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Public API for module isaacsim.ros2.sim_control:#

Classes#

  • class RigidPrim(XformPrim)

    • def init(self, paths: str | list[str])

    • [property] def num_shapes(self) -> int

    • [property] def num_contact_filters(self) -> int

    • def is_physics_tensor_entity_valid(self) -> bool

    • def set_world_poses(self, positions: list | np.ndarray | wp.array | None = None, orientations: list | np.ndarray | wp.array | None = None)

    • def get_world_poses(self) -> tuple[wp.array, wp.array]

    • def get_local_poses(self) -> tuple[wp.array, wp.array]

    • def set_local_poses(self, translations: list | np.ndarray | wp.array | None = None, orientations: list | np.ndarray | wp.array | None = None)

    • def set_velocities(self, linear_velocities: list | np.ndarray | wp.array | None = None, angular_velocities: list | np.ndarray | wp.array | None = None)

    • def get_velocities(self) -> tuple[wp.array, wp.array]

    • def apply_forces(self, forces: list | np.ndarray | wp.array)

    • def apply_forces_and_torques_at_pos(self, forces: list | np.ndarray | wp.array | None = None, torques: list | np.ndarray | wp.array | None = None)

    • def get_masses(self) -> wp.array

    • def get_coms(self) -> tuple[wp.array, wp.array]

    • def get_inertias(self) -> wp.array

    • def set_masses(self, masses: float | list | np.ndarray | wp.array)

    • def set_inertias(self, inertias: list | np.ndarray | wp.array)

    • def set_coms(self, positions: list | np.ndarray | wp.array | None = None, orientations: list | np.ndarray | wp.array | None = None)

    • def set_densities(self, densities: float | list | np.ndarray | wp.array)

    • def get_densities(self) -> wp.array

    • def set_sleep_thresholds(self, thresholds: float | list | np.ndarray | wp.array)

    • def get_sleep_thresholds(self) -> wp.array

    • def set_enabled_rigid_bodies(self, enabled: bool | list | np.ndarray | wp.array)

    • def get_enabled_rigid_bodies(self) -> wp.array

    • def set_enabled_gravities(self, enabled: bool | list | np.ndarray | wp.array)

    • def get_enabled_gravities(self) -> wp.array

    • def set_enabled_contact_tracking(self, enabled: bool | list | np.ndarray | wp.array)

    • def get_enabled_contact_tracking(self) -> wp.array

    • def get_net_contact_forces(self) -> wp.array

    • def get_contact_force_matrix(self) -> wp.array

    • def get_contact_force_data(self) -> tuple[wp.array, wp.array, wp.array, wp.array, wp.array, wp.array]

    • def get_friction_data(self) -> tuple[wp.array, wp.array, wp.array, wp.array]

    • def set_default_state(self, positions: list | np.ndarray | wp.array | None = None, orientations: list | np.ndarray | wp.array | None = None, linear_velocities: list | np.ndarray | wp.array | None = None, angular_velocities: list | np.ndarray | wp.array | None = None)

    • def get_default_state(self) -> tuple[wp.array | None, wp.array | None, wp.array | None, wp.array | None]

    • def reset_to_default_state(self)

    • def initialize_cpp_data_view(self)

  • class XformPrim(Prim)

    • def init(self, paths: str | list[str])

    • [property] def is_non_root_articulation_link(self) -> bool

    • def set_visibilities(self, visibilities: bool | list | np.ndarray | wp.array)

    • def get_visibilities(self) -> wp.array

    • def get_default_state(self) -> tuple[wp.array | None, wp.array | None]

    • def set_default_state(self, positions: list | np.ndarray | wp.array | None = None, orientations: list | np.ndarray | wp.array | None = None)

    • def apply_visual_materials(self, materials: type[‘VisualMaterial’] | list[type[‘VisualMaterial’]])

    • def get_applied_visual_materials(self) -> list[type[‘VisualMaterial’] | None]

    • def get_world_poses(self) -> tuple[wp.array, wp.array]

    • def set_world_poses(self, positions: list | np.ndarray | wp.array | None = None, orientations: list | np.ndarray | wp.array | None = None)

    • def get_local_poses(self) -> tuple[wp.array, wp.array]

    • def set_local_poses(self, translations: list | np.ndarray | wp.array | None = None, orientations: list | np.ndarray | wp.array | None = None)

    • def set_local_scales(self, scales: list | np.ndarray | wp.array | None = None)

    • def get_local_scales(self) -> wp.array

    • def reset_xform_op_properties(self)

    • def reset_to_default_state(self)

  • class ROS2ServiceManager

    • def init(self)

    • def initialize(self)

    • def shutdown(self)

    • def register_service(self, service_name, service_type, callback)

    • def unregister_service(self, service_name, remove_from_dict = True)

    • def register_action_server(self, action_name, action_type, execute_callback, goal_callback = None, cancel_callback = None)

    • def unregister_action_server(self, action_name, remove_from_dict = True)

  • class SimulationControl

    • def init(self)

    • def shutdown(self)

  • class Extension(omni.ext.IExt)

    • def on_startup(self, ext_id)

    • def on_shutdown(self)

Functions#

  • def get_filtered_entities(usdrt_stage, filter_pattern = None)

  • async def get_entity_state(entity_path)

  • def create_empty_entity_state()

  • async def find_filtered_files_async(root_path: str, filter_patterns: List[str] = [], match_all: bool = False, filepath_excludes: List[str] = [], max_depth: int = None) -> set

  • async def get_assets_root_path_async() -> str

  • def is_local_path(path: str) -> bool

  • def is_valid_usd_file(item: str, excludes: list) -> bool

  • async def resolve_asset_path_async(original_path: str) -> str | None

  • def Singleton(class_)

Variables#

  • SERVICE_PREFIX: str

  • SERVICE_TYPES: List

  • ACTION_TYPES: List

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