Isaac Sensor Extension [omni.isaac.sensor]

The Isaac Sensor Extension provides a set of simulated physics based sensors like contact sensor, inertial measurement unit (IMU) sensor, effort sensor, RTX lidar, and interfaces to access them in the simulator

Contact Sensor

class ContactSensor(prim_path: str, name: Optional[str] = 'contact_sensor', frequency: Optional[int] = None, dt: Optional[float] = None, translation: Optional[numpy.ndarray] = None, position: Optional[numpy.ndarray] = None, min_threshold: Optional[float] = None, max_threshold: Optional[float] = None, radius: Optional[float] = None)

add_raw_contact_data_to_frame() → None

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

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.

Example:

>>> from omni.isaac.core.materials import OmniGlass
>>>
>>> # create a dark-red glass visual material
>>> material = OmniGlass(
...     prim_path="/World/material/glass",  # path to the material prim to create
...     ior=1.25,
...     depth=0.001,
...     thin_walled=False,
...     color=np.array([0.5, 0.0, 0.0])
... )
>>> prim.apply_visual_material(material)

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

Return 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

Example:

>>> # given a visual material applied
>>> prim.get_applied_visual_material()
<omni.isaac.core.materials.omni_glass.OmniGlass object at 0x7f36263106a0>

get_current_frame() → None

get_default_state() → omni.isaac.core.utils.types.XFormPrimState

Get the default prim states (spatial position and orientation).

Returns

an object that contains the default state of the prim (position and orientation)

Return type

XFormPrimState

Example:

>>> state = prim.get_default_state()
>>> state
<omni.isaac.core.utils.types.XFormPrimState object at 0x7f33addda650>
>>>
>>> state.position
[-4.5299529e-08 -1.8347054e-09 -2.8610229e-08]
>>> state.orientation
[1. 0. 0. 0.]

get_dt() → float

get_frequency() → int

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

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

Returns

first index is the position in the local frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the local frame

Return type

Tuple[np.ndarray, np.ndarray]

Example:

>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame
>>> position, orientation = prim.get_local_pose()
>>> position
[0. 0. 0.]
>>> orientation
[0. 0. 0.]

get_local_scale() → numpy.ndarray

Get 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

Example:

>>> prim.get_local_scale()
[1. 1. 1.]

get_max_threshold() → float

get_min_threshold() → float

get_radius() → float

get_visibility() → bool

Returns

true if the prim is visible in stage. false otherwise.

Return type

bool

Example:

>>> # get the visible state of an visible prim on the stage
>>> prim.get_visibility()
True

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

Get prim’s pose with respect to the world’s frame

Returns

first index is the position in the world frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the world frame

Return type

Tuple[np.ndarray, np.ndarray]

Example:

>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame
>>> position, orientation = prim.get_world_pose()
>>> position
[1.  0.5 0. ]
>>> orientation
[1. 0. 0. 0.]

get_world_scale() → numpy.ndarray

Get 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

Example:

>>> prim.get_world_scale()
[1. 1. 1.]

initialize(physics_sim_view=None) → None

Create a physics simulation view if not passed and using PhysX tensor API

Note

If the prim has been added to the world scene (e.g., world.scene.add(prim)), it will be automatically initialized when the world is reset (e.g., world.reset()).

Parameters

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

Example:

>>> prim.initialize()

is_paused() → bool

is_valid() → bool

Check if the prim path has a valid USD Prim at it

Returns

True is the current prim path corresponds to a valid prim in stage. False otherwise.

Return type

bool

Example:

>>> # given an existing and valid prim
>>> prims.is_valid()
True

is_visual_material_applied() → bool

Check if there is a visual material applied

Returns

True if there is a visual material applied. False otherwise.

Return type

bool

Example:

>>> # given a visual material applied
>>> prim.is_visual_material_applied()
True

property name: Optional[str]

Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool

Used to query if the prim is a non root articulation link

Returns

True if the prim itself is a non root link

Return type

bool

Example:

>>> # for a wrapped articulation (where the root prim has the Physics Articulation Root property applied)
>>> prim.non_root_articulation_link
False

pause() → None

post_reset() → None

Reset the prim to its default state (position and orientation).

Note

For an articulation, in addition to configuring the root prim’s default position and spatial orientation (defined via the set_default_state method), the joint’s positions, velocities, and efforts (defined via the set_joints_default_state method) are imposed

Example:

>>> prim.post_reset()

property prim: pxr.Usd.Prim

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str

Returns: str: prim path in the stage

remove_raw_contact_data_from_frame() → None

resume() → None

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

Set 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.

Example:

>>> # configure default state
>>> prim.set_default_state(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1, 0, 0, 0]))
>>>
>>> # set default states during post-reset
>>> prim.post_reset()

set_dt(value: float) → None

set_frequency(value: float) → None

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

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

Warning

This method will change (teleport) the prim pose immediately to the indicated value

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 local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

Hint

This method belongs to the methods used to set the prim state

Example:

>>> prim.set_local_pose(translation=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))

set_local_scale(scale: Optional[Sequence[float]]) → None

Set 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.

Example:

>>> # scale prim 10 times smaller
>>> prim.set_local_scale(np.array([0.1, 0.1, 0.1]))

set_max_threshold(value: float) → None

set_min_threshold(value: float) → None

set_radius(value: float) → None

set_visibility(visible: bool) → None

Set the visibility of the prim in stage

Parameters

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

Example:

>>> # make prim not visible in the stage
>>> prim.set_visibility(visible=False)

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

Ses prim’s pose with respect to the world’s frame

Warning

This method will change (teleport) the prim pose immediately to the indicated value

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.

Hint

This method belongs to the methods used to set the prim state

Example:

>>> prim.set_world_pose(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))

IMU sensor

class IMUSensor(prim_path: str, name: Optional[str] = 'imu_sensor', frequency: Optional[int] = None, dt: Optional[float] = None, translation: Optional[numpy.ndarray] = None, position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, linear_acceleration_filter_size: Optional[int] = 1, angular_velocity_filter_size: Optional[int] = 1, orientation_filter_size: Optional[int] = 1)

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

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.

Example:

>>> from omni.isaac.core.materials import OmniGlass
>>>
>>> # create a dark-red glass visual material
>>> material = OmniGlass(
...     prim_path="/World/material/glass",  # path to the material prim to create
...     ior=1.25,
...     depth=0.001,
...     thin_walled=False,
...     color=np.array([0.5, 0.0, 0.0])
... )
>>> prim.apply_visual_material(material)

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

Return 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

Example:

>>> # given a visual material applied
>>> prim.get_applied_visual_material()
<omni.isaac.core.materials.omni_glass.OmniGlass object at 0x7f36263106a0>

get_current_frame(read_gravity=True) → dict

get_default_state() → omni.isaac.core.utils.types.XFormPrimState

Get the default prim states (spatial position and orientation).

Returns

an object that contains the default state of the prim (position and orientation)

Return type

XFormPrimState

Example:

>>> state = prim.get_default_state()
>>> state
<omni.isaac.core.utils.types.XFormPrimState object at 0x7f33addda650>
>>>
>>> state.position
[-4.5299529e-08 -1.8347054e-09 -2.8610229e-08]
>>> state.orientation
[1. 0. 0. 0.]

get_dt() → float

get_frequency() → int

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

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

Returns

first index is the position in the local frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the local frame

Return type

Tuple[np.ndarray, np.ndarray]

Example:

>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame
>>> position, orientation = prim.get_local_pose()
>>> position
[0. 0. 0.]
>>> orientation
[0. 0. 0.]

get_local_scale() → numpy.ndarray

Get 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

Example:

>>> prim.get_local_scale()
[1. 1. 1.]

get_visibility() → bool

Returns

true if the prim is visible in stage. false otherwise.

Return type

bool

Example:

>>> # get the visible state of an visible prim on the stage
>>> prim.get_visibility()
True

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

Get prim’s pose with respect to the world’s frame

Returns

first index is the position in the world frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the world frame

Return type

Tuple[np.ndarray, np.ndarray]

Example:

>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame
>>> position, orientation = prim.get_world_pose()
>>> position
[1.  0.5 0. ]
>>> orientation
[1. 0. 0. 0.]

get_world_scale() → numpy.ndarray

Get 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

Example:

>>> prim.get_world_scale()
[1. 1. 1.]

initialize(physics_sim_view=None) → None

Create a physics simulation view if not passed and using PhysX tensor API

Note

If the prim has been added to the world scene (e.g., world.scene.add(prim)), it will be automatically initialized when the world is reset (e.g., world.reset()).

Parameters

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

Example:

>>> prim.initialize()

is_paused() → bool

is_valid() → bool

Check if the prim path has a valid USD Prim at it

Returns

True is the current prim path corresponds to a valid prim in stage. False otherwise.

Return type

bool

Example:

>>> # given an existing and valid prim
>>> prims.is_valid()
True

is_visual_material_applied() → bool

Check if there is a visual material applied

Returns

True if there is a visual material applied. False otherwise.

Return type

bool

Example:

>>> # given a visual material applied
>>> prim.is_visual_material_applied()
True

property name: Optional[str]

Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool

Used to query if the prim is a non root articulation link

Returns

True if the prim itself is a non root link

Return type

bool

Example:

>>> # for a wrapped articulation (where the root prim has the Physics Articulation Root property applied)
>>> prim.non_root_articulation_link
False

pause() → None

post_reset() → None

Reset the prim to its default state (position and orientation).

Note

For an articulation, in addition to configuring the root prim’s default position and spatial orientation (defined via the set_default_state method), the joint’s positions, velocities, and efforts (defined via the set_joints_default_state method) are imposed

Example:

>>> prim.post_reset()

property prim: pxr.Usd.Prim

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str

Returns: str: prim path in the stage

resume() → None

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

Set 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.

Example:

>>> # configure default state
>>> prim.set_default_state(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1, 0, 0, 0]))
>>>
>>> # set default states during post-reset
>>> prim.post_reset()

set_dt(value: float) → None

set_frequency(value: int) → None

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

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

Warning

This method will change (teleport) the prim pose immediately to the indicated value

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 local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

Hint

This method belongs to the methods used to set the prim state

Example:

>>> prim.set_local_pose(translation=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))

set_local_scale(scale: Optional[Sequence[float]]) → None

Set 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.

Example:

>>> # scale prim 10 times smaller
>>> prim.set_local_scale(np.array([0.1, 0.1, 0.1]))

set_visibility(visible: bool) → None

Set the visibility of the prim in stage

Parameters

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

Example:

>>> # make prim not visible in the stage
>>> prim.set_visibility(visible=False)

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

Ses prim’s pose with respect to the world’s frame

Warning

This method will change (teleport) the prim pose immediately to the indicated value

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.

Hint

This method belongs to the methods used to set the prim state

Example:

>>> prim.set_world_pose(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))

Effort sensor

class EffortSensor(prim_path: str, sensor_period: float = - 1, use_latest_data: bool = False, enabled: bool = True)

apply_action(control_actions: omni.isaac.core.utils.types.ArticulationAction) → None

Apply joint positions, velocities and/or efforts to control an articulation

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.

Hint

High stiffness makes the joints snap faster and harder to the desired target, and higher damping smoothes but also slows down the joint’s movement to target

• For position control, set relatively high stiffness and low damping (to reduce vibrations)

• For velocity control, stiffness must be set to zero with a non-zero damping

• For effort control, stiffness and damping must be set to zero

Example:

>>> from omni.isaac.core.utils.types import ArticulationAction
>>>
>>> # move all the robot joints to the indicated position
>>> action = ArticulationAction(joint_positions=np.array([0.0, -1.0, 0.0, -2.2, 0.0, 2.4, 0.8, 0.04, 0.04]))
>>> prim.apply_action(action)
>>>
>>> # close the robot fingers: panda_finger_joint1 (7) and panda_finger_joint2 (8) to 0.0
>>> action = ArticulationAction(joint_positions=np.array([0.0, 0.0]), joint_indices=np.array([7, 8]))
>>> prim.apply_action(action)

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

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.

Example:

>>> from omni.isaac.core.materials import OmniGlass
>>>
>>> # create a dark-red glass visual material
>>> material = OmniGlass(
...     prim_path="/World/material/glass",  # path to the material prim to create
...     ior=1.25,
...     depth=0.001,
...     thin_walled=False,
...     color=np.array([0.5, 0.0, 0.0])
... )
>>> prim.apply_visual_material(material)

change_buffer_size(new_buffer_size: int) → None

disable_gravity() → None

Keep gravity from affecting the robot

Example:

>>> prim.disable_gravity()

property dof_names: List[str]

List of prim names for each DOF.

