[isaacsim.robot.manipulators] Isaac Sim Manipulators#

Warning

Deprecation: Extension deprecated since Isaac Sim 6.0.0. Refer to isaacsim.robot_motion.examples for maintained examples.

Version: 3.4.5

Overview#

Deprecated since version 6.0.0: This extension is deprecated. Refer to isaacsim.robot_motion.examples for maintained examples.

**isaacsim.robot.manipulators** provides Python APIs for working with robotic manipulators. Its primary public API is SingleManipulator, a high-level wrapper for a single-arm articulation with one tracked end effector and an optional gripper.

Use this module when you want one object that represents the manipulator articulation, exposes the end effector as a rigid prim, and coordinates reset and initialization behavior for the manipulator and gripper.

Concepts#

Single manipulator#

A SingleManipulator represents one articulated robot arm with a single end effector. It inherits from SingleArticulation, so it can be used as an articulation while adding manipulator-specific access to the end effector and optional gripper.

The end effector is identified by end_effector_prim_path. This path is used to track the rigid body corresponding to the tool or hand at the end of the robot arm.

End effector#

The end_effector property returns a SingleRigidPrim. This object can be used to query end effector state, such as its world pose, angular velocity, and other rigid body properties.

This keeps end effector access separate from the full articulation, which is useful for manipulation tasks that need to reason about the tool frame directly.

Optional gripper#

A SingleManipulator can be created with a Gripper. When provided, the gripper property exposes that object so user code can open or close the gripper and query its pose or velocity.

The gripper is optional, so the same manipulator wrapper can be used for arms with or without an attached grasping component.

Key Components#

`SingleManipulator`#

SingleManipulator is the main public class exported by **isaacsim.robot.manipulators**.

It wraps:

The manipulator articulation.
A single end effector rigid body.
An optional gripper.

The constructor accepts placement and visibility options for the manipulator prim, including position, translation, orientation, scale, and visible.

from isaacsim.robot.manipulators import SingleManipulator

manipulator = SingleManipulator(
    prim_path="/World/Robot",
    end_effector_prim_path="/World/Robot/end_effector",
    name="robot_arm",
)

If a gripper object is available, pass it during construction:

from isaacsim.robot.manipulators import SingleManipulator

manipulator = SingleManipulator(
    prim_path="/World/Robot",
    end_effector_prim_path="/World/Robot/end_effector",
    name="robot_arm",
    gripper=my_gripper,
)

Functionality#

Initialization#

Call initialize() before interacting with the manipulator after a hard reset, such as stopping and playing the timeline. If no physics simulation view is passed, the method creates one and creates the articulation view needed by the physics tensor API.

manipulator.initialize()

You can also pass an existing simulation view:

manipulator.initialize(physics_sim_view=simulation_view)

Accessing the end effector#

Use end_effector to work directly with the rigid body at the end of the manipulator.

end_effector = manipulator.end_effector

position, orientation = end_effector.get_world_pose()

This is useful for tasks such as tracking tool pose, computing grasp targets, or checking the current state of the manipulator tip.

Accessing the gripper#

Use gripper to access the optional gripper object associated with the manipulator.

gripper = manipulator.gripper

if gripper is not None:
    gripper.open()

The exact gripper operations depend on the gripper object supplied to the manipulator.

Reset behavior#

post_reset() resets the manipulator, end effector, and gripper to their default states.

manipulator.post_reset()

This is intended for restoring the manipulator-related objects after simulation reset behavior.

Relationships#

SingleManipulator builds on SingleArticulation from **isaacsim.core.prims**, which provides the articulation-level behavior for the robot. Its end_effector property exposes a SingleRigidPrim, also from **isaacsim.core.prims**, for rigid body access to the end effector.

The optional gripper argument and property use the Gripper interface from **isaacsim.robot.manipulators.grippers.gripper**, allowing gripper behavior to be associated with the manipulator without requiring every manipulator to have one.

