omni.isaac.dynamic_control: Dynamic Control Extension

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

omni.isaac.dynamic_control._dynamic_control.INVALID_HANDLE

This value is returned when trying to acquire a dynamic control handle for an invalid usd path

The following attributes correspond to states that can be get/set from Degrees of Freedom and Rigid Bodies

omni.isaac.dynamic_control._dynamic_control.STATE_NONE

No state selected

omni.isaac.dynamic_control._dynamic_control.STATE_POS

Position states

omni.isaac.dynamic_control._dynamic_control.STATE_VEL

Velocity states

omni.isaac.dynamic_control._dynamic_control.STATE_ALL

All states

The following attributes correspond to joint axes when specifying a 6 Dof (D6) Joint

omni.isaac.dynamic_control._dynamic_control.AXIS_NONE

No axis selected

omni.isaac.dynamic_control._dynamic_control.AXIS_X

Corresponds to translation around the body x-axis

omni.isaac.dynamic_control._dynamic_control.AXIS_Y

Corresponds to translation around the body y-axis

omni.isaac.dynamic_control._dynamic_control.AXIS_Z

Corresponds to translation around the body z-axis

omni.isaac.dynamic_control._dynamic_control.AXIS_TWIST

Corresponds to rotation around the body x-axis

omni.isaac.dynamic_control._dynamic_control.AXIS_SWING_1

Corresponds to rotation around the body y-axis

omni.isaac.dynamic_control._dynamic_control.AXIS_SWING_2

Corresponds to rotation around the body z-axis

omni.isaac.dynamic_control._dynamic_control.AXIS_ALL_TRANSLATION

Corresponds to all Translation axes

omni.isaac.dynamic_control._dynamic_control.AXIS_ALL_ROTATION

Corresponds to all Rotation axes

omni.isaac.dynamic_control._dynamic_control.AXIS_ALL

Corresponds to all axes

class omni.isaac.dynamic_control._dynamic_control.AttractorProperties(self: omni.isaac.dynamic_control._dynamic_control.AttractorProperties) → None

Bases: pybind11_builtins.pybind11_object

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

property axes

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

property body

Rigid body to set the attractor to

property damping

Damping to be used on attraction solver. (float)

property force_limit

Maximum force to be applied by drive. (float)

property offset

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

property stiffness

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

property target

Target pose to attract to. (omni.isaac.dynamic_control._dynamic_control.Transform)

class omni.isaac.dynamic_control._dynamic_control.D6JointProperties(self: omni.isaac.dynamic_control._dynamic_control.D6JointProperties) → None

Bases: pybind11_builtins.pybind11_object

Creates a general D6 Joint between two rigid Bodies.

property axes

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

property body0

parent body

property body1

child body

property damping

Joint Damping. (float)

property force_limit

Joint Breaking Force. (float)

property name

Joint Name (str)

property pose0

Transform from body 0 to joint. (omni.isaac.dynamic_control._dynamic_control.Transform)

property pose1

Transform from body 1 to joint. (omni.isaac.dynamic_control._dynamic_control.Transform)

property stiffness

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

property torque_limit

Joint Breaking torque. (float)

class omni.isaac.dynamic_control._dynamic_control.DofProperties(self: omni.isaac.dynamic_control._dynamic_control.DofProperties) → None

Bases: pybind11_builtins.pybind11_object

Properties of a degree-of-freedom

property damping

Damping of DOF (float)

property drive_mode

Drive mode for the DOF (omni.isaac.dynamic_control._dynamic_control.DriveMode)

property has_limits

Flags whether the DOF has limits (bool)

property lower

lower limit of DOF. In radians or meters (float)

property max_effort

Maximum effort of DOF. in N or N*stage_units (float)

property max_velocity

Maximum velocity of DOF. In Radians/s, or stage_units/s (float)

property stiffness

Stiffness of DOF (float)

property type

Type of joint (omni.isaac.dynamic_control._dynamic_control.DofType)

property upper

upper limit of DOF. In radians or meters (float)

class omni.isaac.dynamic_control._dynamic_control.DofState(*args, **kwargs)

Bases: pybind11_builtins.pybind11_object

States of a Degree of Freedom in the Asset architecture

Overloaded function.