Returns

prim names

Return type

list(string)

Example:

>>> prim.dof_names
['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5',
 'panda_joint6', 'panda_joint7', 'panda_finger_joint1', 'panda_finger_joint2']

property dof_properties: numpy.ndarray

Articulation DOF properties

DOF properties

Index	Property name	Description
0	type	DOF type: invalid/unknown/uninitialized (0), rotation (1), translation (2)
1	hasLimits	Whether the DOF has limits
2	lower	Lower DOF limit (in radians or meters)
3	upper	Upper DOF limit (in radians or meters)
4	driveMode	Drive mode for the DOF: force (1), acceleration (2)
5	maxVelocity	Maximum DOF velocity. In radians/s, or stage_units/s
6	maxEffort	Maximum DOF effort. In N or N*stage_units
7	stiffness	DOF stiffness
8	damping	DOF damping

Returns

named NumPy array of shape (num_dof, 9)

Return type

np.ndarray

Example:

>>> # get properties for all DOFs
>>> prim.dof_properties
[(1,  True, -2.8973,  2.8973, 1, 1.0000000e+01, 5220., 60000., 3000.)
 (1,  True, -1.7628,  1.7628, 1, 1.0000000e+01, 5220., 60000., 3000.)
 (1,  True, -2.8973,  2.8973, 1, 5.9390470e+36, 5220., 60000., 3000.)
 (1,  True, -3.0718, -0.0698, 1, 5.9390470e+36, 5220., 60000., 3000.)
 (1,  True, -2.8973,  2.8973, 1, 5.9390470e+36,  720., 25000., 3000.)
 (1,  True, -0.0175,  3.7525, 1, 5.9390470e+36,  720., 15000., 3000.)
 (1,  True, -2.8973,  2.8973, 1, 1.0000000e+01,  720.,  5000., 3000.)
 (2,  True,  0.    ,  0.04  , 1, 3.4028235e+38,  720.,  6000., 1000.)
 (2,  True,  0.    ,  0.04  , 1, 3.4028235e+38,  720.,  6000., 1000.)]
>>>
>>> # property names
>>> prim.dof_properties.dtype.names
('type', 'hasLimits', 'lower', 'upper', 'driveMode', 'maxVelocity', 'maxEffort', 'stiffness', 'damping')
>>>
>>> # get DOF upper limits
>>> prim.dof_properties["upper"]
[ 2.8973  1.7628  2.8973 -0.0698  2.8973  3.7525  2.8973  0.04    0.04  ]
>>>
>>> # get the last DOF (panda_finger_joint2) upper limit
>>> prim.dof_properties["upper"][8]  # or prim.dof_properties[8][3]
0.04

enable_gravity() → None

Gravity will affect the robot

Example:

>>> prim.enable_gravity()

get_angular_velocity() → numpy.ndarray

Get the angular velocity of the root articulation prim

Returns

3D angular velocity vector. Shape (3,)

Return type

np.ndarray

Example:

>>> prim.get_angular_velocity()
[0. 0. 0.]

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

Get the last applied action

Returns

last applied action. Note: a dictionary is used as the object’s string representation

Return type

ArticulationAction

Example:

>>> # last applied action: joint_positions -> [0.0, -1.0, 0.0, -2.2, 0.0, 2.4, 0.8, 0.04, 0.04]
>>> prim.get_applied_action()
{'joint_positions': [0.0, -1.0, 0.0, -2.200000047683716, 0.0, 2.4000000953674316,
                     0.800000011920929, 0.03999999910593033, 0.03999999910593033],
 'joint_velocities': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
 'joint_efforts': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}

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

Get the efforts applied to the joints set by the set_joint_efforts method

Parameters

joint_indices (Optional[Union[List, np.ndarray]], optional) – indices to specify which joints to read. Defaults to None (all joints)

Raises

Exception – If the handlers are not initialized

Returns

all or selected articulation joint applied efforts

Return type

np.ndarray

Example:

>>> # get all applied joint efforts
>>> prim.get_applied_joint_efforts()
[ 0.  0.  0.  0.  0.  0.  0.  0.  0.]
>>>
>>> # get finger applied efforts: panda_finger_joint1 (7) and panda_finger_joint2 (8)
>>> prim.get_applied_joint_efforts(joint_indices=np.array([7, 8]))
[0.  0.]

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

Return 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

Example:

>>> # given a visual material applied
>>> prim.get_applied_visual_material()
<omni.isaac.core.materials.omni_glass.OmniGlass object at 0x7f36263106a0>

get_articulation_body_count() → int

Get the number of bodies (links) that make up the articulation

Returns

amount of bodies

Return type

int

Example:

>>> prim.get_articulation_body_count()
12

get_articulation_controller() → omni.isaac.core.controllers.articulation_controller.ArticulationController

Get the articulation controller

Note

If no articulation_controller was passed during class instantiation, a default controller of type ArticulationController (a Proportional-Derivative controller that can apply position targets, velocity targets and efforts) will be used

Returns

articulation controller

Return type

ArticulationController

Example:

>>> prim.get_articulation_controller()
<omni.isaac.core.controllers.articulation_controller.ArticulationController object at 0x7f04a0060190>

get_default_state() → omni.isaac.core.utils.types.XFormPrimState

Get the default prim states (spatial position and orientation).

Returns

an object that contains the default state of the prim (position and orientation)

Return type

XFormPrimState

Example:

>>> state = prim.get_default_state()
>>> state
<omni.isaac.core.utils.types.XFormPrimState object at 0x7f33addda650>
>>>
>>> state.position
[-4.5299529e-08 -1.8347054e-09 -2.8610229e-08]
>>> state.orientation
[1. 0. 0. 0.]

get_dof_index(dof_name: str) → int

Get a DOF index given its name

Parameters

dof_name (str) – name of the DOF

Returns

DOF index

Return type

int

Example:

>>> prim.get_dof_index("panda_finger_joint2")
8

get_enabled_self_collisions() → int

Get the enable self collisions flag (physxArticulation:enabledSelfCollisions)

Returns

self collisions flag (boolean interpreted as int)

Return type

int

Example:

>>> prim.get_enabled_self_collisions()
0

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

Get the articulation joint positions

Parameters

joint_indices (Optional[Union[List, np.ndarray]], optional) – indices to specify which joints to read. Defaults to None (all joints)

Returns

all or selected articulation joint positions

Return type

np.ndarray

Example:

>>> # get all joint positions
>>> prim.get_joint_positions()
[ 1.1999920e-02 -5.6962633e-01  1.3480479e-08 -2.8105433e+00  6.8284894e-06
  3.0301569e+00  7.3234749e-01  3.9912373e-02  3.9999999e-02]
>>>
>>> # get finger positions: panda_finger_joint1 (7) and panda_finger_joint2 (8)
>>> prim.get_joint_positions(joint_indices=np.array([7, 8]))
[0.03991237  3.9999999e-02]

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

Get the articulation joint velocities

Parameters

joint_indices (Optional[Union[List, np.ndarray]], optional) – indices to specify which joints to read. Defaults to None (all joints)

Returns

all or selected articulation joint velocities

Return type

np.ndarray

Example:

>>> # get all joint velocities
>>> prim.get_joint_velocities()
[ 1.91603772e-06 -7.67638255e-03 -2.19138826e-07  1.10636465e-02 -4.63412944e-05
  3.48245539e-02  8.84692147e-02  5.40335372e-04 1.02849208e-05]
>>>
>>> # get finger velocities: panda_finger_joint1 (7) and panda_finger_joint2 (8)
>>> prim.get_joint_velocities(joint_indices=np.array([7, 8]))
[5.4033537e-04 1.0284921e-05]

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

Get the default joint states (positions and velocities).

Returns

an object that contains the default joint positions and velocities

Return type

JointsState

Example:

>>> state = prim.get_joints_default_state()
>>> state
<omni.isaac.core.utils.types.JointsState object at 0x7f04a0061240>
>>>
>>> state.positions
[ 0.012  -0.57000005  0.  -2.81  0.  3.037  0.785398  0.04  0.04 ]
>>> state.velocities
[0. 0. 0. 0. 0. 0. 0. 0. 0.]

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

Get the current joint states (positions and velocities)

Returns

an object that contains the current joint positions and velocities

Return type

JointsState

Example:

>>> state = prim.get_joints_state()
>>> state
<omni.isaac.core.utils.types.JointsState object at 0x7f02f6df57b0>
>>>
>>> state.positions
[ 1.1999920e-02 -5.6962633e-01  1.3480479e-08 -2.8105433e+00 6.8284894e-06
  3.0301569e+00  7.3234749e-01  3.9912373e-02  3.9999999e-02]
>>> state.velocities
[ 1.91603772e-06 -7.67638255e-03 -2.19138826e-07  1.10636465e-02 -4.63412944e-05
  245539e-02  8.84692147e-02  5.40335372e-04  1.02849208e-05]

get_linear_velocity() → numpy.ndarray

Get the linear velocity of the root articulation prim

Returns

3D linear velocity vector. Shape (3,)

Return type

np.ndarray

Example:

>>> prim.get_linear_velocity()
[0. 0. 0.]

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

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

Returns

first index is the position in the local frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the local frame

Return type

Tuple[np.ndarray, np.ndarray]

Example:

>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame
>>> position, orientation = prim.get_local_pose()
>>> position
[0. 0. 0.]
>>> orientation
[0. 0. 0.]

get_local_scale() → numpy.ndarray

Get 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

Example:

>>> prim.get_local_scale()
[1. 1. 1.]

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

Returns the efforts computed/measured by the physics solver of the joint forces in the DOF motion direction

Parameters

joint_indices (Optional[Union[List, np.ndarray]], optional) – indices to specify which joints to read. Defaults to None (all joints)

Raises

Exception – If the handlers are not initialized

Returns

all or selected articulation joint measured efforts

Return type

np.ndarray

Example:

>>> # get all joint efforts
>>> prim.get_measured_joint_efforts()
[ 2.7897308e-06 -6.9083519e+00 -3.6398471e-06  1.9158335e+01 -4.3552645e-06
  1.1866090e+00 -4.7079347e-06  3.2339853e-04 -3.2044132e-04]
>>>
>>> # get finger efforts: panda_finger_joint1 (7) and panda_finger_joint2 (8)
>>> prim.get_measured_joint_efforts(joint_indices=np.array([7, 8]))
[ 0.0003234  -0.00032044]

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

Get the measured joint reaction forces and torques (link incoming joint forces and torques) to external loads

Note

Since the name->index map for joints has not been exposed yet, it is possible to access the joint names and their indices through the articulation metadata.

prim._articulation_view._metadata.joint_names  # list of names
prim._articulation_view._metadata.joint_indices  # dict of name: index

To retrieve a specific row for the link incoming joint force/torque use joint_index + 1

Parameters

joint_indices (Optional[Union[List, np.ndarray]], optional) – indices to specify which joints to read. Defaults to None (all joints)

Raises

Exception – If the handlers are not initialized

Returns

measured joint forces and torques. Shape is (num_joint + 1, 6). Row index 0 is the incoming joint of the base link. For the last dimension the first 3 values are for forces and the last 3 for torques

Return type

np.ndarray

Example:

