[isaacsim.core.nodes] Isaac Sim Core OmniGraph Nodes

Version: 5.1.3

Provides OmniGraph nodes for Isaac Sim workflows including articulation control, simulation timing, camera info reading, viewport management, and physics step event handling.

Enable Extension

The extension can be enabled (if not already) in one of the following ways:

Command-line interface

Define the next entry as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --enable isaacsim.core.nodes

Experience/extension configuration

Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.

[dependencies]
"isaacsim.core.nodes" = {}

Extension Manager UI

Open the Window > Extensions menu in a running application instance and search for isaacsim.core.nodes. Then, toggle the enable control button if it is not already active.

API

Isaac Sim Core Nodes Module

class CoreNodes

acquire_interface(

plugin_name: str = None,

library_path: str = None,

) → isaacsim.core.nodes.bindings._isaacsim_core_nodes.CoreNodes

release_interface(

arg0: isaacsim.core.nodes.bindings._isaacsim_core_nodes.CoreNodes,

) → None

Omnigraph Nodes

The extension exposes the following Omnigraph nodes:

• Articulation Controller
• Articulation State
• Isaac Compute Odometry Node
• Isaac Depth to Point Cloud
• Isaac RGBA to RGB
• Isaac Create Render Product
• Isaac Create Viewport
• Isaac Generate 32FC1
• Isaac Generate RGBA
• Isaac Get Viewport Render Product
• Isaac Joint Name Resolver
• Isaac Passthrough Image Pointer
• Isaac Read Camera Info
• Isaac Read Env Var
• Isaac Read File Path
• Isaac Read Simulation Time
• Isaac Read Simulation Time Annotator
• Isaac Read System Time
• Isaac Read System Time Annotator
• Isaac Read World Pose
• Isaac Real Time Factor
• Isaac Run One Simulation Frame
• Scale To/From Stage Units
• Isaac Set Camera
• Isaac Set Viewport Resolution
• Isaac Simulation Gate
• Isaac Test Node
• Isaac Time Splitter
• On Physics Step