  1. __init__(self: omni.isaac.dynamic_control._dynamic_control.DofState, pos: float = None, vel: float = None) -> None

  2. __init__(self: omni.isaac.dynamic_control._dynamic_control.DofState) -> None

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

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

property vel

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

class omni.isaac.dynamic_control._dynamic_control.DofType(self: omni.isaac.dynamic_control._dynamic_control.DofType, arg0: int) → None

Bases: pybind11_builtins.pybind11_object

Types of degree of freedom

Members:

DOF_NONE : invalid/unknown/uninitialized DOF type

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

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

DOF_NONE = DofType.DOF_NONE
DOF_ROTATION = DofType.DOF_ROTATION
DOF_TRANSLATION = DofType.DOF_TRANSLATION
property name

handle) -> str

Type

(self

class omni.isaac.dynamic_control._dynamic_control.DriveMode(self: omni.isaac.dynamic_control._dynamic_control.DriveMode, arg0: int) → None

Bases: pybind11_builtins.pybind11_object

DOF drive mode

Members:

DRIVE_NONE : No drive

DRIVE_POS : Position target drive

DRIVE_VEL : Velocity target drive

DRIVE_NONE = DriveMode.DRIVE_NONE
DRIVE_POS = DriveMode.DRIVE_POS
DRIVE_VEL = DriveMode.DRIVE_VEL
property name

handle) -> str

Type

(self

class omni.isaac.dynamic_control._dynamic_control.DynamicControl

Bases: pybind11_builtins.pybind11_object

The following functions are provided on the dynamic control interface

apply_articulation_dof_efforts(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: numpy.ndarray[float32]) → bool

Applies efforts to an actor’s degrees-of-freedom.

apply_body_force(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: carb._carb.Float3, arg2: carb._carb.Float3) → None

Apply a force to a rigid bopdy at a position

apply_dof_effort(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: float) → bool

Apply effort to degree of freedom

create_d6_joint(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: omni.isaac.dynamic_control._dynamic_control.D6JointProperties) → int

Create a D6 joint

create_rigid_body_attractor(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: omni.isaac.dynamic_control._dynamic_control.AttractorProperties) → int

Greate an attractor for ridig body

destroy_d6_joint(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → None

Destroy D6 joint

destroy_rigid_body_attractor(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → None

Destroy attractor

find_articulation_body(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: str) → int

Finds actor rigid body given its name

find_articulation_body_index(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: str) → int

Find index in articulation body array, -1 on error

find_articulation_dof(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: str) → int

Finds actor degree-of-freedom given its name

find_articulation_dof_index(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: str) → int

get index in articulation DOF array, -1 on error

find_articulation_joint(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: str) → int

Get the joint from an atriculation given their name

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

handle – Handle to the articulation, INVALID_HANDLE otherwise

get_articulation_body(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: int) → int

Gets actor rigid body given its index

get_articulation_body_count(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int

Gets number of rigid bodies for an actor

get_articulation_body_states(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: int) → object

Get array of an actor’s rigid body states

get_articulation_dof(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: int) → int

Gets actor degree-of-freedom given its index

get_articulation_dof_count(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int

Gets number of degrees-of-freedom for an actor

get_articulation_dof_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → object

Get array of an actor’s degree-of-freedom properties

get_articulation_dof_state_derivatives(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: numpy.ndarray[omni.isaac.dynamic_control._dynamic_control.DofState], arg2: numpy.ndarray[float32]) → object

Get array of an actor’s degree-of-freedom state derivatives (dstate / dt)

get_articulation_dof_states(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: int) → object

Get array of an actor’s degree-of-freedom states

get_articulation_joint(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: int) → int

Gets the joint from an articulation given an index

get_articulation_joint_count(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int

Get the number of joints in an articulation

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

string – The name of the articulation

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

string – The path to the articulation

get_articulation_root_body(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int

Get the root rigid body of an actor

get_attractor_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → object

Get properties for attractor

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

handle – Handle to the d6 joint, INVALID_HANDLE otherwise

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

handle – Handle to the degree of freedom, INVALID_HANDLE otherwise

get_dof_child_body(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int

Get child rigid body for degree of freedom

get_dof_joint(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int

Get joint associated with the degree of freedom

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

Get Name of this degree of freedom

get_dof_parent_body(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int

Get parent rigid body for degree of freedom

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

Get path to degree of freedom

get_dof_position(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → float

Get position/rotation for this degree of freedom

get_dof_position_target(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → float

Get position target for degree of freedom

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

Get degree of freedom properties

get_dof_state(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → omni.isaac.dynamic_control._dynamic_control.DofState

Get current state for degree of freedom

get_dof_type(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → omni.isaac.dynamic_control._dynamic_control.DofType

Get type of degree of freedom

get_dof_velocity(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → float

Get linear/angular velocity of degree of freedom

get_dof_velocity_target(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → float

Get velocity target for degree of freedom

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

handle – Handle to the joint, INVALID_HANDLE otherwise

get_joint_child_body(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int

Get child rigid body for joint

get_joint_dof(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: int) → int

Get a degree of freedom for joint give its index

get_joint_dof_count(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int

Get number of degrees of freedon constrained by joint

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

Get name of joint

get_joint_parent_body(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int

Get parent rigid body for joint

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

Get path for joint

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

Get joint type

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

handle – Handle to the physics object defined by the usd path, INVALID_HANDLE otherwise