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.robot.manipulators

Experience/extension configuration

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

[dependencies]
"isaacsim.robot.manipulators" = {}

Extension Manager UI

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

Python API#

manipulators

SingleManipulator

Provides high level functions to set/get properties and actions of a manipulator with a single end effector.

controllers

`PickPlaceController`	A simple pick and place state machine for tutorials.
`StackingController`	Controller for stacking objects in a specified order.

grippers

`Gripper`	Provides high level functions to set/get properties and actions of a gripper.
`ParallelGripper`	Provides high level functions to set/get properties and actions of a parallel gripper.
`SurfaceGripper`	Provides high-level functions to set or get properties and actions of a surface gripper.

Manipulators#

class SingleManipulator( prim_path: str, end_effector_prim_path: str, name: str = 'single_manipulator', position: Sequence[float] | None = None, translation: Sequence[float] | None = None, orientation: Sequence[float] | None = None, scale: Sequence[float] | None = None, visible: bool | None = None, gripper: Gripper = None, )#

Bases: SingleArticulation

Provides high level functions to set/get properties and actions of a manipulator with a single end effector.

And optionally a gripper.

Parameters:

prim_path – Prim path of the Prim to encapsulate or create.
end_effector_prim_path – End effector prim path to be used to track the rigid body that corresponds to the end effector. Only one of the following arguments can be specified: end_effector_prim_name or end_effector_prim_path.
name – Short name to be used as a key by Scene class. Note: needs to be unique if the object is added to the Scene.
position – Position in the world frame of the prim. Shape is (3, ).
translation – Translation in the local frame of the prim (with respect to its parent prim). Shape is (3, ).
orientation – Quaternion orientation in the world/local frame of the prim (depends if translation or position is specified). Quaternion is scalar-first (w, x, y, z). Shape is (4, ).
scale – Local scale to be applied to the prim’s dimensions. Shape is (3, ).
visible – Set to false for an invisible prim in the stage while rendering.
gripper – Gripper to be used with the manipulator.

apply_action( control_actions: ArticulationAction, ) → None#

Apply joint positions, velocities and/or efforts to control an articulation.

Parameters:: control_actions – Actions to be applied for next physics step.

Hint

High stiffness makes the joints snap faster and harder to the desired target, and higher damping smoothes but also slows down the joint’s movement to target

For position control, set relatively high stiffness and low damping (to reduce vibrations)
For velocity control, stiffness must be set to zero with a non-zero damping
For effort control, stiffness and damping must be set to zero

Example:

>>> from isaacsim.core.utils.types import ArticulationAction
>>>
>>> # move all the robot joints to the indicated position
>>> action = ArticulationAction(joint_positions=np.array([0.0, -1.0, 0.0, -2.2, 0.0, 2.4, 0.8, 0.04, 0.04]))
>>> prim.apply_action(action)
>>>
>>> # close the robot fingers: panda_finger_joint1 (7) and panda_finger_joint2 (8) to 0.0
>>> action = ArticulationAction(joint_positions=np.array([0.0, 0.0]), joint_indices=np.array([7, 8]))
>>> prim.apply_action(action)

apply_visual_material( visual_material: VisualMaterial, weaker_than_descendants: bool = False, ) → None#

Apply visual material to the held prim and optionally its descendants.

Parameters:

visual_material – Visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants – True if the material shouldn’t override the descendants materials, otherwise False.

Example:

>>> from isaacsim.core.api.materials import OmniGlass
>>>
>>> # create a dark-red glass visual material
>>> material = OmniGlass(
...     prim_path="/World/material/glass",  # path to the material prim to create
...     ior=1.25,
...     depth=0.001,
...     thin_walled=False,
...     color=np.array([0.5, 0.0, 0.0])
... )
>>> prim.apply_visual_material(material)

disable_gravity() → None#

Keep gravity from affecting the robot.

Example:

>>> prim.disable_gravity()

enable_gravity() → None#

Allow gravity to affect the robot.