>>> # get all measured joint forces and torques
>>> prim.get_measured_joint_forces()
[[ 0.0000000e+00  0.0000000e+00  0.0000000e+00  0.0000000e+00  0.0000000e+00  0.0000000e+00]
 [ 1.4995076e+02  4.2574748e-06  5.6364370e-04  4.8701895e-05 -6.9072924e+00  3.1881387e-05]
 [-2.8971717e-05 -1.0677823e+02 -6.8384506e+01 -6.9072924e+00 -5.4927128e-05  6.1222494e-07]
 [ 8.7120995e+01 -4.3871860e-05 -5.5795174e+01  5.3687054e-05 -2.4538563e+01  1.3333466e-05]
 [ 5.3519474e-05 -4.8109909e+01  6.0709282e+01  1.9157074e+01 -5.9258469e-05  8.2744418e-07]
 [-3.1691040e+01  2.3313689e-04  3.9990173e+01 -5.8968733e-05 -1.1863431e+00  2.2335558e-05]
 [-1.0809851e-04  1.5340537e+01 -1.5458489e+01  1.1863426e+00  6.1094368e-05 -1.5940281e-05]
 [-7.5418940e+00 -5.0814648e+00 -5.6512990e+00 -5.6385466e-05  3.8859999e-01 -3.4943256e-01]
 [ 4.7421460e+00 -3.1945827e+00  3.5528181e+00  5.5852943e-05  8.4794536e-03  7.6405057e-03]
 [ 4.0760727e+00  2.1640673e-01 -4.0513167e+00 -5.9565349e-04  1.1407082e-02  2.1432268e-06]
 [ 5.1680198e-03 -9.7754575e-02 -9.7093947e-02 -8.4155556e-12 -1.2910691e-12 -1.9347857e-11]
 [-5.1910793e-03  9.7588278e-02 -9.7106412e-02  8.4155573e-12  1.2910637e-12 -1.9347855e-11]]
>>>
>>> # get measured joint force and torque for the fingers
>>> metadata = prim._articulation_view._metadata
>>> joint_indices = 1 + np.array([
...     metadata.joint_indices["panda_finger_joint1"],
...     metadata.joint_indices["panda_finger_joint2"],
... ])
>>> joint_indices
[10 11]
>>> prim.get_measured_joint_forces(joint_indices)
[[ 5.1680198e-03 -9.7754575e-02 -9.7093947e-02 -8.4155556e-12 -1.2910691e-12 -1.9347857e-11]
 [-5.1910793e-03  9.7588278e-02 -9.7106412e-02  8.4155573e-12  1.2910637e-12 -1.9347855e-11]]

get_sensor_reading(interpolation_function=None, use_latest_data=False) → <omni.isaac.sensor.scripts.effort_sensor.EsSensorReading object at 0x7fd146e7c910>

get_sleep_threshold() → float

Get the threshold for articulations to enter a sleep state

Search for Articulations and Sleeping in PhysX docs for more details

Returns

sleep threshold

Return type

float

Example:

>>> prim.get_sleep_threshold()
0.005

get_solver_position_iteration_count() → int

Get the solver (position) iteration count for the articulation

The solver iteration count determines how accurately contacts, drives, and limits are resolved. Search for Solver Iteration Count in PhysX docs for more details.

Returns

position iteration count

Return type

int

Example:

>>> prim.get_solver_position_iteration_count()
32

get_solver_velocity_iteration_count() → int

Get the solver (velocity) iteration count for the articulation

The solver iteration count determines how accurately contacts, drives, and limits are resolved. Search for Solver Iteration Count in PhysX docs for more details.

Returns

velocity iteration count

Return type

int

Example:

>>> prim.get_solver_velocity_iteration_count()
32

get_stabilization_threshold() → float

Get the mass-normalized kinetic energy below which the articulation may participate in stabilization

Search for Stabilization Threshold in PhysX docs for more details

Returns

stabilization threshold

Return type

float

Example:

>>> prim.get_stabilization_threshold()
0.0009999999

get_visibility() → bool

Returns

true if the prim is visible in stage. false otherwise.

Return type

bool

Example:

>>> # get the visible state of an visible prim on the stage
>>> prim.get_visibility()
True

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

Get prim’s pose with respect to the world’s frame

Returns

first index is the position in the world frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the world frame

Return type

Tuple[np.ndarray, np.ndarray]

Example:

>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame
>>> position, orientation = prim.get_world_pose()
>>> position
[1.  0.5 0. ]
>>> orientation
[1. 0. 0. 0.]

get_world_scale() → numpy.ndarray

Get 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

Example:

>>> prim.get_world_scale()
[1. 1. 1.]

get_world_velocity() → numpy.ndarray

Get the articulation root velocity

Returns

current velocity of the the root prim. Shape (3,).

Return type

np.ndarray

property handles_initialized: bool

Check if articulation handler is initialized

Returns

whether the handler was initialized

Return type

bool

Example:

>>> prim.handles_initialized
True

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

Create a physics simulation view if not passed and an articulation view using PhysX tensor API

Note

If the articulation has been added to the world scene (e.g., world.scene.add(prim)), it will be automatically initialized when the world is reset (e.g., world.reset()).

Warning

This method needs to be called after each hard reset (e.g., Stop + Play on the timeline) before interacting with any other class method.

Parameters

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

Example:

>>> prim.initialize()

initialize_callbacks() → None

is_valid() → bool

Check if the prim path has a valid USD Prim at it

Returns

True is the current prim path corresponds to a valid prim in stage. False otherwise.

Return type

bool

Example:

>>> # given an existing and valid prim
>>> prims.is_valid()
True

is_visual_material_applied() → bool

Check if there is a visual material applied

Returns

True if there is a visual material applied. False otherwise.

Return type

bool

Example:

>>> # given a visual material applied
>>> prim.is_visual_material_applied()
True

lerp(start: float, end: float, time: float) → float

property name: Optional[str]

Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool

Used to query if the prim is a non root articulation link

Returns

True if the prim itself is a non root link

Return type

bool

Example:

>>> # for a wrapped articulation (where the root prim has the Physics Articulation Root property applied)
>>> prim.non_root_articulation_link
False

property num_bodies: int

Number of articulation links

Returns

number of links

Return type

int

Example:

>>> prim.num_bodies
9

property num_dof: int

Number of DOF of the articulation

Returns

amount of DOFs

Return type

int

Example:

>>> prim.num_dof
9

post_reset() → None

Reset the prim to its default state (position and orientation).

Note

For an articulation, in addition to configuring the root prim’s default position and spatial orientation (defined via the set_default_state method), the joint’s positions, velocities, and efforts (defined via the set_joints_default_state method) are imposed

Example:

>>> prim.post_reset()

property prim: pxr.Usd.Prim

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str

Returns: str: prim path in the stage

set_angular_velocity(velocity: numpy.ndarray) → None

Set the angular velocity of the root articulation prim

Warning

This method will immediately set the articulation state

Parameters

velocity (np.ndarray) – 3D angular velocity vector. Shape (3,)

Hint

This method belongs to the methods used to set the articulation kinematic state:

set_linear_velocity, set_angular_velocity, set_joint_positions, set_joint_velocities, set_joint_efforts

Example:

>>> prim.set_angular_velocity(np.array([0.1, 0.0, 0.0]))

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

Set 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.

Example:

>>> # configure default state
>>> prim.set_default_state(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1, 0, 0, 0]))
>>>
>>> # set default states during post-reset
>>> prim.post_reset()

set_enabled_self_collisions(flag: bool) → None

Set the enable self collisions flag (physxArticulation:enabledSelfCollisions)

Parameters

flag (bool) – whether to enable self collisions

Example:

>>> prim.set_enabled_self_collisions(True)

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

Set the articulation joint efforts

Note

This method can be used for effort control. For this purpose, there must be no joint drive or the stiffness and damping must be set to zero.

Parameters

• efforts (np.ndarray) – articulation joint efforts

• joint_indices (Optional[Union[list, np.ndarray]], optional) – indices to specify which joints to manipulate. Defaults to None (all joints)

Hint

This method belongs to the methods used to set the articulation kinematic state:

set_linear_velocity, set_angular_velocity, set_joint_positions, set_joint_velocities, set_joint_efforts

Example:

>>> # set all the robot joint efforts to 0.0
>>> prim.set_joint_efforts(np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]))
>>>
>>> # set only the fingers efforts: panda_finger_joint1 (7) and panda_finger_joint2 (8) to 10
>>> prim.set_joint_efforts(np.array([10, 10]), joint_indices=np.array([7, 8]))

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

Set the articulation joint positions

Warning

This method will immediately set (teleport) the affected joints to the indicated value. Use the apply_action method to control robot joints.

Parameters

• positions (np.ndarray) – articulation joint positions

• joint_indices (Optional[Union[list, np.ndarray]], optional) – indices to specify which joints to manipulate. Defaults to None (all joints)

Hint

This method belongs to the methods used to set the articulation kinematic state:

set_linear_velocity, set_angular_velocity, set_joint_positions, set_joint_velocities, set_joint_efforts

Example:

>>> # set all the robot joints
>>> prim.set_joint_positions(np.array([0.0, -1.0, 0.0, -2.2, 0.0, 2.4, 0.8, 0.04, 0.04]))
>>>
>>> # set only the fingers in closed position: panda_finger_joint1 (7) and panda_finger_joint2 (8) to 0.0
>>> prim.set_joint_positions(np.array([0.04, 0.04]), joint_indices=np.array([7, 8]))

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

Set the articulation joint velocities

Warning

This method will immediately set the affected joints to the indicated value. Use the apply_action method to control robot joints.

Parameters

• velocities (np.ndarray) – articulation joint velocities

• joint_indices (Optional[Union[list, np.ndarray]], optional) – indices to specify which joints to manipulate. Defaults to None (all joints)

Hint

This method belongs to the methods used to set the articulation kinematic state:

set_linear_velocity, set_angular_velocity, set_joint_positions, set_joint_velocities, set_joint_efforts

Example:

>>> # set all the robot joint velocities to 0.0
>>> prim.set_joint_velocities(np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]))
>>>
>>> # set only the fingers velocities: panda_finger_joint1 (7) and panda_finger_joint2 (8) to -0.01
>>> prim.set_joint_velocities(np.array([-0.01, -0.01]), joint_indices=np.array([7, 8]))

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

Set the joint default states (positions, velocities and/or efforts) to be applied after each reset.

Note

The default states will be set during post-reset (e.g., calling .post_reset() or world.reset() methods)

Parameters

• positions (Optional[np.ndarray], optional) – joint positions. Defaults to None.

• velocities (Optional[np.ndarray], optional) – joint velocities. Defaults to None.

• efforts (Optional[np.ndarray], optional) – joint efforts. Defaults to None.

Example:

>>> # configure default joint states
>>> prim.set_joints_default_state(
...     positions=np.array([0.0, -1.0, 0.0, -2.2, 0.0, 2.4, 0.8, 0.04, 0.04]),
...     velocities=np.zeros(shape=(prim.num_dof,)),
...     efforts=np.zeros(shape=(prim.num_dof,))
... )
>>>
>>> # set default states during post-reset
>>> prim.post_reset()

set_linear_velocity(velocity: numpy.ndarray) → None

Set the linear velocity of the root articulation prim

Warning

This method will immediately set the articulation state

Parameters

velocity (np.ndarray) – 3D linear velocity vector. Shape (3,).

Hint

This method belongs to the methods used to set the articulation kinematic state:

set_linear_velocity, set_angular_velocity, set_joint_positions, set_joint_velocities, set_joint_efforts

Example:

>>> prim.set_linear_velocity(np.array([0.1, 0.0, 0.0]))

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

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

Warning

This method will change (teleport) the prim pose immediately to the indicated value

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 local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

Hint

This method belongs to the methods used to set the prim state

Example:

>>> prim.set_local_pose(translation=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))

set_local_scale(scale: Optional[Sequence[float]]) → None

Set 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.

Example:

>>> # scale prim 10 times smaller
>>> prim.set_local_scale(np.array([0.1, 0.1, 0.1]))

set_sleep_threshold(threshold: float) → None

Set the threshold for articulations to enter a sleep state

Search for Articulations and Sleeping in PhysX docs for more details

Parameters

threshold (float) – sleep threshold

Example:

>>> prim.set_sleep_threshold(0.01)

set_solver_position_iteration_count(count: int) → None

Set the solver (position) iteration count for the articulation

The solver iteration count determines how accurately contacts, drives, and limits are resolved. Search for Solver Iteration Count in PhysX docs for more details.

Warning

Setting a higher number of iterations may improve the fidelity of the simulation, although it may affect its performance.

Parameters

count (int) – position iteration count

Example:

>>> prim.set_solver_position_iteration_count(64)

set_solver_velocity_iteration_count(count: int)

Set the solver (velocity) iteration count for the articulation

The solver iteration count determines how accurately contacts, drives, and limits are resolved. Search for Solver Iteration Count in PhysX docs for more details.

Warning

Setting a higher number of iterations may improve the fidelity of the simulation, although it may affect its performance.

Parameters

count (int) – velocity iteration count

Example:

>>> prim.set_solver_velocity_iteration_count(64)

set_stabilization_threshold(threshold: float) → None

Set the mass-normalized kinetic energy below which the articulation may participate in stabilization

Search for Stabilization Threshold in PhysX docs for more details

Parameters

threshold (float) – stabilization threshold

Example:

>>> prim.set_stabilization_threshold(0.005)

set_visibility(visible: bool) → None

Set the visibility of the prim in stage

Parameters

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

Example:

>>> # make prim not visible in the stage
>>> prim.set_visibility(visible=False)

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

Ses prim’s pose with respect to the world’s frame

Warning

This method will change (teleport) the prim pose immediately to the indicated value

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.

