freedom

set_dof_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: omni.isaac.dynamic_control._dynamic_control.DofProperties) → bool: Set degree of freedom properties

set_dof_state(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: omni.isaac.dynamic_control._dynamic_control.DofState, arg2: int) → bool: Set degree of freedom state

set_dof_velocity(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: float) → bool: Set linear angular velocity of degree of freedom

set_dof_velocity_target(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: float) → bool: Set velocity target for degree of freedom

set_origin_offset(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: carb._carb.Float3) → bool: Offset origin for a rigid body

set_rigid_body_angular_velocity(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: carb._carb.Float3) → bool: Set the angular velocity of this rigid body

set_rigid_body_disable_gravity(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: bool) → bool: enables or disables the force of gravity from the given body

set_rigid_body_disable_simulation(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: bool) → bool: enables or disables Simulation of a given rigid body

set_rigid_body_linear_velocity(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: carb._carb.Float3) → bool: Set the linear velocity of the rigid body

set_rigid_body_pose(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: omni.isaac.dynamic_control._dynamic_control.Transform) → bool: Set the pose of a rigid body

set_rigid_body_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: omni.isaac.dynamic_control._dynamic_control.RigidBodyProperties) → bool: Set Properties for a rigid body

sleep_articulation(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → bool: Put articulation to sleep

sleep_rigid_body(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → bool: Put rigid body to sleep

wake_up_articulation(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → bool: Enable physics for a articulation

wake_up_rigid_body(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → bool: Enable physics for a rigid body

Transform and Velocity

class Transform

Bases: pybind11_builtins.pybind11_object

Represents a 3D transform in the system

dtype = dtype([('p', [('x', '<f4'), ('y', '<f4'), ('z', '<f4')]), ('r', [('x', '<f4'), ('y', '<f4'), ('z', '<f4'), ('w', '<f4')])])

static from_buffer(arg0: buffer) → object: assign a transform from an array of 7 values [p.x, p.y, p.z, r.x, r.y, r.z, r.w]

property p: Position as a tuple of (x,y,z) (carb._carb.Float3)

property r: Rotation Quaternion, represented in the format \(x\hat{i} + y\hat{j} + z\hat{k} + w\) (carb._carb.Float4)

class Velocity

Bases: pybind11_builtins.pybind11_object

Linear and angular velocity

property angular: Angular 3D velocity as a tuple (x,y,z), (carb._carb.Float3)

dtype = dtype([('linear', [('x', '<f4'), ('y', '<f4'), ('z', '<f4')]), ('angular', [('x', '<f4'), ('y', '<f4'), ('z', '<f4')])])

property linear: Linear 3D velocity as a tuple (x,y,z) , (carb._carb.Float3)

Types

class ObjectType

Bases: pybind11_builtins.pybind11_object

Types of Objects

Members:

OBJECT_NONE : Invalid/unknown/uninitialized object type

OBJECT_RIGIDBODY : The object is a rigid body or a link on an articulation

OBJECT_JOINT : The object is a joint

OBJECT_DOF : The object is a degree of freedon

OBJECT_ARTICULATION : The object is an articulation

OBJECT_ATTRACTOR : The object is an attractor

OBJECT_D6JOINT : The object is a generic D6 joint

class DofType

Bases: pybind11_builtins.pybind11_object

Types of degree of freedom

Members:

DOF_NONE : invalid/unknown/uninitialized DOF type

DOF_ROTATION : The degrees of freedom correspond to a rotation between bodies

DOF_TRANSLATION : The degrees of freedom correspond to a translation between bodies.

class JointType

Bases: pybind11_builtins.pybind11_object

Joint Types that can be specified

Members:

JOINT_NONE : invalid/unknown/uninitialized joint type

JOINT_FIXED : Fixed Joint

JOINT_REVOLUTE : Revolute Joint

JOINT_PRISMATIC : Prismatic Joint

JOINT_SPHERICAL : Spherical Joint

class DriveMode

Bases: pybind11_builtins.pybind11_object

DOF drive mode

Members:

DRIVE_FORCE : Use Force Based Drive Controller

DRIVE_ACCELERATION : Use Acceleration Based Drive Controller

Properties

class ArticulationProperties

Bases: pybind11_builtins.pybind11_object

Articulation Properties

property enable_self_collisions: Allow links in articulation to collide with each other (bool)

property solver_position_iteration_count: Position solver iterations (int)

property solver_velocity_iteration_count: Velocity solver iterations (int)

class RigidBodyProperties

Bases: pybind11_builtins.pybind11_object

Rigid Body Properties

property cMassLocalPose: Local center of mass position (carb._carb.Float3)

property mass: Mass of rigid body (float)

property max_contact_impulse: Sets a limit on the impulse that may be applied at a contact. (float)

property max_depeneration_velocity: This value controls how much velocity the solver can introduce to correct for penetrations in contacts. (float)

property moment: Diagonal moment of inertia (carb._carb.Float3)