Example:

>>> prim.enable_gravity()

get_angular_velocity() → ndarray#

Angular velocity of the root articulation prim.

Returns:: 3D angular velocity vector. Shape (3,).

Example:

>>> prim.get_angular_velocity()
[0. 0. 0.]

get_applied_action() → ArticulationAction#

Last applied action.

Returns:: Last applied action. Note that a dictionary is used as the object’s string representation.

Example:

>>> # last applied action: joint_positions -> [0.0, -1.0, 0.0, -2.2, 0.0, 2.4, 0.8, 0.04, 0.04]
>>> prim.get_applied_action()
{'joint_positions': [0.0, -1.0, 0.0, -2.200000047683716, 0.0, 2.4000000953674316,
                     0.800000011920929, 0.03999999910593033, 0.03999999910593033],
 'joint_velocities': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
 'joint_efforts': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}

get_applied_joint_efforts( joint_indices: list | ndarray | None = None, ) → ndarray#

Get the efforts applied to the joints set by the set_joint_efforts method.

Parameters:: joint_indices – Indices to specify which joints to read. If not specified, all joints are read.
Raises:: Exception – If the handlers are not initialized.
Returns:: All or selected articulation joint applied efforts.

Example

>>> # get all applied joint efforts
>>> prim.get_applied_joint_efforts()
[ 0.  0.  0.  0.  0.  0.  0.  0.  0.]
>>>
>>> # get finger applied efforts: panda_finger_joint1 (7) and panda_finger_joint2 (8)
>>> prim.get_applied_joint_efforts(joint_indices=np.array([7, 8]))
[0.  0.]

get_applied_visual_material() → VisualMaterial#

Return the current applied visual material if it was applied using apply_visual_material or is one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.

Returns:: The current applied visual material if its type is currently supported.

Example:

>>> # given a visual material applied
>>> prim.get_applied_visual_material()
<isaacsim.core.api.materials.omni_glass.OmniGlass object at 0x7f36263106a0>

get_articulation_body_count() → int#

Get the number of bodies (links) that make up the articulation.

Returns:: Amount of bodies.

Example:

>>> prim.get_articulation_body_count()
12

get_articulation_controller() → ArticulationController#

Get the articulation controller.

Note

If no articulation_controller was passed during class instantiation, a default controller of type ArticulationController (a Proportional-Derivative controller that can apply position targets, velocity targets and efforts) will be used

Returns:: Articulation controller.

Example:

>>> prim.get_articulation_controller()
<isaacsim.core.api.controllers.articulation_controller.ArticulationController object at 0x7f04a0060190>

get_default_state() → XFormPrimState#

Get the default prim states (spatial position and orientation).

Returns:: An object that contains the default state of the prim (position and orientation).

Example:

>>> state = prim.get_default_state()
>>> state
<isaacsim.core.utils.types.XFormPrimState object at 0x7f33addda650>
>>>
>>> state.position
[-4.5299529e-08 -1.8347054e-09 -2.8610229e-08]
>>> state.orientation
[1. 0. 0. 0.]

get_dof_index(dof_name: str) → int#

Get a DOF index given its name.

Parameters:: dof_name – Name of the DOF.
Returns:: DOF index.

Example:

>>> prim.get_dof_index("panda_finger_joint2")
8

get_enabled_self_collisions() → uint8#

Get the enable self collisions flag (physxArticulation:enabledSelfCollisions).

Returns:: Self collisions flag, with boolean values interpreted as integers.

Example:

>>> prim.get_enabled_self_collisions()
0

get_joint_positions( joint_indices: list | ndarray | None = None, ) → ndarray#

Get the articulation joint positions.

Parameters:: joint_indices – Indices to specify which joints to read. If not specified, all joints are read.
Returns:: All or selected articulation joint positions.