Hint

This method belongs to the methods used to set the prim state

Example:

>>> prim.set_world_pose(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))

set_world_velocity(velocity: numpy.ndarray)

Set the articulation root velocity

Parameters

velocity (np.ndarray) – linear and angular velocity to set the root prim to. Shape (6,).

update_dof_name(dof_name: str) → None

class EsSensorReading(is_valid: bool = False, time: float = 0, value: float = 0)

Lidar RTX sensor

class LidarRtx(prim_path: str, name: str = 'lidar_rtx', position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, config_file_name: Optional[str] = None, firing_frequency: Optional[int] = None, firing_dt: Optional[float] = None, rotation_frequency: Optional[int] = None, rotation_dt: Optional[float] = None, valid_range: Optional[Tuple[float, float]] = None, scan_type: Optional[str] = None, elevation_range: Optional[Tuple[float, float]] = None, range_resolution: Optional[float] = None, range_accuracy: Optional[float] = None, avg_power: Optional[float] = None, wave_length: Optional[float] = None, pulse_time: Optional[float] = None)

add_azimuth_data_to_frame()

add_azimuth_range_to_frame()

add_elevation_data_to_frame()

add_horizontal_resolution_to_frame()

add_intensities_data_to_frame()

add_linear_depth_data_to_frame()

add_point_cloud_data_to_frame()

add_range_data_to_frame()

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

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.

Example:

>>> from omni.isaac.core.materials import OmniGlass
>>>
>>> # create a dark-red glass visual material
>>> material = OmniGlass(
...     prim_path="/World/material/glass",  # path to the material prim to create
...     ior=1.25,
...     depth=0.001,
...     thin_walled=False,
...     color=np.array([0.5, 0.0, 0.0])
... )
>>> prim.apply_visual_material(material)

disable_visualization()

enable_visualization()

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

Return 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

Example:

>>> # given a visual material applied
>>> prim.get_applied_visual_material()
<omni.isaac.core.materials.omni_glass.OmniGlass object at 0x7f36263106a0>

get_azimuth_range() → Tuple[float, float]

get_current_frame() → dict

get_default_state() → omni.isaac.core.utils.types.XFormPrimState

Get the default prim states (spatial position and orientation).

Returns

an object that contains the default state of the prim (position and orientation)

Return type

XFormPrimState

Example:

>>> state = prim.get_default_state()
>>> state
<omni.isaac.core.utils.types.XFormPrimState object at 0x7f33addda650>
>>>
>>> state.position
[-4.5299529e-08 -1.8347054e-09 -2.8610229e-08]
>>> state.orientation
[1. 0. 0. 0.]

get_depth_range() → Tuple[float, float]

get_horizontal_fov() → float

get_horizontal_resolution() → float

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

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

Returns

first index is the position in the local frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the local frame

Return type

Tuple[np.ndarray, np.ndarray]

Example:

>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame
>>> position, orientation = prim.get_local_pose()
>>> position
[0. 0. 0.]
>>> orientation
[0. 0. 0.]

get_local_scale() → numpy.ndarray

Get 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

Example:

>>> prim.get_local_scale()
[1. 1. 1.]

get_num_cols() → int

get_num_rows() → int

get_render_product_path() → str

Returns

gets the path to the render product used by the lidar

Return type

string

get_rotation_frequency() → float

get_visibility() → bool

Returns

true if the prim is visible in stage. false otherwise.

Return type

bool

Example:

>>> # get the visible state of an visible prim on the stage
>>> prim.get_visibility()
True

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

Get prim’s pose with respect to the world’s frame

Returns

first index is the position in the world frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the world frame

Return type

Tuple[np.ndarray, np.ndarray]

Example:

>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame
>>> position, orientation = prim.get_world_pose()
>>> position
[1.  0.5 0. ]
>>> orientation
[1. 0. 0. 0.]

get_world_scale() → numpy.ndarray

Get 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

Example:

>>> prim.get_world_scale()
[1. 1. 1.]

initialize(physics_sim_view=None) → None

Create a physics simulation view if not passed and using PhysX tensor API

Note

If the prim has been added to the world scene (e.g., world.scene.add(prim)), it will be automatically initialized when the world is reset (e.g., world.reset()).

Parameters

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

Example:

>>> prim.initialize()

is_paused() → bool

is_valid() → bool

Check if the prim path has a valid USD Prim at it

Returns

True is the current prim path corresponds to a valid prim in stage. False otherwise.

Return type

bool

Example:

>>> # given an existing and valid prim
>>> prims.is_valid()
True

is_visual_material_applied() → bool

Check if there is a visual material applied

Returns

True if there is a visual material applied. False otherwise.

Return type

bool

Example:

>>> # given a visual material applied
>>> prim.is_visual_material_applied()
True

property name: Optional[str]

Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool

Used to query if the prim is a non root articulation link

Returns

True if the prim itself is a non root link

Return type

bool

Example:

>>> # for a wrapped articulation (where the root prim has the Physics Articulation Root property applied)
>>> prim.non_root_articulation_link
False

pause() → None

post_reset() → None

Reset the prim to its default state (position and orientation).

Note

For an articulation, in addition to configuring the root prim’s default position and spatial orientation (defined via the set_default_state method), the joint’s positions, velocities, and efforts (defined via the set_joints_default_state method) are imposed

Example:

>>> prim.post_reset()

property prim: pxr.Usd.Prim

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str

Returns: str: prim path in the stage

remove_azimuth_data_from_frame()

remove_azimuth_range_from_frame()

remove_elevation_data_from_frame()

remove_horizontal_resolution_from_frame()

remove_intensities_data_from_frame()

remove_linear_depth_data_from_frame()

remove_point_cloud_data_from_frame()

remove_range_data_from_frame()

resume() → None

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

Set 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.

Example:

>>> # configure default state
>>> prim.set_default_state(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1, 0, 0, 0]))
>>>
>>> # set default states during post-reset
>>> prim.post_reset()

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

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

Warning

This method will change (teleport) the prim pose immediately to the indicated value

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 local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

Hint

This method belongs to the methods used to set the prim state

Example:

>>> prim.set_local_pose(translation=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))

set_local_scale(scale: Optional[Sequence[float]]) → None

Set 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.

Example:

>>> # scale prim 10 times smaller
>>> prim.set_local_scale(np.array([0.1, 0.1, 0.1]))

set_visibility(visible: bool) → None

Set the visibility of the prim in stage

Parameters

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

Example:

>>> # make prim not visible in the stage
>>> prim.set_visibility(visible=False)

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

Ses prim’s pose with respect to the world’s frame

Warning

This method will change (teleport) the prim pose immediately to the indicated value

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.

Hint

This method belongs to the methods used to set the prim state

Example:

>>> prim.set_world_pose(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))

Rotating Lidar PhysX sensor

class RotatingLidarPhysX(prim_path: str, name: str = 'rotating_lidar_physX', rotation_frequency: Optional[float] = None, rotation_dt: Optional[float] = None, position: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, fov: Optional[Tuple[float, float]] = None, resolution: Optional[Tuple[float, float]] = None, valid_range: Optional[Tuple[float, float]] = None)

add_azimuth_data_to_frame() → None

add_depth_data_to_frame() → None

add_intensity_data_to_frame() → None

add_linear_depth_data_to_frame() → None

add_point_cloud_data_to_frame() → None

add_semantics_data_to_frame() → None

add_zenith_data_to_frame() → None

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

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.

Example:

>>> from omni.isaac.core.materials import OmniGlass
>>>
>>> # create a dark-red glass visual material
>>> material = OmniGlass(
...     prim_path="/World/material/glass",  # path to the material prim to create
...     ior=1.25,
...     depth=0.001,
...     thin_walled=False,
...     color=np.array([0.5, 0.0, 0.0])
... )
>>> prim.apply_visual_material(material)

disable_semantics() → None

disable_visualization() → None

enable_semantics() → None

enable_visualization(high_lod: bool = False, draw_points: bool = True, draw_lines: bool = True) → None

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

Return 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

Example:

>>> # given a visual material applied
>>> prim.get_applied_visual_material()
<omni.isaac.core.materials.omni_glass.OmniGlass object at 0x7f36263106a0>

get_current_frame() → dict

get_default_state() → omni.isaac.core.utils.types.XFormPrimState

Get the default prim states (spatial position and orientation).

Returns

an object that contains the default state of the prim (position and orientation)

Return type

XFormPrimState

Example:

>>> state = prim.get_default_state()
>>> state
<omni.isaac.core.utils.types.XFormPrimState object at 0x7f33addda650>
>>>
>>> state.position
[-4.5299529e-08 -1.8347054e-09 -2.8610229e-08]
>>> state.orientation
[1. 0. 0. 0.]

get_fov() → Tuple[float, float]

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

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

Returns

first index is the position in the local frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the local frame

Return type

Tuple[np.ndarray, np.ndarray]

Example:

>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame
>>> position, orientation = prim.get_local_pose()
>>> position
[0. 0. 0.]
>>> orientation
[0. 0. 0.]

get_local_scale() → numpy.ndarray

Get 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

Example:

>>> prim.get_local_scale()
[1. 1. 1.]

get_num_cols() → int

get_num_cols_in_last_step() → int

get_num_rows() → int

get_resolution() → float

get_rotation_frequency() → int

get_valid_range() → Tuple[float, float]

get_visibility() → bool

Returns

true if the prim is visible in stage. false otherwise.

Return type

bool

Example:

>>> # get the visible state of an visible prim on the stage
>>> prim.get_visibility()
True

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

Get prim’s pose with respect to the world’s frame

Returns

first index is the position in the world frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the world frame

Return type

Tuple[np.ndarray, np.ndarray]

Example:

>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame
>>> position, orientation = prim.get_world_pose()
>>> position
[1.  0.5 0. ]
>>> orientation
[1. 0. 0. 0.]

get_world_scale() → numpy.ndarray

Get 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

Example:

>>> prim.get_world_scale()
[1. 1. 1.]

initialize(physics_sim_view=None) → None

Create a physics simulation view if not passed and using PhysX tensor API

Note

If the prim has been added to the world scene (e.g., world.scene.add(prim)), it will be automatically initialized when the world is reset (e.g., world.reset()).

Parameters

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

Example:

>>> prim.initialize()

is_paused() → bool

is_semantics_enabled() → bool

is_valid() → bool

Check if the prim path has a valid USD Prim at it

Returns

True is the current prim path corresponds to a valid prim in stage. False otherwise.

Return type

bool

Example:

>>> # given an existing and valid prim
>>> prims.is_valid()
True

is_visual_material_applied() → bool

Check if there is a visual material applied

Returns

True if there is a visual material applied. False otherwise.

Return type

bool

Example:

>>> # given a visual material applied
>>> prim.is_visual_material_applied()
True

property name: Optional[str]

Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool

Used to query if the prim is a non root articulation link

Returns

True if the prim itself is a non root link

Return type

bool

Example:

>>> # for a wrapped articulation (where the root prim has the Physics Articulation Root property applied)
>>> prim.non_root_articulation_link
False

pause() → None

post_reset() → None

Reset the prim to its default state (position and orientation).

Note

For an articulation, in addition to configuring the root prim’s default position and spatial orientation (defined via the set_default_state method), the joint’s positions, velocities, and efforts (defined via the set_joints_default_state method) are imposed

Example:

>>> prim.post_reset()

property prim: pxr.Usd.Prim

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str

Returns: str: prim path in the stage

remove_azimuth_data_from_frame() → None

remove_depth_data_from_frame() → None

remove_intensity_data_from_frame() → None

remove_linear_depth_data_from_frame() → None

remove_point_cloud_data_from_frame() → None

remove_semantics_data_from_frame() → None

remove_zenith_data_from_frame() → None

resume() → None

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

Set 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.

Example:

>>> # configure default state
>>> prim.set_default_state(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1, 0, 0, 0]))
>>>
>>> # set default states during post-reset
>>> prim.post_reset()

set_fov(value: Tuple[float, float]) → None

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

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

Warning

This method will change (teleport) the prim pose immediately to the indicated value

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 local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

Hint

This method belongs to the methods used to set the prim state

Example:

>>> prim.set_local_pose(translation=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))

set_local_scale(scale: Optional[Sequence[float]]) → None

Set 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.

