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 get_raw_contact_data(self) -> tuple[wp.array, wp.array, wp.array, wp.array, wp.array, wp.array, wp.array]
def get_actor_paths_from_ids(self, actor_ids: wp.array) -> list[str]
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: str, service_type: object, callback: callable) -> bool
def unregister_service(self, service_name: str, remove_from_dict: bool = True) -> bool
def register_action_server(self, action_name: str, action_type: object, execute_callback: callable, goal_callback: callable = None, cancel_callback: callable = None) -> bool
def unregister_action_server(self, action_name: str, remove_from_dict: bool = True) -> bool
class SimulationControl
def init(self)
def shutdown(self)
class Extension(omni.ext.IExt)
def on_startup(self, ext_id: str)
def on_shutdown(self)
Functions#
def is_local_path(path: str) -> bool
def resolve_source_path(src: str, assets_root_path: str | None) -> str
def get_filtered_entities(usdrt_stage: object, filter_pattern: str | None = None) -> tuple[list[str], str]
async def get_entity_state(entity_path: str) -> tuple[object | None, str, int]
def create_empty_entity_state() -> object
async def find_filtered_files_async(root_path: str, filter_patterns: list[str] | None = None, match_all: bool = False, filepath_excludes: list[str] | None = None, max_depth: int | None = None) -> set[str]
async def get_assets_root_path_async() -> str
def is_valid_usd_file(item: str, excludes: list) -> bool
async def resolve_asset_path_async(original_path: str) -> str | None
def Singleton(class_: type) -> callable
Variables#
SERVICE_PREFIX: str
SERVICE_TYPES: List
ACTION_TYPES: List