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Commands#

Public command API for module isaacsim.core.utils:

IsaacSimDestroyPrim#

Command to delete a prim. This variant has less overhead than other commands as it doesn’t store an undo operation.

Typical usage example:

.. code-block:: python

omni.kit.commands.execute( “IsaacSimDestroyPrim”, prim_path=”/World/Prim”, )

Arguments#

  • prim_path: Path to the prim to delete.

Usage#

import omni.kit.commands

# Delete a prim at the specified path
omni.kit.commands.execute("IsaacSimDestroyPrim", prim_path="/World/Prim")

IsaacSimScalePrim#

Command to set a scale of a prim

Typical usage example:

.. code-block:: python

omni.kit.commands.execute( “IsaacSimScalePrim”, prim_path=”/World/Prim”, scale=(1.5, 1.5, 1.5), )

Arguments#

  • prim_path: Path to the prim to scale.

  • scale: Scale values for x, y, and z axes.

Usage#

import omni.kit.commands

# Scale a prim at path "/World/Cube" to 1.5 times its original size on all axes
omni.kit.commands.execute(
    "IsaacSimScalePrim",
    prim_path="/World/Cube",
    scale=(1.5, 1.5, 1.5)
)

IsaacSimSpawnPrim#

Command to spawn a new prim in the stage and set its transform. This uses dynamic_control to properly handle physics objects and articulation.

Typical usage example:

.. code-block:: python

omni.kit.commands.execute( “IsaacSimSpawnPrim”, usd_path=”/path/to/file.usd”, prim_path=”/World/Prim”, translation=(0, 0, 0), rotation=(0, 0, 0, 1), )

Arguments#

  • usd_path: Path to the USD file to reference.

  • prim_path: Path where the prim will be created in the stage.

  • translation: Translation vector for the prim’s position.

  • rotation: Rotation quaternion for the prim’s orientation.

Usage#

import omni.kit.commands
import carb

# Spawn a new prim by referencing a USD file
omni.kit.commands.execute(
    "IsaacSimSpawnPrim",
    usd_path="/path/to/asset.usd",
    prim_path="/World/MySpawnedPrim",
    translation=(1.0, 2.0, 0.5),
    rotation=(0.0, 0.0, 0.707, 0.707)  # 90 degree rotation around Z-axis
)

IsaacSimTeleportPrim#

Command to set a transform of a prim. This uses dynamic_control to properly handle physics objects and articulation

Typical usage example:

.. code-block:: python

omni.kit.commands.execute( “IsaacSimTeleportPrim”, prim_path=”/World/Prim”, translation=(0, 0, 0), rotation=(0, 0, 0, 1), )

Arguments#

  • prim_path: Path to the prim to teleport.

  • translation: Translation vector as (x, y, z).

  • rotation: Rotation quaternion as (x, y, z, w).

Usage#

import omni.kit.commands

# Teleport a prim to a new position and rotation
omni.kit.commands.execute(
    "IsaacSimTeleportPrim",
    prim_path="/World/Cube",
    translation=(5.0, 0.0, 2.0),
    rotation=(0.0, 0.0, 0.707, 0.707)
)