Example:

>>> # scale prim 10 times smaller
>>> prim.set_local_scale(np.array([0.1, 0.1, 0.1]))

set_resolution(value: float) → None

set_rotation_frequency(value: int) → None

set_valid_range(value: Tuple[float, float]) → None

set_visibility(visible: bool) → None

Set the visibility of the prim in stage

Parameters

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

Example:

>>> # make prim not visible in the stage
>>> prim.set_visibility(visible=False)

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

Ses prim’s pose with respect to the world’s frame

Warning

This method will change (teleport) the prim pose immediately to the indicated value

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.

Hint

This method belongs to the methods used to set the prim state

Example:

>>> prim.set_world_pose(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))

Camera sensor

class Camera(prim_path: str, name: str = 'camera', frequency: Optional[int] = None, dt: Optional[str] = None, resolution: Optional[Tuple[int, int]] = None, position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, translation: Optional[numpy.ndarray] = None, render_product_path: Optional[str] = None)

Provides high level functions to deal with a camera prim and its attributes/ properties. If there is a camera prim present at the path, it will use it. Otherwise, a new Camera prim at the specified prim path will be created.

Parameters

• prim_path (str) – prim path of the Camera Prim to encapsulate or create.

• 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 “camera”.

• frequency (Optional[int], optional) – Frequency of the sensor (i.e: how often is the data frame updated). Defaults to None.

• dt (Optional[str], optional) – dt of the sensor (i.e: period at which a the data frame updated). Defaults to None.

• resolution (Optional[Tuple[int, int]], optional) – resolution of the camera (width, height). Defaults to None.

• position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

• 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/ local frame of the prim (depends if translation or position is specified). quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

• render_product_path (str) – path to an existing render product, will be used instead of creating a new render product the resolution and camera attached to this render product will be set based on the input arguments. Note: Using same render product path on two Camera objects with different camera prims, resolutions is not supported Defaults to None

add_bounding_box_2d_loose_to_frame() → None

Attach the bounding_box_2d_loose annotator to this camera. The bounding_box_2d_loose annotator returns:

np.array shape: (num_objects, 1) dtype: np.dtype([

(“semanticId”, “<u4”), (“x_min”, “<i4”), (“y_min”, “<i4”), (“x_max”, “<i4”), (“y_max”, “<i4”), (“occlusionRatio”, “<f4”),

])

See more details: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/annotators_details.html#bounding-box-2d-loose

add_bounding_box_2d_tight_to_frame() → None

Attach the bounding_box_2d_tight annotator to this camera. The bounding_box_2d_tight annotator returns:

np.array shape: (num_objects, 1) dtype: np.dtype([

(“semanticId”, “<u4”), (“x_min”, “<i4”), (“y_min”, “<i4”), (“x_max”, “<i4”), (“y_max”, “<i4”), (“occlusionRatio”, “<f4”),

])

See more details: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/annotators_details.html#bounding-box-2d-tight

add_bounding_box_3d_to_frame() → None

add_distance_to_camera_to_frame() → None

Attach the distance_to_camera_to_frame annotator to this camera. The distance_to_camera_to_frame annotator returns:

np.array shape: (width, height, 1) dtype: np.float32

See more details: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/annotators_details.html#distance-to-camera

add_distance_to_image_plane_to_frame() → None

Attach the distance_to_image_plane annotator to this camera. The distance_to_image_plane annotator returns:

np.array shape: (width, height, 1) dtype: np.float32

See more details: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/annotators_details.html#distance-to-image-plane

add_instance_id_segmentation_to_frame() → None

Attach the instance_id_segmentation annotator to this camera. The instance_id_segmentation annotator returns:

np.array shape: (width, height, 1) or (width, height, 4) if colorize is set to true dtype: np.uint32 or np.uint8 if colorize is set to true

See more details: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/annotators_details.html#instance-id-segmentation

add_instance_segmentation_to_frame() → None

Attach the instance_segmentation annotator to this camera. The main difference between instance id segmentation and instance segmentation are that instance segmentation annotator goes down the hierarchy to the lowest level prim which has semantic labels, which instance id segmentation always goes down to the leaf prim. The instance_segmentation annotator returns:

np.array shape: (width, height, 1) or (width, height, 4) if colorize is set to true dtype: np.uint32 or np.uint8 if colorize is set to true

See more details: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/annotators_details.html#instance-segmentation

add_motion_vectors_to_frame() → None

Attach the motion vectors annotator to this camera. The motion vectors annotator returns:

np.array shape: (width, height, 4) dtype: np.float32

See more details: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/annotators_details.html#motion-vectors

add_normals_to_frame() → None

Attach the normals annotator to this camera. The normals annotator returns:

np.array shape: (width, height, 4) dtype: np.float32

See more details: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/annotators_details.html#normals

add_occlusion_to_frame() → None

Attach the occlusion annotator to this camera. The occlusion annotator returns:

np.array shape: (num_objects, 1) dtype: np.dtype([(“instanceId”, “<u4”), (“semanticId”, “<u4”), (“occlusionRatio”, “<f4”)])

add_pointcloud_to_frame(include_unlabelled: bool = False)

Attach the pointcloud annotator to this camera. The pointcloud annotator returns:

np.array shape: (num_points, 3) dtype: np.float32

See more details: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/annotators_details.html#point-cloud

add_semantic_segmentation_to_frame() → None

Attach the semantic_segmentation annotator to this camera. The semantic_segmentation annotator returns:

np.array shape: (width, height, 1) or (width, height, 4) if colorize is set to true dtype: np.uint32 or np.uint8 if colorize is set to true

See more details: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/annotators_details.html#semantic-segmentation

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

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.

Example:

>>> from omni.isaac.core.materials import OmniGlass
>>>
>>> # create a dark-red glass visual material
>>> material = OmniGlass(
...     prim_path="/World/material/glass",  # path to the material prim to create
...     ior=1.25,
...     depth=0.001,
...     thin_walled=False,
...     color=np.array([0.5, 0.0, 0.0])
... )
>>> prim.apply_visual_material(material)

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

Return 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

Example:

>>> # given a visual material applied
>>> prim.get_applied_visual_material()
<omni.isaac.core.materials.omni_glass.OmniGlass object at 0x7f36263106a0>

get_aspect_ratio() → float

Returns

ratio between width and height

Return type

float

get_clipping_range() → Tuple[float, float]

Returns

near_distance and far_distance respectively.

Return type

Tuple[float, float]

get_current_frame(clone=False) → dict

Parameters

clone (bool, optional) – if True, returns a deepcopy of the current frame. Defaults to False.

Returns

returns the current frame of data

Return type

dict

get_default_state() → omni.isaac.core.utils.types.XFormPrimState

Get the default prim states (spatial position and orientation).

Returns

an object that contains the default state of the prim (position and orientation)

Return type

XFormPrimState

Example:

>>> state = prim.get_default_state()
>>> state
<omni.isaac.core.utils.types.XFormPrimState object at 0x7f33addda650>
>>>
>>> state.position
[-4.5299529e-08 -1.8347054e-09 -2.8610229e-08]
>>> state.orientation
[1. 0. 0. 0.]

get_depth() → numpy.ndarray

Returns

(n x m x 1) depth data for each point.

Return type

depth (np.ndarray)

get_dt() → float

Returns

gets the dt to acquire new data frames

Return type

float

get_fisheye_polynomial_properties() → Tuple[float, float, float, float, float, List]

Returns

nominal_width, nominal_height, optical_centre_x,

optical_centre_y, max_fov and polynomial respectively.

Return type

Tuple[float, float, float, float, float, List]

get_focal_length() → float

Returns

Longer Lens Lengths Narrower FOV, Shorter Lens Lengths Wider FOV

Return type

float

get_focus_distance() → float

Returns

Distance from the camera to the focus plane (in stage units).

Return type

float

get_frequency() → float

Returns

gets the frequency to acquire new data frames

Return type

float

get_horizontal_aperture() → float

_ :returns: Emulates sensor/film width on a camera :rtype: float

get_horizontal_fov() → float

Returns

horizontal field of view in pixels

Return type

float

get_image_coords_from_world_points(points_3d: numpy.ndarray) → numpy.ndarray

Using pinhole perspective projection, this method projects 3d points in the world frame to the image

plane giving the pixel coordinates [[0, width], [0, height]]

Parameters

points_3d (np.ndarray) – 3d points (X, Y, Z) in world frame. shape is (n, 3) where n is the number of points.

Returns

2d points (u, v) corresponds to the pixel coordinates. shape is (n, 2) where n is the number of points.

Return type

np.ndarray

get_intrinsics_matrix() → numpy.ndarray

Returns

the intrinsics of the camera (used for calibration)

Return type

np.ndarray

get_lens_aperture() → float

Returns

controls lens aperture (i.e focusing). 0 turns off focusing.

Return type

float

get_local_pose(camera_axes: str = 'world') → None

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

Parameters

camera_axes (str, optional) – camera axes, world is (+Z up, +X forward), ros is (+Y up, +Z forward) and usd is (+Y up and -Z forward). Defaults to “world”.

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

Get 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

Example:

>>> prim.get_local_scale()
[1. 1. 1.]

get_pointcloud() → numpy.ndarray

Returns

(N x 3) 3d points (X, Y, Z) in camera frame. Shape is (N x 3) where N is the number of points.

Return type

pointcloud (np.ndarray)

Note

This currently uses the depth annotator to generate the pointcloud. In the future, this will be switched to use the pointcloud annotator.

get_projection_mode() → str

Returns

perspective or orthographic.

Return type

str

get_projection_type() → str

Returns

pinhole, fisheyeOrthographic, fisheyeEquidistant, fisheyeEquisolid, fisheyePolynomial or fisheyeSpherical

Return type

str

get_render_product_path() → str

Returns

gets the path to the render product attached to this camera

Return type

string

get_resolution() → Tuple[int, int]

Returns

width and height respectively.

Return type

Tuple[int, int]

get_rgb() → numpy.ndarray

Returns

(N x 3) RGB color data for each point.

Return type

rgb (np.ndarray)

get_rgba() → numpy.ndarray

Returns

(N x 4) RGBa color data for each point.

Return type

rgba (np.ndarray)

get_shutter_properties() → Tuple[float, float]

Returns

delay_open and delay close respectively.

Return type

Tuple[float, float]

get_stereo_role() → str

Returns

mono, left or right.

Return type

str

get_vertical_aperture() → float

Returns

Emulates sensor/film height on a camera.

Return type

float

get_vertical_fov() → float

Returns

vertical field of view in pixels

Return type

float

get_view_matrix_ros()

3D points in World Frame -> 3D points in Camera Ros Frame

Returns

the view matrix that transforms 3d points in the world frame to 3d points in the camera axes

with ros camera convention.

Return type

np.ndarray

get_visibility() → bool

Returns

true if the prim is visible in stage. false otherwise.

Return type

bool

Example:

>>> # get the visible state of an visible prim on the stage
>>> prim.get_visibility()
True

get_world_points_from_image_coords(points_2d: numpy.ndarray, depth: numpy.ndarray)

Using pinhole perspective projection, this method does the inverse projection given the depth of the

pixels

Parameters

• points_2d (np.ndarray) – 2d points (u, v) corresponds to the pixel coordinates. shape is (n, 2) where n is the number of points.

• depth (np.ndarray) – depth corresponds to each of the pixel coords. shape is (n,)

Returns

(n, 3) 3d points (X, Y, Z) in world frame. shape is (n, 3) where n is the number of points.

Return type

np.ndarray

get_world_pose(camera_axes: str = 'world') → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the world’s frame (always at [0, 0, 0] and unity quaternion not to be confused with /World Prim)

Parameters

camera_axes (str, optional) – camera axes, world is (+Z up, +X forward), ros is (+Y up, +Z forward) and usd is (+Y up and -Z forward). Defaults to “world”.

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

Get 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

Example:

>>> prim.get_world_scale()
[1. 1. 1.]

initialize(physics_sim_view=None) → None

To be called before using this class after a reset of the world

Parameters

physics_sim_view (_type_, optional) – _description_. Defaults to None.

is_paused() → bool

Returns

is data collection paused.

Return type

bool

is_valid() → bool

Check if the prim path has a valid USD Prim at it

Returns

True is the current prim path corresponds to a valid prim in stage. False otherwise.

Return type

bool

Example:

>>> # given an existing and valid prim
>>> prims.is_valid()
True

is_visual_material_applied() → bool

Check if there is a visual material applied

Returns

True if there is a visual material applied. False otherwise.

