Public API for module isaacsim.sensors.physics:

Classes

• class IsaacSensorCreatePrim(omni.kit.commands.Command)

  • def init(self, path: str = ‘’, parent: str = ‘’, translation: Gf.Vec3d = Gf.Vec3d(0, 0, 0), orientation: Gf.Quatd = Gf.Quatd(1, 0, 0, 0), schema_type = IsaacSensorSchema.IsaacBaseSensor)

  • def do(self)

  • def undo(self)

• class IsaacSensorCreateContactSensor(omni.kit.commands.Command)

  • def init(self, path: str = ‘/Contact_Sensor’, parent: str = None, min_threshold: float = 0, max_threshold: float = 100000, color: Gf.Vec4f = Gf.Vec4f(1, 1, 1, 1), radius: float = -1, sensor_period: float = -1, translation: Gf.Vec3d = Gf.Vec3d(0, 0, 0))

  • def do(self)

  • def undo(self)

• class IsaacSensorCreateImuSensor(omni.kit.commands.Command)

  • def init(self, path: str = ‘/Imu_Sensor’, parent: str = None, sensor_period: float = -1, translation: Gf.Vec3d = Gf.Vec3d(0, 0, 0), orientation: Gf.Quatd = Gf.Quatd(1, 0, 0, 0), linear_acceleration_filter_size: int = 1, angular_velocity_filter_size: int = 1, orientation_filter_size: int = 1)

  • def do(self)

  • def undo(self)

• class ContactSensor(BaseSensor)

  • def init(self, prim_path: str, name: Optional[str] = ‘contact_sensor’, frequency: Optional[int] = None, dt: Optional[float] = None, translation: Optional[np.ndarray] = None, position: Optional[np.ndarray] = None, min_threshold: Optional[float] = None, max_threshold: Optional[float] = None, radius: Optional[float] = None)

  • def initialize(self, physics_sim_view = None)

  • def get_current_frame(self)

  • def add_raw_contact_data_to_frame(self)

  • def remove_raw_contact_data_from_frame(self)

  • def resume(self)

  • def pause(self)

  • def is_paused(self) -> bool

  • def set_frequency(self, value: float)

  • def get_frequency(self) -> int

  • def get_dt(self) -> float

  • def set_dt(self, value: float)

  • def get_radius(self) -> float

  • def set_radius(self, value: float)

  • def get_min_threshold(self) -> float

  • def set_min_threshold(self, value: float)

  • def get_max_threshold(self) -> float

  • def set_max_threshold(self, value: float)

• class EffortSensor(SingleArticulation)

  • def init(self, prim_path: str, sensor_period: float = -1, use_latest_data: bool = False, enabled: bool = True)

  • def initialize_callbacks(self)

  • def lerp(self, start: float, end: float, time: float) -> float

  • def get_sensor_reading(self, interpolation_function = None, use_latest_data = False) -> EsSensorReading

  • def update_dof_name(self, dof_name: str)

  • def change_buffer_size(self, new_buffer_size: int)

• class EsSensorReading

  • def init(self, is_valid: bool = False, time: float = 0, value: float = 0)

• class IMUSensor(BaseSensor)

  • def init(self, prim_path: str, name: Optional[str] = ‘imu_sensor’, frequency: Optional[int] = None, dt: Optional[float] = None, translation: Optional[np.ndarray] = None, position: Optional[np.ndarray] = None, orientation: Optional[np.ndarray] = None, linear_acceleration_filter_size: Optional[int] = 1, angular_velocity_filter_size: Optional[int] = 1, orientation_filter_size: Optional[int] = 1)

  • def initialize(self, physics_sim_view = None)

  • def get_current_frame(self, read_gravity = True) -> dict

  • def resume(self)

  • def pause(self)

  • def is_paused(self) -> bool

  • def set_frequency(self, value: int)

  • def get_frequency(self) -> int

  • def get_dt(self) -> float

  • def set_dt(self, value: float)