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Public API for module isaacsim.sensors.experimental.physics:#

Classes#

  • class ContactSensorReading

    • value: float

    • time: float

    • is_valid: bool

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

    • [in_contact.setter] def in_contact(self, value: bool)

  • class IMURawData

    • time: float

    • dt: float

    • linear_velocity_x: float

    • linear_velocity_y: float

    • linear_velocity_z: float

    • angular_velocity_x: float

    • angular_velocity_y: float

    • angular_velocity_z: float

    • orientation_w: float

    • orientation_x: float

    • orientation_y: float

    • orientation_z: float

  • class IMUSensorReading

    • linear_acceleration_x: float

    • linear_acceleration_y: float

    • linear_acceleration_z: float

    • angular_velocity_x: float

    • angular_velocity_y: float

    • angular_velocity_z: float

    • orientation: Quaternion

    • time: float

    • is_valid: bool

  • class Contact(_PhysicsSensorAuthoring)

    • def init(self, path: str)

    • def get_radius(self) -> float | None

    • def set_radius(self, value: float)

    • def get_min_threshold(self) -> float | None

    • def set_min_threshold(self, value: float)

    • def get_max_threshold(self) -> float | None

    • def set_max_threshold(self, value: float)

  • class ContactSensor(_PhysicsSensorRuntime)

    • def init(self, path: str | Contact)

    • [property] def contact(self) -> Contact

    • def on_physics_step(self, step_dt: float)

    • def on_timeline_stop(self)

    • def get_sensor_reading(self) -> ContactSensorReading

    • def get_raw_data(self) -> list[dict[str, object]]

    • def get_data(self) -> dict

    • def add_raw_contact_data_to_frame(self)

    • def remove_raw_contact_data_from_frame(self)

  • class EffortSensor(_PhysicsSensorRuntimeBase)

    • def init(self, path: str, enabled: bool = True)

    • def on_timeline_stop(self)

    • def get_sensor_reading(self) -> EffortSensorReading

    • def get_data(self) -> dict

    • def update_dof_name(self, dof_name: str)

    • def change_buffer_size(self, new_buffer_size: int)

  • class EffortSensorReading

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

  • class IMU(_PhysicsSensorAuthoring)

    • def init(self, path: str)

  • class IMUSensor(_PhysicsSensorRuntime)

    • [property] def imu(self) -> IMU

    • def get_sensor_reading(self, read_gravity: bool = True) -> object

    • def get_data(self, read_gravity: bool = True) -> dict

  • class JointStateSensor(_PhysicsSensorRuntimeBase)

    • def init(self, path: str, enabled: bool = True)

    • def get_sensor_reading(self) -> JointStateSensorReading

    • def get_data(self) -> dict

  • class JointStateSensorReading

    • def init(self, is_valid: bool = False, time: float = 0.0, dof_names: list[str] | None = None, positions: np.ndarray | None = None, velocities: np.ndarray | None = None, efforts: np.ndarray | None = None, dof_types: np.ndarray | None = None, stage_meters_per_unit: float = 0.0)

  • class Raycast(_PhysicsSensorAuthoring)

    • def init(self, path: str)

  • class RaycastSensor(_PhysicsSensorRuntime)

    • [property] def raycast(self) -> Raycast

    • def get_sensor_reading(self) -> object

    • def get_data(self) -> dict

Functions#

  • def get_imu_sensor_interface() -> object | None

  • def get_contact_sensor_interface() -> object | None

  • def get_effort_sensor_interface() -> object | None

  • def get_joint_state_sensor_interface() -> object | None

  • def get_raycast_sensor_interface() -> object | None

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