Return type

bool

Example:

>>> # given a visual material applied
>>> prim.is_visual_material_applied()
True

property name: Optional[str]

Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool

Used to query if the prim is a non root articulation link

Returns

True if the prim itself is a non root link

Return type

bool

Example:

>>> # for a wrapped articulation (where the root prim has the Physics Articulation Root property applied)
>>> prim.non_root_articulation_link
False

pause() → None

pauses data collection and updating the data frame

post_reset() → None

Reset the prim to its default state (position and orientation).

Note

For an articulation, in addition to configuring the root prim’s default position and spatial orientation (defined via the set_default_state method), the joint’s positions, velocities, and efforts (defined via the set_joints_default_state method) are imposed

Example:

>>> prim.post_reset()

property prim: pxr.Usd.Prim

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str

Returns: str: prim path in the stage

remove_bounding_box_2d_loose_from_frame() → None

remove_bounding_box_2d_tight_from_frame() → None

remove_bounding_box_3d_from_frame() → None

remove_distance_to_camera_from_frame() → None

remove_distance_to_image_plane_from_frame() → None

remove_instance_id_segmentation_from_frame() → None

remove_instance_segmentation_from_frame() → None

remove_motion_vectors_from_frame() → None

remove_normals_from_frame() → None

remove_occlusion_from_frame() → None

remove_pointcloud_from_frame() → None

remove_semantic_segmentation_from_frame() → None

resume() → None

resumes data collection and updating the data frame

set_clipping_range(near_distance: Optional[float] = None, far_distance: Optional[float] = None) → None

Clips the view outside of both near and far range values.

Parameters

• near_distance (Optional[float], optional) – value to be used for near clipping. Defaults to None.

• far_distance (Optional[float], optional) – value to be used for far clipping. Defaults to None.

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

Set 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.

Example:

>>> # configure default state
>>> prim.set_default_state(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1, 0, 0, 0]))
>>>
>>> # set default states during post-reset
>>> prim.post_reset()

set_dt(value: float) → None

Parameters

value (float) – sets the dt to acquire new data frames

set_fisheye_polynomial_properties(nominal_width: Optional[float], nominal_height: Optional[float], optical_centre_x: Optional[float], optical_centre_y: Optional[float], max_fov: Optional[float], polynomial: Optional[Sequence[float]]) → None

Parameters

• nominal_width (Optional[float]) – Rendered Width (pixels)

• nominal_height (Optional[float]) – Rendered Height (pixels)

• optical_centre_x (Optional[float]) – Horizontal Render Position (pixels)

• optical_centre_y (Optional[float]) – Vertical Render Position (pixels)

• max_fov (Optional[float]) – maximum field of view (pixels)

• polynomial (Optional[Sequence[float]]) – polynomial equation coefficients (sequence of 5 numbers) starting from A0, A1, A2, A3, A4

set_focal_length(value: float)

Parameters

value (float) – Longer Lens Lengths Narrower FOV, Shorter Lens Lengths Wider FOV

set_focus_distance(value: float)

The distance at which perfect sharpness is achieved.

Parameters

value (float) – Distance from the camera to the focus plane (in stage units).

set_frequency(value: int) → None

Parameters

value (int) – sets the frequency to acquire new data frames

set_horizontal_aperture(value: float) → None

Parameters

value (Optional[float], optional) – Emulates sensor/film width on a camera. Defaults to None.

set_kannala_brandt_properties(nominal_width: float, nominal_height: float, optical_centre_x: float, optical_centre_y: float, max_fov: Optional[float], distortion_model: Sequence[float]) → None

Approximates kannala brandt distortion with ftheta fisheye polynomial coefficients. :param nominal_width: Rendered Width (pixels) :type nominal_width: float :param nominal_height: Rendered Height (pixels) :type nominal_height: float :param optical_centre_x: Horizontal Render Position (pixels) :type optical_centre_x: float :param optical_centre_y: Vertical Render Position (pixels) :type optical_centre_y: float :param max_fov: maximum field of view (pixels) :type max_fov: Optional[float] :param distortion_model: kannala brandt generic distortion model coefficients (k1, k2, k3, k4) :type distortion_model: Sequence[float]

set_lens_aperture(value: float)

Controls Distance Blurring. Lower Numbers decrease focus range, larger

numbers increase it.

Parameters

value (float) – controls lens aperture (i.e focusing). 0 turns off focusing.

set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None, camera_axes: str = 'world') → None

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

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 local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

• camera_axes (str, optional) – camera axes, world is (+Z up, +X forward), ros is (+Y up, +Z forward) and usd is (+Y up and -Z forward). Defaults to “world”.

set_local_scale(scale: Optional[Sequence[float]]) → None

Set 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.

Example:

>>> # scale prim 10 times smaller
>>> prim.set_local_scale(np.array([0.1, 0.1, 0.1]))

set_matching_fisheye_polynomial_properties(nominal_width: float, nominal_height: float, optical_centre_x: float, optical_centre_y: float, max_fov: Optional[float], distortion_model: Sequence[float], distortion_fn: Callable) → None

Approximates given distortion with ftheta fisheye polynomial coefficients. :param nominal_width: Rendered Width (pixels) :type nominal_width: float :param nominal_height: Rendered Height (pixels) :type nominal_height: float :param optical_centre_x: Horizontal Render Position (pixels) :type optical_centre_x: float :param optical_centre_y: Vertical Render Position (pixels) :type optical_centre_y: float :param max_fov: maximum field of view (pixels) :type max_fov: Optional[float] :param distortion_model: distortion model coefficients :type distortion_model: Sequence[float] :param distortion_fn: distortion function that takes points and returns distorted points :type distortion_fn: Callable

set_projection_mode(value: str) → None

Sets camera to perspective or orthographic mode.

Parameters

value (str) – perspective or orthographic.

set_projection_type(value: str) → None

Parameters

value (str) – pinhole: Standard Camera Projection (Disable Fisheye) fisheyeOrthographic: Full Frame using Orthographic Correction fisheyeEquidistant: Full Frame using Equidistant Correction fisheyeEquisolid: Full Frame using Equisolid Correction fisheyePolynomial: 360 Degree Spherical Projection fisheyeSpherical: 360 Degree Full Frame Projection

set_rational_polynomial_properties(nominal_width: float, nominal_height: float, optical_centre_x: float, optical_centre_y: float, max_fov: Optional[float], distortion_model: Sequence[float]) → None

Approximates rational polynomial distortion with ftheta fisheye polynomial coefficients. :param nominal_width: Rendered Width (pixels) :type nominal_width: float :param nominal_height: Rendered Height (pixels) :type nominal_height: float :param optical_centre_x: Horizontal Render Position (pixels) :type optical_centre_x: float :param optical_centre_y: Vertical Render Position (pixels) :type optical_centre_y: float :param max_fov: maximum field of view (pixels) :type max_fov: Optional[float] :param distortion_model: rational polynomial distortion model coefficients (k1, k2, p1, p2, k3, k4, k5, k6) :type distortion_model: Sequence[float]

set_resolution(value: Tuple[int, int]) → None

Parameters

value (Tuple[int, int]) – width and height respectively.

set_shutter_properties(delay_open: Optional[float] = None, delay_close: Optional[float] = None) → None

Parameters

• delay_open (Optional[float], optional) – Used with Motion Blur to control blur amount, increased values delay shutter opening. Defaults to None.

• delay_close (Optional[float], optional) – Used with Motion Blur to control blur amount, increased values forward the shutter close. Defaults to None.

set_stereo_role(value: str) → None

Parameters

value (str) – mono, left or right.

set_vertical_aperture(value: float) → None

Parameters

value (Optional[float], optional) – Emulates sensor/film height on a camera. Defaults to None.

set_visibility(visible: bool) → None

Set the visibility of the prim in stage

Parameters

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

Example:

>>> # make prim not visible in the stage
>>> prim.set_visibility(visible=False)

set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None, camera_axes: str = 'world') → None

Sets prim’s pose with respect to the world’s frame (always at [0, 0, 0] and unity quaternion not to be confused with /World Prim).

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.

• camera_axes (str, optional) – camera axes, world is (+Z up, +X forward), ros is (+Y up, +Z forward) and usd is (+Y up and -Z forward). Defaults to “world”.

property supported_annotators: List[str]

Returns: List[str]: annotators supported by the camera

distort_point_kannala_brandt(camera_matrix, distortion_model, x, y)

This helper function distorts point(s) using Kannala Brandt fisheye model. It should be equivalent to the following reference that uses OpenCV:

def distort_point_kannala_brandt2(camera_matrix, distortion_model, x, y):

import cv2 ((fx,_,cx),(_,fy,cy),(_,_,_)) = camera_matrix pt_x, pt_y, pt_z = (x-cx)/fx, (y-cy)/fy, np.full(x.shape, 1.0) points3d = np.stack((pt_x, pt_y, pt_z), axis = -1) rvecs, tvecs = np.array([0.0,0.0,0.0]), np.array([0.0,0.0,0.0]) cameraMatrix, distCoeffs = np.array(camera_matrix), np.array(distortion_model) points, jac = cv2.fisheye.projectPoints(np.expand_dims(points3d, 1), rvecs, tvecs, cameraMatrix, distCoeffs) return np.array([points[:,0,0], points[:,0,1]])

distort_point_rational_polynomial(camera_matrix, distortion_model, x, y)

This helper function distorts point(s) using rational polynomial model. It should be equivalent to the following reference that uses OpenCV:

def distort_point_rational_polynomial(x, y)

import cv2 ((fx,_,cx),(_,fy,cy),(_,_,_)) = camera_matrix pt_x, pt_y, pt_z = (x-cx)/fx, (y-cy)/fy, np.full(x.shape, 1.0) points3d = np.stack((pt_x, pt_y, pt_z), axis = -1) rvecs, tvecs = np.array([0.0,0.0,0.0]), np.array([0.0,0.0,0.0]) cameraMatrix, distCoeffs = np.array(camera_matrix), np.array(distortion_coefficients) points, jac = cv2.projectPoints(points3d, rvecs, tvecs, cameraMatrix, distCoeffs) return np.array([points[:,0,0], points[:,0,1]])

get_all_camera_objects(root_prim: str = '/')

Retrieve omni.isaac.sensor Camera objects for each camera in the scene.

Parameters

root_prim (str) – Root prim where the world exists.

Returns

A list of omni.isaac.sensor Camera objects

Return type

Camera[]

point_to_theta(camera_matrix, x, y)

This helper function returns the theta angle of the point.

Contact Sensor Interface

This submodule provides an interface to a simulated contact sensor. A simplified command is provided to create a contact sensor in the stage:

commands.IsaacSensorCreateContactSensor(parent: str = None, min_threshold: float = 0, max_threshold: float = 100000, color: pxr.Gf.Vec4f = Gf.Vec4f(1.0, 1.0, 1.0, 1.0), radius: float = - 1, sensor_period: float = - 1, translation: pxr.Gf.Vec3d = Gf.Vec3d(0.0, 0.0, 0.0))

Base class for all Commands.

Once the contact sensor is created, you must first acquire this interface and then you can use this interface to access the contact sensor

Also, the offset of the contact sensor is also affect by the parent’s transformations.

from omni.isaac.sensor import _sensor
_cs = _sensor.acquire_contact_sensor_interface()

Note

if the contact sensor is not initially created under a valid rigid body parent, the contact sensor will not output any valid data even if the contact sensor is later attached to a valid rigid body parent.

Acquiring Extension Interface

_sensor.acquire_contact_sensor_interface(plugin_name: str = None, library_path: str = None) → omni::isaac::sensor::ContactSensorInterface

Acquire Contact Sensor interface. This is the base object that all of the Contact Sensor functions are defined on

_sensor.release_contact_sensor_interface(arg0: omni::isaac::sensor::ContactSensorInterface) → None

Release Contact Sensor interface. Generally this does not need to be called, the Contact Sensor interface is released on extension shutdown

To collect the most recent reading, call the interface get_sensor_reading(/path/to/sensor, use_latest_data=True). The result will be most recent sensor reading.

reading = _cs.get_sensor_reading("/World/Cube/Contact_Sensor", use_latest_data)

To collect the reading at the last sensor measurement time based on the sensor period, call the interface get_sensor_reading(/path/to/sensor). This will give you the physics step data closest to the sensor measurement time.

reading = _cs.get_sensor_reading("/World/Cube/Contact_Sensor")

To collect raw reading, call the interface get_contact_sensor_raw_data(/path/to/sensor). The result will return a list of raw contact data for that body.

raw_Contact = _cs.get_contact_sensor_raw_data("/World/Cube/Contact_Sensor")

Output Types

class CsSensorReading

Contact Sensor Reading

property inContact

Deprecation Alert, inContact will be renamed to in_contact. boolean that flags if the sensor registers a contact. (bool)

property in_contact

boolean that flags if the sensor registers a contact. (bool)

property is_valid

validity of the data. (bool)

property time

timestamp of the reading, in seconds . (float)

property value

sensor force reading value. (float)

class CsRawData

Contact Raw Data

property body0

Body 0 name handle, (int)

property body1

Body 1 name handle, (int)

property dt

timestep during this contact report, (float)

property impulse

impulse, global coordinates , (carb.Float3)

property normal

normal, global coordinates , (carb.Float3)

property position

position, global coordinates, (carb.Float3)

property time

simulation timestamp, (float)

Interface Methods

class ContactSensorInterface

decode_body_name(self: omni.isaac.sensor._sensor.ContactSensorInterface, arg0: int) → str

Decodes the body name pointers from the contact raw data into a string :param arg0: body name handle :type arg0: int

Returns

The body name.