property solver_position_iteration_count: Position solver iterations (int)

property solver_velocity_iteration_count: Velocity solver iterations (int)

class DofProperties

Bases: pybind11_builtins.pybind11_object

Properties of a degree-of-freedom (DOF)

property damping: Damping of DOF (float)

property drive_mode: Drive mode for the DOF (omni.isaac.dynamic_control._dynamic_control.DriveMode)

property has_limits: Flags whether the DOF has limits (read only) (bool)

property lower: lower limit of DOF. In radians or meters (read only) (float)

property max_effort: Maximum effort of DOF. in N or N*stage_units (float)

property max_velocity: Maximum velocity of DOF. In Radians/s, or stage_units/s (float)

property stiffness: Stiffness of DOF (float)

property type: Type of joint (read only) (omni.isaac.dynamic_control._dynamic_control.DofType)

property upper: upper limit of DOF. In radians or meters (read only) (float)

class AttractorProperties

Bases: pybind11_builtins.pybind11_object

The Attractor is used to pull a rigid body towards a pose. Each pose axis can be individually selected.

property axes: Axes to set the attractor, using DcAxisFlags. Multiple axes can be selected using bitwise combination of each axis flag. if axis flag is set to zero, the attractor will be disabled and won’t impact in solver computational complexity.

property body: Rigid body to set the attractor to

property damping: Damping to be used on attraction solver. (float)

property force_limit: Maximum force to be applied by drive. (float)

property offset: Offset from rigid body origin to set the attractor pose. (omni.isaac.dynamic_control._dynamic_control.Transform)

property stiffness: Stiffness to be used on attraction for solver. Stiffness value should be larger than the largest agent kinematic chain stifness (float)

property target: Target pose to attract to. (omni.isaac.dynamic_control._dynamic_control.Transform)

class D6JointProperties

Bases: pybind11_builtins.pybind11_object

Creates a general D6 Joint between two rigid Bodies.

property axes: Axes to set the attractor, using DcAxisFlags. Multiple axes can be selected using bitwise combination of each axis flag. if axis flag is set to zero, the attractor will be disabled and won’t impact in solver computational complexity.

property body0: parent body

property body1: child body

property damping: Joint Damping. (float)

property force_limit: Joint Breaking Force. (float)

property name: Joint Name (str)

property pose0: Transform from body 0 to joint. (omni.isaac.dynamic_control._dynamic_control.Transform)

property pose1: Transform from body 1 to joint. (omni.isaac.dynamic_control._dynamic_control.Transform)

property stiffness: Joint Stiffness. Stiffness value should be larger than the largest agent kinematic chain stifness (float)

property torque_limit: Joint Breaking torque. (float)

States

class RigidBodyState

Bases: pybind11_builtins.pybind11_object

Containing states to get/set for a rigid body in the simulation

dtype = dtype([('pose', [('p', [('x', '<f4'), ('y', '<f4'), ('z', '<f4')]), ('r', [('x', '<f4'), ('y', '<f4'), ('z', '<f4'), ('w', '<f4')])]), ('vel', [('linear', [('x', '<f4'), ('y', '<f4'), ('z', '<f4')]), ('angular', [('x', '<f4'), ('y', '<f4'), ('z', '<f4')])])])

property pose: Transform with position and orientation of rigid body (omni.isaac.dynamic_control._dynamic_control.Transform)

property vel: Linear and angular velocities of rigid body (omni.isaac.dynamic_control._dynamic_control.Velocity)

class DofState

Bases: pybind11_builtins.pybind11_object

States of a Degree of Freedom in the Asset architecture

dtype = dtype([('pos', '<f4'), ('vel', '<f4'), ('effort', '<f4')])

property effort: DOF effort due to gravity, torque if it’s a revolute DOF, or force if it’s a prismatic DOF (float)

property pos: DOF position, in radians if it’s a revolute DOF, or stage_units (m, cm, etc), if it’s a prismatic DOF (float)

property vel: DOF velocity, in radians/s if it’s a revolute DOF, or stage_units/s (m/s, cm/s, etc), if it’s a prismatic DOF (float)

Constants

Object handles

_dynamic_control.INVALID_HANDLE = 0

State Flags

_dynamic_control.STATE_NONE = 0

_dynamic_control.STATE_POS = 1

_dynamic_control.STATE_VEL = 2

_dynamic_control.STATE_EFFORT = 4

_dynamic_control.STATE_ALL = 7

Axis Flags

_dynamic_control.AXIS_NONE = 0

_dynamic_control.AXIS_X = 1

_dynamic_control.AXIS_Y = 2

_dynamic_control.AXIS_Z = 4

_dynamic_control.AXIS_TWIST = 8

_dynamic_control.AXIS_SWING_1 = 16

_dynamic_control.AXIS_SWING_2 = 32

_dynamic_control.AXIS_ALL_TRANSLATION = 7

_dynamic_control.AXIS_ALL_ROTATION = 56

_dynamic_control.AXIS_ALL = 63