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

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

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

string – The object type name as a string

get_relative_body_poses(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: List[int]) → List[omni.isaac.dynamic_control._dynamic_control.Transform]

given a list of body handles, return poses relative to the parent

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

handle – Handle to the rigid body, INVALID_HANDLE otherwise

get_rigid_body_angular_velocity(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → carb._carb.Float3

Get the angular velocity of this rigid body

get_rigid_body_child_joint(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: int) → int

Get the child joint of a rigid body given its index

get_rigid_body_child_joint_count(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int

Gets the number of joints that are children to this rigid body

get_rigid_body_linear_velocity(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → carb._carb.Float3

Get the linear velocity of this rigid body in global coordinates

get_rigid_body_local_linear_velocity(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → carb._carb.Float3

Get the linear velocity of this rigid body in local coordinates

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

Gets the rigid body name given a handle

get_rigid_body_parent_joint(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → int

Gets parent joint to a rigid body

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

Gets the path to a rigid body given its handle

get_rigid_body_pose(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → omni.isaac.dynamic_control._dynamic_control.Transform

Get the pose of a rigid body

get_rigid_body_properties(*args, **kwargs)

Overloaded function.

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

Get Properties for a rigid body

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

Get Properties for a rigid body

hello(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl) → None

test function to makes sure interface is working

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

bool – True if simulating, False otherwise

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

string – The object type name as a string

set_articulation_body_states(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: numpy.ndarray[omni.isaac.dynamic_control._dynamic_control.RigidBodyState], arg2: int) → bool

Sets states for an actor’s rigid bodies.

set_articulation_dof_position_targets(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: numpy.ndarray[float32]) → bool

Sets an actor’s degree-of-freedom position targets.

set_articulation_dof_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: numpy.ndarray[omni.isaac.dynamic_control._dynamic_control.DofProperties]) → bool

Sets properties for an actor’s degrees-of-freedom.

set_articulation_dof_states(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: numpy.ndarray[omni.isaac.dynamic_control._dynamic_control.DofState], arg2: int) → bool

Sets states for an actor’s degrees-of-freedom.

set_articulation_dof_velocity_targets(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: numpy.ndarray[float32]) → bool

Sets an actor’s degree-of-freedom velocity targets.

set_attractor_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: omni.isaac.dynamic_control._dynamic_control.AttractorProperties) → bool

Set properties for this attractor

set_attractor_target(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: omni.isaac.dynamic_control._dynamic_control.Transform) → bool

Set target pose for attractor

set_d6_joint_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: omni.isaac.dynamic_control._dynamic_control.D6JointProperties) → bool

Modifies properties of the selected joint.

set_dof_position(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: float) → bool

Set position/rotation for this degree of freedom

set_dof_position_target(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: float) → bool

Set position target for degree of freedom

set_dof_properties(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: omni.isaac.dynamic_control._dynamic_control.DofProperties) → bool

Set degree of freedom properties

set_dof_state(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: omni.isaac.dynamic_control._dynamic_control.DofState) → bool

Set degree of freedom state

set_dof_velocity(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: float) → bool

Set linear angular velocity of degree of freedom

set_dof_velocity_target(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: float) → bool

Set velocity target for degree of freedom

set_origin_offset(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: carb._carb.Float3) → bool

Offset origin for a rigid body

set_rigid_body_angular_velocity(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: carb._carb.Float3) → None

Set the angular velocity of this rigid body

set_rigid_body_disable_gravity(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: bool) → None

enables or disables the force of gravity from the given body

set_rigid_body_disable_simulation(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: bool) → None

enables or disables Simulation of a given rigid body

set_rigid_body_linear_velocity(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: carb._carb.Float3) → None

Set the linear velocity of the rigid body

set_rigid_body_pose(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int, arg1: omni.isaac.dynamic_control._dynamic_control.Transform) → None

Set the pose of a rigid body

wake_up_articulation(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → None

Enable physics for a articulation

wake_up_rigid_body(self: omni.isaac.dynamic_control._dynamic_control.DynamicControl, arg0: int) → None

Enable physics for a rigid body

class omni.isaac.dynamic_control._dynamic_control.JointType(self: omni.isaac.dynamic_control._dynamic_control.JointType, arg0: int) → None

Bases: pybind11_builtins.pybind11_object

Joint Types that can be specified

Members:

JOINT_NONE : invalid/unknown/uninitialized joint type

JOINT_FIXED : Fixed Joint

JOINT_REVOLUTE : Revolute Joint

JOINT_PRISMATIC : Prismatic Joint

JOINT_SPHERICAL : Spherical Joint

JOINT_FIXED = JointType.JOINT_FIXED
JOINT_NONE = JointType.JOINT_NONE
JOINT_PRISMATIC = JointType.JOINT_PRISMATIC
JOINT_REVOLUTE = JointType.JOINT_REVOLUTE
JOINT_SPHERICAL = JointType.JOINT_SPHERICAL
property name

handle) -> str

Type

(self

class omni.isaac.dynamic_control._dynamic_control.ObjectType(self: omni.isaac.dynamic_control._dynamic_control.ObjectType, arg0: int) → None

Bases: pybind11_builtins.pybind11_object

Types of Objects

Members:

OBJECT_NONE : Invalid/unknown/uninitialized object type

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

OBJECT_JOINT : The object is a joint

OBJECT_DOF : The object is a degree of freedon

OBJECT_ARTICULATION : The object is an articulation

OBJECT_ATTRACTOR : The object is an attractor

OBJECT_D6JOINT : The object is a generic D6 joint

OBJECT_ARTICULATION = ObjectType.OBJECT_ARTICULATION
OBJECT_ATTRACTOR = ObjectType.OBJECT_ATTRACTOR
OBJECT_D6JOINT = ObjectType.OBJECT_D6JOINT
OBJECT_DOF = ObjectType.OBJECT_DOF
OBJECT_JOINT = ObjectType.OBJECT_JOINT
OBJECT_NONE = ObjectType.OBJECT_NONE
OBJECT_RIGIDBODY = ObjectType.OBJECT_RIGIDBODY
property name

handle) -> str

Type

(self

class omni.isaac.dynamic_control._dynamic_control.RigidBodyProperties(self: omni.isaac.dynamic_control._dynamic_control.RigidBodyProperties) → None

Bases: pybind11_builtins.pybind11_object

Rigid Body Properties

property mass

Mass of rigid body (float)

property moment

Diagonal moment of inertia (carb._carb.Float3)

class omni.isaac.dynamic_control._dynamic_control.RigidBodyState(*args, **kwargs)

Bases: pybind11_builtins.pybind11_object

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

Overloaded function.

  1. __init__(self: omni.isaac.dynamic_control._dynamic_control.RigidBodyState, pose: omni.isaac.dynamic_control._dynamic_control.Transform = None, vel: omni.isaac.dynamic_control._dynamic_control.Velocity = None) -> None

Initialize rigid body state from pose and velocity

  1. __init__(self: omni.isaac.dynamic_control._dynamic_control.RigidBodyState) -> None

initialize from another RigidBodyState

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

Transform with position and orientation of rigid body (omni.isaac.dynamic_control._dynamic_control.Transform)

property vel

Linear and angular velocities of rigid body (omni.isaac.dynamic_control._dynamic_control.Velocity)

class omni.isaac.dynamic_control._dynamic_control.Transform(*args, **kwargs)

Bases: pybind11_builtins.pybind11_object

Represents a 3D transform in the system

Overloaded function.

  1. __init__(self: omni.isaac.dynamic_control._dynamic_control.Transform, p: carb._carb.Float3 = None, r: carb._carb.Float4 = None) -> None

Initialize from a position and a rotation quaternion

  1. __init__(self: omni.isaac.dynamic_control._dynamic_control.Transform) -> None

Initialize from another Transform object

dtype = dtype([('p', [('x', '<f4'), ('y', '<f4'), ('z', '<f4')]), ('r', [('x', '<f4'), ('y', '<f4'), ('z', '<f4'), ('w', '<f4')])])
static from_buffer(arg0: buffer) → object

assign a transform from an array of 7 values [p.x, p.y, p.z, r.x, r.y, r.z, r.w]

property p

Position (carb._carb.Float3)

property r

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

class omni.isaac.dynamic_control._dynamic_control.Velocity(*args, **kwargs)

Bases: pybind11_builtins.pybind11_object

Linear and angular velocity

Overloaded function.

  1. __init__(self: omni.isaac.dynamic_control._dynamic_control.Velocity, linear: carb._carb.Float3 = None, angular: carb._carb.Float3 = None) -> None

initialize from a linear velocity and angular velocity

  1. __init__(self: omni.isaac.dynamic_control._dynamic_control.Velocity) -> None

initialize from another Velocity Object

property angular

Angular velocity, (carb._carb.Float3)

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

Linear velocity, (carb._carb.Float3)

omni.isaac.dynamic_control._dynamic_control.acquire_dynamic_control_interface(plugin_name: str = None, library_path: str = None) → omni::isaac::dynamic_control::DynamicControl

Acquire dynamic control interface. This is the base object that all of the dynamic control functions are defined on

omni.isaac.dynamic_control._dynamic_control.release_dynamic_control_interface(arg0: omni::isaac::dynamic_control::DynamicControl) → None

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