Example

>>> # get all joint positions
>>> prim.get_joint_positions()
[ 1.1999920e-02 -5.6962633e-01  1.3480479e-08 -2.8105433e+00  6.8284894e-06
  3.0301569e+00  7.3234749e-01  3.9912373e-02  3.9999999e-02]
>>>
>>> # get finger positions: panda_finger_joint1 (7) and panda_finger_joint2 (8)
>>> prim.get_joint_positions(joint_indices=np.array([7, 8]))
[0.03991237  3.9999999e-02]

get_joint_velocities( joint_indices: list | ndarray | None = None, ) → ndarray#

Get the articulation joint velocities.

Parameters:: joint_indices – Indices to specify which joints to read. If not specified, all joints are read.
Returns:: All or selected articulation joint velocities.

Example

>>> # get all joint velocities
>>> prim.get_joint_velocities()
[ 1.91603772e-06 -7.67638255e-03 -2.19138826e-07  1.10636465e-02 -4.63412944e-05
  3.48245539e-02  8.84692147e-02  5.40335372e-04 1.02849208e-05]
>>>
>>> # get finger velocities: panda_finger_joint1 (7) and panda_finger_joint2 (8)
>>> prim.get_joint_velocities(joint_indices=np.array([7, 8]))
[5.4033537e-04 1.0284921e-05]

get_joints_default_state() → JointsState#

Default joint states (positions and velocities).

Returns:: An object that contains the default joint positions and velocities.

Example:

>>> state = prim.get_joints_default_state()
>>> state
<isaacsim.core.utils.types.JointsState object at 0x7f04a0061240>
>>>
>>> state.positions
[ 0.012  -0.57000005  0.  -2.81  0.  3.037  0.785398  0.04  0.04 ]
>>> state.velocities
[0. 0. 0. 0. 0. 0. 0. 0. 0.]

get_joints_state() → JointsState#

Current joint states (positions and velocities).

Returns:: An object that contains the current joint positions and velocities.

Example:

>>> state = prim.get_joints_state()
>>> state
<isaacsim.core.utils.types.JointsState object at 0x7f02f6df57b0>
>>>
>>> state.positions
[ 1.1999920e-02 -5.6962633e-01  1.3480479e-08 -2.8105433e+00 6.8284894e-06
  3.0301569e+00  7.3234749e-01  3.9912373e-02  3.9999999e-02]
>>> state.velocities
[ 1.91603772e-06 -7.67638255e-03 -2.19138826e-07  1.10636465e-02 -4.63412944e-05
  245539e-02  8.84692147e-02  5.40335372e-04  1.02849208e-05]

get_linear_velocity() → ndarray#

Linear velocity of the root articulation prim.

Returns:: 3D linear velocity vector. Shape (3,).

Example:

>>> prim.get_linear_velocity()
[0. 0. 0.]

get_local_pose() → tuple[ndarray, ndarray]#

Get prim’s pose with respect to the local frame (the prim’s parent frame).

Returns:: First index is the position in the local frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the local frame.

Example:

>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame
>>> position, orientation = prim.get_local_pose()
>>> position
[0. 0. 0.]
>>> orientation
[0. 0. 0.]

get_local_scale() → ndarray#

Get prim’s scale with respect to the local frame (the parent’s frame).

Returns:: Scale applied to the prim’s dimensions in the local frame. shape is (3, ).

Example:

>>> prim.get_local_scale()
[1. 1. 1.]

get_measured_joint_efforts( joint_indices: list | ndarray | None = None, ) → ndarray#

Returns the efforts computed/measured by the physics solver of the joint forces in the DOF motion direction.

Parameters:: joint_indices – Indices to specify which joints to read. If not specified, all joints are read.
Raises:: Exception – If the handlers are not initialized.
Returns:: All or selected articulation joint measured efforts.