Return type

str

get_contact_sensor_raw_data(self: omni.isaac.sensor._sensor.ContactSensorInterface, arg0: str) → object

Parameters

arg0 (str) – USD Path to contact sensor as string

Returns

The list of contact raw data that contains the specified body that the contact sensor is attached to.

Return type

numpy.array

get_rigid_body_raw_data(self: omni.isaac.sensor._sensor.ContactSensorInterface, arg0: str) → object

Get raw data from a rigid body that have contact report API enabled :param arg0: USD Path to rigid body as string :type arg0: str

Returns

The list of contact raw data that contains the specified body.

Return type

numpy.array

get_sensor_reading(self: omni.isaac.sensor._sensor.ContactSensorInterface, sensor_path: str, use_latest_data: bool = False) → omni.isaac.sensor._sensor.CsSensorReading

Parameters

• arg0 (char*) – the sensor path

• arg1 (bool) – use_latest_data

Returns

The reading for the current sensor period.

Return type

numpy.array

is_contact_sensor(self: omni.isaac.sensor._sensor.ContactSensorInterface, arg0: str) → bool

Parameters

arg0 (str) – USD Path to sensor as string

Returns

True for is contact sensor, False for not contact sensor.

Return type

bool

IMU sensor Interface

This submodule provides an interface to a simulate IMU sensor, which provides ground truth linear acceleration, angular velocity, orientation data.

A simplified command is provided to create an IMU sensor:

commands.IsaacSensorCreateImuSensor(parent: str = None, sensor_period: float = - 1, translation: pxr.Gf.Vec3d = Gf.Vec3d(0.0, 0.0, 0.0), orientation: pxr.Gf.Quatd = Gf.Quatd(1.0, Gf.Vec3d(0.0, 0.0, 0.0)), linear_acceleration_filter_size: int = 1, angular_velocity_filter_size: int = 1, orientation_filter_size: int = 1)

Base class for all Commands.

Similiarly, once an IMU sensor is created, you can use this interface to interact with the simulated IMU sensor. You must first call the acquire_imu_sensor_interface.

from omni.isaac.sensor import _sensor
_is = _sensor.acquire_imu_sensor_interface()

Note

if the IMU sensor is not initially created under a valid rigid body parent, the IMU sensor will not output any valid data even if the IMU sensor is later attached to a valid rigid body parent. Also, the offset and orientation of the IMU sensor is also affect by the parent’s transformations.

Acquiring Extension Interface

_sensor.acquire_imu_sensor_interface(plugin_name: str = None, library_path: str = None) → omni::isaac::sensor::ImuSensorInterface

Acquire Contact Sensor interface. This is the base object that all of the Contact Sensor functions are defined on

_sensor.release_imu_sensor_interface(arg0: omni::isaac::sensor::ImuSensorInterface) → None

Release Contact Sensor interface. Generally this does not need to be called, the Contact Sensor interface is released on extension shutdown

To collect the most recent reading, call the interface get_sensor_reading(/path/to/sensor, use_latest_data = True). The result will be most recent sensor reading.

reading = _is.get_sensor_reading("/World/Cube/Imu_Sensor", use_latest_data = True)

To collect the reading at the last sensor measurement time based on the sensor period, call the interface get_sensor_reading(/path/to/sensor).

reading = _is.get_sensor_reading("/World/Cube/Imu_Sensor")

Since the sensor reading time is usually between two physics steps, linear interpolation method is used by default to get the reading at sensor time between the physics steps. However the get_sensor_reading can also accept a custom function in the event that a different interpolation strategy is prefered..

from typing import List

# Input Param: List of past IsSensorReadings, time of the expected sensor reading
def interpolation_function(data:List[_sensor.IsSensorReading], time:float) -> _sensor.IsSensorReading:
    interpolated_reading = _sensor.IsSensorReading()
    # do interpolation
    return interpolated_reading

reading = _is.get_sensor_reading("/World/Cube/Imu_Sensor", interpolation_function = interpolation_function)

Note

The interpolation function will only be used if the sensor frequency is lower than the physics frequency and use_latest_data flag is .

Output Types

class IsSensorReading

Imu Sensor Reading

property ang_vel_x

Gyroscope reading value x axis, in rad/s. (float)

property ang_vel_y

Gyroscope reading value y axis, in rad/s. (float)

property ang_vel_z

Gyroscope reading value z axis, in rad/s. (float)

property is_valid

validity of sensor reading. (bool)

property lin_acc_x

Accelerometer reading value x axis, in m/s^2. (float)

property lin_acc_y

Accelerometer reading value y axis, in m/s^2. (float)

property lin_acc_z

Accelerometer reading value z axis, in m/s^2. (float)

property orientation

Orientation quaternion reading (x, y, z, w). (carb.Float4)

property time

timestamp of the reading, in seconds. (float)

Interface Methods

class ImuSensorInterface

get_sensor_reading(self: omni.isaac.sensor._sensor.ImuSensorInterface, sensor_path: str, interpolation_function: Callable[[List[omni.isaac.sensor._sensor.IsSensorReading], float], omni.isaac.sensor._sensor.IsSensorReading] = None, use_latest_data: bool = False, read_gravity: bool = True) → object

Parameters

• arg0 (char*) – the sensor path

• arg1 (std::function<IsReading(std::vector<IsReading>, float)>&) – interpolation_function

• arg2 (bool) – use_latest_data

• arg3 (bool) – read_gravity

Returns

The reading for the current sensor period.

Return type

numpy.array

is_imu_sensor(self: omni.isaac.sensor._sensor.ImuSensorInterface, arg0: str) → bool

Parameters

arg0 (str) – USD Path to sensor as string

Returns

True for is imu sensor, False for not imu sensor.

Return type

bool

Effort Sensor

Effort sensor is a python class for reading gronud truth joint effort measurements. The Effort sensor can be created directly in Python using the path of the joint of interest.

from omni.isaac.sensor.scripts.effort_sensor import EffortSensor
import numpy as np

sensor = EffortSensor(prim_path="/World/Robot/revolute_joint")

Note

If the sensor was created with the incorrect prim path, simply delete the sensor and recreate it. If the measured joint needs to be changed and the new joint has the same parent, update_dof_name(dof_name:str) function maybe used.

Acquiring Sensor data

To collect the most recent reading, call the interface get_sensor_reading(use_latest_data = True). The result will be most recent sensor reading.

reading = sensor.get_sensor_reading(use_latest_data = True)

To collect the reading at the last sensor measurement time based on the sensor period, call the interface get_sensor_reading().

reading = sensor.get_sensor_reading()

Since the sensor reading time is usually between two physics steps, linear interpolation method is used by default to get the reading at sensor time between the physics steps. However the get_sensor_reading can also accept a custom function in the event that a different interpolation strategy is prefered..

from omni.isaac.sensor.scripts.effort_sensor import EsSensorReading

# Input Param: List of past EsSensorReading, time of the expected sensor reading
def interpolation_function(data, time):
    interpolated_reading = EsSensorReading()
    # do interpolation
    return interpolated_reading

reading = sensor.get_sensor_reading(interpolation_function)

Note

The interpolation function will only be used if the sensor frequency is lower than the physics frequency and use_latest_data flag is not enabled.

Output Types

EsSensorReading

• time (float): The time of the sensor reading.

• value (float): The measured effort on the joint.

• is_valid (boolean): The validitty of the sensor measurement.

LightBeam sensor Interface

This submodule provides an interface to simulate a LightBeam sensor, which provides linear depth and hit positions of each raycast.

A simplified command is provided to create a LightBeam sensor:

commands.IsaacSensorCreateLightBeamSensor(parent: str = None, translation: pxr.Gf.Vec3d = Gf.Vec3d(0.0, 0.0, 0.0), orientation: pxr.Gf.Quatd = Gf.Quatd(1.0, Gf.Vec3d(0.0, 0.0, 0.0)), num_rays: int = 1, curtain_length: float = 0.0, forward_axis: pxr.Gf.Vec3d = Gf.Vec3d(1.0, 0.0, 0.0), curtain_axis: pxr.Gf.Vec3d = Gf.Vec3d(0.0, 0.0, 1.0), min_range: float = 0.4, max_range: float = 100.0)

Base class for all Commands.

Similiarly, once a LightBeam sensor is created, you can use this interface to interact with the simulated LightBeam sensor. You must first call the acquire_lightbeam_sensor_interface.

from omni.isaac.sensor import _sensor
_ls = _sensor.acquire_lightbeam_sensor_interface()

Acquiring Extension Interface

_sensor.acquire_lightbeam_sensor_interface(plugin_name: str = None, library_path: str = None) → omni::isaac::sensor::LightBeamSensorInterface

Acquire Contact Sensor interface. This is the base object that all of the Contact Sensor functions are defined on

_sensor.release_lightbeam_sensor_interface(arg0: omni::isaac::sensor::LightBeamSensorInterface) → None

Release Contact Sensor interface. Generally this does not need to be called, the Contact Sensor interface is released on extension shutdown

To collect the most recent data, call the following interface methods:

# This will return a vector of uint8_t (0 false, 1 true)
beam_hit = _ls.get_beam_hit_data("/World/LightBeam_Sensor")
# This will the number of rays in the light curtain
num_rays = _ls.get_num_rays("/World/LightBeam_Sensor")
# This will return a vector of floats of the linear depth of each raycast
linear_depth_data = _ls.get_linear_depth_data("/World/LightBeam_Sensor")
# This will return a vector of xyz points of hit positions of each raycast
hit_pos_data = _ls.get_hit_pos_data("/World/LightBeam_Sensor")

Interface Methods

class LightBeamSensorInterface

get_beam_hit_data(self: omni.isaac.sensor._sensor.LightBeamSensorInterface, arg0: str) → object

Parameters

arg0 (str) – USD path to sensor as a string

Returns

True for light beam sensor detecting a raycast hit, False for not no hit

Return type

numpy.ndarray

get_hit_pos_data(self: omni.isaac.sensor._sensor.LightBeamSensorInterface, arg0: str) → object

Parameters

arg0 (str) – USD path to sensor as a string

Returns

Hit positions in xyz for each light beam relative to sensor origin

Return type

numpy.ndarray

get_linear_depth_data(self: omni.isaac.sensor._sensor.LightBeamSensorInterface, arg0: str) → object

Parameters

arg0 (str) – USD path to sensor as a string

Returns

The distance from the sensor to the hit for each light beam in meters

Return type

numpy.ndarray

get_num_rays(self: omni.isaac.sensor._sensor.LightBeamSensorInterface, arg0: str) → int

Parameters

arg0 (str) – USD Path to sensor as string

Returns

The number of rays in the light curtain.

Return type

int

is_lightbeam_sensor(self: omni.isaac.sensor._sensor.LightBeamSensorInterface, arg0: str) → bool

Parameters

arg0 (str) – USD Path to sensor as string

Returns

True for is light beam sensor, False for not light beam sensor.

Return type

bool

Omnigraph Nodes

IsaacReadEffortSensor

Node that reads out joint effort values

Inputs

• execIn (execution): The input execution port.

• prim (target): Path to the joint getting measured.

• useLatestData (bool): True to use the latest data from the physics step, False to use the data measured by the sensor. Default to False.

• enabled (bool): True to enable sensor, False to disable the sensor. Default to True.

• sensorPeriod (float): Downtime between sensor readings. Default to 0.

Outputs

• execOut (execution): Output execution triggers when sensor has data.

• sensorTime (float): Timestamp of the sensor reading.

• value (float): Effort value reading.

IsaacPrintRTXSensorInfo

[‘Print raw RTX sensor data to console. Example of using omni.sensors Python bindings in OmniGraph node.’]