Example

>>> # get all joint efforts
>>> prim.get_measured_joint_efforts()
[ 2.7897308e-06 -6.9083519e+00 -3.6398471e-06  1.9158335e+01 -4.3552645e-06
  1.1866090e+00 -4.7079347e-06  3.2339853e-04 -3.2044132e-04]
>>>
>>> # get finger efforts: panda_finger_joint1 (7) and panda_finger_joint2 (8)
>>> prim.get_measured_joint_efforts(joint_indices=np.array([7, 8]))
[ 0.0003234  -0.00032044]

get_measured_joint_forces( joint_indices: list | ndarray | None = None, ) → ndarray#

Get the measured joint reaction forces and torques (link incoming joint forces and torques) to external loads.

Forces and torques are reported in the local body reference frame (child joint frame of the link’s incoming joint).

Note

Since the name->index map for joints has not been exposed yet, it is possible to access the joint names and their indices through the articulation metadata.

prim._articulation_view._metadata.joint_names  # list of names
prim._articulation_view._metadata.joint_indices  # dict of name: index

To retrieve a specific row for the link incoming joint force/torque use joint_index + 1

Parameters:: joint_indices – Indices to specify which joints to read. If not specified, all joints are read.
Raises:: Exception – If the handlers are not initialized.
Returns:: Measured joint forces and torques. Shape is (num_joint + 1, 6). Row index 0 is the incoming joint of the base link. For the last dimension the first 3 values are for forces and the last 3 for torques.

Example

>>> # get all measured joint forces and torques
>>> prim.get_measured_joint_forces()
[[ 0.0000000e+00  0.0000000e+00  0.0000000e+00  0.0000000e+00  0.0000000e+00  0.0000000e+00]
 [ 1.4995076e+02  4.2574748e-06  5.6364370e-04  4.8701895e-05 -6.9072924e+00  3.1881387e-05]
 [-2.8971717e-05 -1.0677823e+02 -6.8384506e+01 -6.9072924e+00 -5.4927128e-05  6.1222494e-07]
 [ 8.7120995e+01 -4.3871860e-05 -5.5795174e+01  5.3687054e-05 -2.4538563e+01  1.3333466e-05]
 [ 5.3519474e-05 -4.8109909e+01  6.0709282e+01  1.9157074e+01 -5.9258469e-05  8.2744418e-07]
 [-3.1691040e+01  2.3313689e-04  3.9990173e+01 -5.8968733e-05 -1.1863431e+00  2.2335558e-05]
 [-1.0809851e-04  1.5340537e+01 -1.5458489e+01  1.1863426e+00  6.1094368e-05 -1.5940281e-05]
 [-7.5418940e+00 -5.0814648e+00 -5.6512990e+00 -5.6385466e-05  3.8859999e-01 -3.4943256e-01]
 [ 4.7421460e+00 -3.1945827e+00  3.5528181e+00  5.5852943e-05  8.4794536e-03  7.6405057e-03]
 [ 4.0760727e+00  2.1640673e-01 -4.0513167e+00 -5.9565349e-04  1.1407082e-02  2.1432268e-06]
 [ 5.1680198e-03 -9.7754575e-02 -9.7093947e-02 -8.4155556e-12 -1.2910691e-12 -1.9347857e-11]
 [-5.1910793e-03  9.7588278e-02 -9.7106412e-02  8.4155573e-12  1.2910637e-12 -1.9347855e-11]]
>>>
>>> # get measured joint force and torque for the fingers
>>> metadata = prim._articulation_view._metadata
>>> joint_indices = 1 + np.array([
...     metadata.joint_indices["panda_finger_joint1"],
...     metadata.joint_indices["panda_finger_joint2"],
... ])
>>> joint_indices
[10 11]
>>> prim.get_measured_joint_forces(joint_indices)
[[ 5.1680198e-03 -9.7754575e-02 -9.7093947e-02 -8.4155556e-12 -1.2910691e-12 -1.9347857e-11]
 [-5.1910793e-03  9.7588278e-02 -9.7106412e-02  8.4155573e-12  1.2910637e-12 -1.9347855e-11]]

get_sleep_threshold() → float#

Get the threshold for articulations to enter a sleep state.

Search for Articulations and Sleeping in PhysX docs for more details.

Returns:: Sleep threshold.

Example:

>>> prim.get_sleep_threshold()
0.005

get_solver_position_iteration_count() → int#

Get the solver (position) iteration count for the articulation.

The solver iteration count determines how accurately contacts, drives, and limits are resolved. Search for Solver Iteration Count in PhysX docs for more details.

Returns:: Position iteration count.

Example:

>>> prim.get_solver_position_iteration_count()
32

get_solver_velocity_iteration_count() → int#

Get the solver (velocity) iteration count for the articulation.

The solver iteration count determines how accurately contacts, drives, and limits are resolved. Search for Solver Iteration Count in PhysX docs for more details.

Returns:: Velocity iteration count.

Example:

>>> prim.get_solver_velocity_iteration_count()
32

get_stabilization_threshold() → float#

Get the mass-normalized kinetic energy below which the articulation may participate in stabilization.

Search for Stabilization Threshold in PhysX docs for more details.

Returns:: Stabilization threshold.

Example:

>>> prim.get_stabilization_threshold()
0.0009999999

get_visibility() → bool#

Get the visibility of the prim in stage.

Returns:: True if the prim is visible in stage. False otherwise.

Example:

>>> # get the visible state of a visible prim on the stage
>>> prim.get_visibility()
True

get_world_pose() → tuple[ndarray, ndarray]#

Get prim’s pose with respect to the world’s frame.

Returns:: First index is the position in the world frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the world frame.

Example:

>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame
>>> position, orientation = prim.get_world_pose()
>>> position
[1.  0.5 0. ]
>>> orientation
[1. 0. 0. 0.]

get_world_scale() → ndarray#

Get prim’s scale with respect to the world’s frame.

Returns:: Scale applied to the prim’s dimensions in the world frame. shape is (3, ).

Example:

>>> prim.get_world_scale()
[1. 1. 1.]

get_world_velocity() → ndarray#

Get the articulation root velocity.

Returns:: Current velocity of the root prim. Shape (6,).

initialize( physics_sim_view: omni.physics.tensors.SimulationView = None, ) → None#

Creates a physics simulation view if not passed and creates an articulation view using PhysX tensor API.

This needs to be called after each hard reset (i.e stop + play on the timeline) before interacting with any of the functions of this class.

Parameters:: physics_sim_view – Current physics simulation view.

is_valid() → bool#

Check if the prim path has a valid USD Prim at it.

Returns:: True if the current prim path corresponds to a valid prim in stage. False otherwise.

Example:

>>> # given an existing and valid prim
>>> prims.is_valid()
True

is_visual_material_applied() → bool#

Check if there is a visual material applied.

Returns:: True if there is a visual material applied. False otherwise.

Example:

>>> # given a visual material applied
>>> prim.is_visual_material_applied()
True

post_reset() → None#: Resets the manipulator, the end effector, and the gripper to their default states.

set_angular_velocity( velocity: ndarray, ) → None#

Set the angular velocity of the root articulation prim.

Warning

This method will immediately set the articulation state

Parameters:: velocity – 3D angular velocity vector. Shape (3,).

Hint

This method belongs to the methods used to set the articulation kinematic state:

set_linear_velocity, set_angular_velocity, set_joint_positions, set_joint_velocities, set_joint_efforts

Example:

>>> prim.set_angular_velocity(np.array([0.1, 0.0, 0.0]))

set_default_state( position: Sequence[float] | None = None, orientation: Sequence[float] | None = None, ) → None#

Set the default state of the prim (position and orientation), that will be used after each reset.

Parameters:

position – Position in the world frame of the prim. shape is (3, ). If None, the position is left unchanged.
orientation – Quaternion orientation in the world frame of the prim. Quaternion is scalar-first (w, x, y, z). shape is (4, ). If None, the orientation is left unchanged.