Inputs

• exec (execution): The input execution port.

• dataPtr (uint64): Pointer to RTX sensor render result.

IsaacComputeRTXRadarPointCloud

[‘This node reads from the an RTX Radar sensor and holds point cloud data buffers’]

Inputs

• exec (execution): The input execution port.

• dataPtr (uint64): Pointer to Radar render result.

• renderProductPath (token): Path of the renderProduct to wait for being rendered.

Outputs

• exec (execution): Output execution triggers when Radar sensor has data.

• transform (matrixd[4]): The input matrix transformed from Radar to World.

• sensorID (uchar): Sensor Id for sensor that generated the scan.

• scanIdx (uchar): Scan index for sensors with multi scan support.

• timeStampNS (uint64): Scan timestamp in nanoseconds.

• cycleCnt (uint64): Scan cycle count.

• maxRangeM (float): The max unambiguous range for the scan.

• minVelMps (float): The min unambiguous velocity for the scan.

• maxVelMps (float): The max unambiguous velocity for the scan.

• minAzRad (float): The min unambiguous azimuth for the scan.

• maxAzRad (float): The max unambiguous azimuth for the scan.

• minElRad (float): The min unambiguous elevation for the scan.

• maxElRad (float): The max unambiguous elevation for the scan.

• numDetections (uint): The number of valid detections in the array.

• dataPtr (uint64): Buffer of 3d points containing point cloud data in Radar coordinates.

• cudaDeviceIndex (int): Index of the device where the data lives (-1 for host data).

• bufferSize (uint64): 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): 3 x Width or number of points in point cloud buffer.

• radialDistance (float[]): Radial distance (m).

• radialVelocity (float[]): Radial velocity (m/s).

• azimuth (float[]): Azimuth angle (radians).

• elevation (float[]): Angle of elevation (radians).

• rcs (float[]): Radar cross section in decibels referenced to a square meter (dBsm).

• semanticId (uint[]): semantic ID.

• materialId (uint[]): material ID.

• objectId (uint[]): object ID.

IsaacReadIMU

Node that reads out IMU linear acceleration, angular velocity and orientation data

Inputs

• execIn (execution): The input execution port.

• imuPrim (target): Usd prim reference to the IMU prim.

• useLatestData (bool): True to use the latest data from the physics step, False to use the data measured by the sensor. Default to False.

• readGravity (bool): True to read gravitational acceleration in the measurement, False to ignore gravitational acceleration. Default to True.

Outputs

• execOut (execution): Output execution triggers when sensor has data.

• sensorTime (float): Timestamp of the sensor reading.

• linAcc (vectord[3]): Linear acceleration IMU reading.

• angVel (vectord[3]): Angular velocity IMU reading.

• orientation (quatd[4]): Sensor orientation as quaternion.

IsaacCreateRTXLidarScanBuffer

[‘This node creates a full scan buffer for RTX Lidar sensor.’]

Inputs

• exec (execution): The input execution port.

• dataPtr (uint64): Pointer to LiDAR render result.

• cudaDeviceIndex (int): Index of the device where the data lives (-1 for host data). Default to -1.

• keepOnlyPositiveDistance (bool): Keep points only if the return distance is > 0. Default to True.

• transformPoints (bool): Transform point cloud to world coordinates. Default to False.

• accuracyErrorAzimuthDeg (float): Accuracy error of azimuth in degrees applied to all points equally.

• accuracyErrorElevationDeg (float): Accuracy error of elevation in degrees applied to all points equally.

• accuracyErrorPosition (float[3]): Position offset applied to all points equally.

• renderProductPath (token): Config is gotten from this.

• outputIntensity (bool): Create an output array for the Intensity. Default to True.

• outputDistance (bool): Create an output array for the Distance. Default to True.

• outputObjectId (bool): Create an output array for the ObjectId. Default to False.

• outputVelocity (bool): Create an output array for the Velocity. Default to False.

• outputAzimuth (bool): Create an output array for the Azimuth. Default to False.

• outputElevation (bool): Create an output array for the Elevation. Default to False.

• outputNormal (bool): Create an output array for the Normals. Default to False.

• outputTimestamp (bool): Create an output array for the Timestamp. Default to False.

• outputEmitterId (bool): Create an output array for the EmitterId. Default to False.

• outputBeamId (bool): Create an output array for the BeamId. Default to False.

• outputMaterialId (bool): Create an output array for the MaterialId. Default to False.

Outputs

• exec (execution): Output execution triggers when lidar sensor has data.

• dataPtr (uint64): Pointer to LiDAR render result.

• cudaDeviceIndex (int): Index of the device where the data lives (-1 for host data).

• bufferSize (uint64): Size (in bytes) of the buffer (0 if the input is a texture).

• transform (matrixd[4]): The transform matrix from lidar to world coordinates.

• intensityPtr (uint64): intensity [0,1].

• intensityDataType (float): type.

• intensityBufferSize (uint64): size.

• distancePtr (uint64): range in m.

• distanceDataType (float): type.

• distanceBufferSize (uint64): size.

• azimuthPtr (uint64): azimuth in rad [-pi,pi].

• azimuthDataType (float): type.

• azimuthBufferSize (uint64): size.

• elevationPtr (uint64): elevation in rad [-pi/2, pi/2].

• elevationDataType (float): type.

• elevationBufferSize (uint64): size.

• velocityPtr (uint64): elevation in rad [-pi/2, pi/2].

• velocityDataType (float[3]): type.

• velocityBufferSize (uint64): size.

• objectIdPtr (uint64): ObjectId for getting usd prim information.

• objectIdDataType (uint): type.

• objectIdBufferSize (uint64): size.

• normalPtr (uint64): Normal at the hit location.

• normalDataType (float[3]): type.

• normalBufferSize (uint64): size.

• timestampPtr (uint64): timestamp in ns.

• timestampDataType (uint64): type.

• timestampBufferSize (uint64): size.

• emitterIdPtr (uint64): emitterId.

• emitterIdDataType (uint): type.

• emitterIdBufferSize (uint64): size.

• beamIdPtr (uint64): beamId.

• beamIdDataType (uint): type.

• beamIdBufferSize (uint64): size.

• materialIdPtr (uint64): materialId at hit location.

• materialIdDataType (uint): type.

• materialIdBufferSize (uint64): size.

• indexPtr (uint64): Index into the full array if keepOnlyPositiveDistance ((startTick+tick)*numChannels*numEchos + channel*numEchos + echo).

• indexDataType (uint): type.

• indexBufferSize (uint64): size.

• numReturnsPerScan (uint): Number of returns in the full scan.

• ticksPerScan (uint): Number of ticks in a full scan.

• numChannels (uint): Number of channels of the lidar.

• numEchos (uint): Number of echos of the lidar.

• renderProductPath (token): Config is gotten from this.

• height (uint): Height of point cloud buffer, will always return 1.

• width (uint): 3 x Width or number of points in point cloud buffer.

IsaacReadContactSensor

Node that reads out contact sensor data

Inputs

• execIn (execution): The input execution port.

• csPrim (target): USD prim reference to contact sensor prim.

• useLatestData (bool): True to use the latest data from the physics step, False to use the data measured by the sensor. Default to False.

Outputs

• execOut (execution): Output execution triggers when sensor has data.

• sensorTime (float): Sensor reading timestamp.

• inContact (bool): Bool that registers current sensor contact.

• value (float): Contact force value reading (N).

IsaacReadLightBeam

Node that reads out light beam sensor data

Inputs

• execIn (execution): The input execution port.

• lightbeamPrim (target): Usd prim reference to the light beam prim.

Outputs

• execOut (execution): Output execution triggers when sensor has data.

• numRays (int): The number of rays in light curtain.

• beamHitData (bool[]): Array of bools that registers if a light beam is broken.

• linearDepthData (float[]): Array containing linear depth data.

• hitPosData (pointf[3][]): Array containing hit position data.

• beamOrigins (pointf[3][]): Array containing origins of each beam.

• beamEndPoints (pointf[3][]): Array containing end points of each beam.

IsaacComputeRTXLidarFlatScan

[‘Accumulates full scan from the lowest elevation emitter on an RTX Lidar’]

Inputs

• exec (execution): The input execution port.

• dataPtr (uint64): Pointer to LiDAR render result.

• bufferSize (uint64): Size (in bytes) of the buffer (0 if the input is a texture).

• renderProductPath (token): Used to retrieve lidar configuration.

• timeStamp (double): Input timestamp (s).

Outputs

• exec (execution): Output execution triggers when lidar sensor has accumulated a full scan.

• horizontalFov (float): Horizontal Field of View (deg).

• horizontalResolution (float): Increment between horizontal rays (deg).

• depthRange (float[2]): Range for sensor to detect a hit [min, max] (m).

• rotationRate (float): Rotation rate of sensor in Hz.

• linearDepthData (float[]): Linear depth measurements from full scan, ordered by increasing azimuth (m).

• intensitiesData (uchar[]): Intensity measurements from full scan, ordered by increasing azimuth.

• numRows (int): Number of rows in buffers.

• numCols (int): Number of columns in buffers.

• azimuthRange (float[2]): The azimuth range [min, max] (deg).

• timeStamp (double): Timestamp of first beam in scan.

IsaacComputeRTXLidarPointCloud

[‘This node reads from the an RTX Lidar sensor and holds point cloud data buffers’]

Inputs

• exec (execution): The input execution port.

• dataPtr (uint64): Pointer to LiDAR render result.

• keepOnlyPositiveDistance (bool): Keep points only if the return distance is > 0. Default to True.

• accuracyErrorAzimuthDeg (float): Accuracy error of azimuth in degrees applied to all points equally.

• accuracyErrorElevationDeg (float): Accuracy error of elevation in degrees applied to all points equally.

• accuracyErrorPosition (float[3]): Position offset applied to all points equally.

• renderProductPath (token): Path of the renderProduct to wait for being rendered.

Outputs

• exec (execution): Output execution triggers when lidar sensor has data.

• transform (matrixd[4]): The transform matrix from lidar to world coordinates.

• dataPtr (uint64): Buffer of points containing point cloud data in Lidar coordinates.

• cudaDeviceIndex (int): Index of the device where the data lives (-1 for host data).

• bufferSize (uint64): Size (in bytes) of the buffer (0 if the input is a texture).

• intensity (float[]): intensity [0,1].

• range (float[]): range in m.

• azimuth (float[]): azimuth in rad [-pi,pi].

• elevation (float[]): elevation in rad [-pi/2, pi/2].

• height (uint): Height of point cloud buffer, will always return 1.

• width (uint): 3 x Width or number of points in point cloud buffer.

IsaacReadRTXLidarData

[‘This node reads the data straight from the an RTX Lidar sensor.’]

Inputs

• exec (execution): The input execution port.

• bufferSize (uint64): number of bytes in dataPtr. Default to 0.

• dataPtr (uint64): Pointer to LiDAR render result.

• cudaDeviceIndex (int): Index of the device where the data lives (-1 for host data). Default to -1.

• cudaStream (uint64): Cuda Stream dataPtr is on if cudaDeviceIndex > -1. Default to 0.

• keepOnlyPositiveDistance (bool): Keep points only if the return distance is > 0. Default to False.

• renderProductPath (token): Config is gotten from this.

Outputs

• exec (execution): Output execution triggers when lidar sensor has data.

• numBeams (uint64): The number of lidar beams being output.

• frameId (uint64): The frameId of the current render.

• timestampNs (uint64): The time in nanoseconds of the start of frame.

• transformStart (matrixd[4]): The transform matrix from lidar to world coordinates at the start of the frame.

• transform (matrixd[4]): The transform matrix from lidar to world coordinates at the end of the frame.

• depthRange (float[2]): The min and max range for sensor to detect a hit [min, max].

• azimuths (float[]): azimuth in deg [0, 360).

• elevations (float[]): elevation in deg [-90, 90].

• distances (float[]): distance in m.

• intensities (float[]): intensity [0,1].

• velocities (pointf[3][]): velocity at hit point in sensor coordinates [m/s].

• flags (uchar[]): flags.

• hitPointNormals (pointf[3][]): hit point Normal.

• deltaTimes (uint[]): delta time in ns from the head (relative to tick timestamp).

• emitterIds (uint[]): beam/laser detector id.

• materialIds (uint[]): hit point material id.

• objectIds (uint[]): hit point object id.

• ticks (uint[]): tick of point.

• tickStates (uchar[]): emitter state the tick belongs to.

• channels (uint[]): channel of point.

• echos (uchar[]): echo id in ascending order.