Example:

>>> # configure default state
>>> prim.set_default_state(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1, 0, 0, 0]))
>>>
>>> # set default states during post-reset
>>> prim.post_reset()

set_enabled_self_collisions(flag: bool) → None#

Set the enable self collisions flag (physxArticulation:enabledSelfCollisions).

Parameters:: flag – Whether to enable self collisions.

Example:

>>> prim.set_enabled_self_collisions(True)

set_joint_efforts( efforts: ndarray, joint_indices: list | ndarray | None = None, ) → None#

Set the articulation joint efforts.

Note

This method can be used for effort control. For this purpose, there must be no joint drive or the stiffness and damping must be set to zero.

Parameters:

efforts – Articulation joint efforts.
joint_indices – Indices to specify which joints to manipulate. If not specified, all joints are manipulated.

Hint

This method belongs to the methods used to set the articulation kinematic state:

set_linear_velocity, set_angular_velocity, set_joint_positions, set_joint_velocities, set_joint_efforts

Example

>>> # set all the robot joint efforts to 0.0
>>> prim.set_joint_efforts(np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]))
>>>
>>> # set only the fingers efforts: panda_finger_joint1 (7) and panda_finger_joint2 (8) to 10
>>> prim.set_joint_efforts(np.array([10, 10]), joint_indices=np.array([7, 8]))

set_joint_positions( positions: ndarray, joint_indices: list | ndarray | None = None, ) → None#

Set the articulation joint positions.

Warning

This method will immediately set (teleport) the affected joints to the indicated value. Use the apply_action method to control robot joints.

Parameters:

positions – Articulation joint positions.
joint_indices – Indices to specify which joints to manipulate. If not specified, all joints are manipulated.

Hint

This method belongs to the methods used to set the articulation kinematic state:

set_linear_velocity, set_angular_velocity, set_joint_positions, set_joint_velocities, set_joint_efforts

Example

>>> # set all the robot joints
>>> prim.set_joint_positions(np.array([0.0, -1.0, 0.0, -2.2, 0.0, 2.4, 0.8, 0.04, 0.04]))
>>>
>>> # set only the fingers in closed position: panda_finger_joint1 (7) and panda_finger_joint2 (8) to 0.0
>>> prim.set_joint_positions(np.array([0.04, 0.04]), joint_indices=np.array([7, 8]))

set_joint_velocities( velocities: ndarray, joint_indices: list | ndarray | None = None, ) → None#

Set the articulation joint velocities.

Warning

This method will immediately set the affected joints to the indicated value. Use the apply_action method to control robot joints.

Parameters:

velocities – Articulation joint velocities.
joint_indices – Indices to specify which joints to manipulate. If not specified, all joints are manipulated.

Hint

This method belongs to the methods used to set the articulation kinematic state:

set_linear_velocity, set_angular_velocity, set_joint_positions, set_joint_velocities, set_joint_efforts

Example

>>> # set all the robot joint velocities to 0.0
>>> prim.set_joint_velocities(np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]))
>>>
>>> # set only the fingers velocities: panda_finger_joint1 (7) and panda_finger_joint2 (8) to -0.01
>>> prim.set_joint_velocities(np.array([-0.01, -0.01]), joint_indices=np.array([7, 8]))

set_joints_default_state( positions: ndarray | None = None, velocities: ndarray | None = None, efforts: ndarray | None = None, ) → None#

Set the joint default states (positions, velocities and/or efforts) to be applied after each reset.

Note

The default states will be set during post-reset (e.g., calling .post_reset() or world.reset() methods)

Parameters:

positions – Joint positions.
velocities – Joint velocities.
efforts – Joint efforts.

Example:

>>> # configure default joint states
>>> prim.set_joints_default_state(
...     positions=np.array([0.0, -1.0, 0.0, -2.2, 0.0, 2.4, 0.8, 0.04, 0.04]),
...     velocities=np.zeros(shape=(prim.num_dof,)),
...     efforts=np.zeros(shape=(prim.num_dof,))
... )
>>>
>>> # set default states during post-reset
>>> prim.post_reset()

set_linear_velocity( velocity: ndarray, ) → None#

Set the linear velocity of the root articulation prim.

Warning

This method will immediately set the articulation state

Parameters:: velocity – 3D linear velocity vector. Shape (3,).

Hint

This method belongs to the methods used to set the articulation kinematic state:

set_linear_velocity, set_angular_velocity, set_joint_positions, set_joint_velocities, set_joint_efforts

Example:

>>> prim.set_linear_velocity(np.array([0.1, 0.0, 0.0]))

set_local_pose( translation: Sequence[float] | None = None, orientation: Sequence[float] | None = None, ) → None#

Set prim’s pose with respect to the local frame (the prim’s parent frame).

Warning

This method will change (teleport) the prim pose immediately to the indicated value

Parameters:

translation – Translation in the local frame of the prim (with respect to its parent prim). shape is (3, ).
orientation – Quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Hint

This method belongs to the methods used to set the prim state

Example:

>>> prim.set_local_pose(translation=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))

set_local_scale( scale: Sequence[float] | None, ) → None#

Set prim’s scale with respect to the local frame (the prim’s parent frame).

Parameters:: scale – Scale to be applied to the prim’s dimensions. shape is (3, ).

Example:

>>> # scale prim 10 times smaller
>>> prim.set_local_scale(np.array([0.1, 0.1, 0.1]))

set_sleep_threshold(threshold: float) → None#

Set the threshold for articulations to enter a sleep state.

Search for Articulations and Sleeping in PhysX docs for more details.

Parameters:: threshold – Sleep threshold.

Example:

>>> prim.set_sleep_threshold(0.01)

set_solver_position_iteration_count( count: int, ) → None#

Set the solver (position) iteration count for the articulation.

The solver iteration count determines how accurately contacts, drives, and limits are resolved. Search for Solver Iteration Count in PhysX docs for more details.

Warning

Setting a higher number of iterations may improve the fidelity of the simulation, although it may affect its performance.

Parameters:: count – Position iteration count.

Example:

>>> prim.set_solver_position_iteration_count(64)

set_solver_velocity_iteration_count( count: int, ) → None#

Set the solver (velocity) iteration count for the articulation.

The solver iteration count determines how accurately contacts, drives, and limits are resolved. Search for Solver Iteration Count in PhysX docs for more details.

Warning

Setting a higher number of iterations may improve the fidelity of the simulation, although it may affect its performance.

Parameters:: count – Velocity iteration count.

Example:

>>> prim.set_solver_velocity_iteration_count(64)

set_stabilization_threshold( threshold: float, ) → None#

Set the mass-normalized kinetic energy below which the articulation may participate in stabilization.

Search for Stabilization Threshold in PhysX docs for more details.

Parameters:: threshold – Stabilization threshold.

Example:

>>> prim.set_stabilization_threshold(0.005)

set_visibility(visible: bool) → None#

Set the visibility of the prim in stage.

Parameters:: visible – Flag to set the visibility of the USD prim in stage.

Example:

>>> # make prim not visible in the stage
>>> prim.set_visibility(visible=False)

set_world_pose( position: Sequence[float] | None = None, orientation: Sequence[float] | None = None, ) → None#

Set prim’s pose with respect to the world’s frame.

Warning

This method will change (teleport) the prim pose immediately to the indicated value

Parameters:

position – Position in the world frame of the prim. shape is (3, ).
orientation – Quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Hint

This method belongs to the methods used to set the prim state

Example:

>>> prim.set_world_pose(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))

set_world_velocity(velocity: ndarray) → None#

Set the articulation root velocity.

Parameters:: velocity – Linear and angular velocity to set on the root prim. Shape (6,).

property dof_names: list[str]#

Prim names for each DOF.

Returns:: Prim names.

Example:

>>> prim.dof_names
['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5',
 'panda_joint6', 'panda_joint7', 'panda_finger_joint1', 'panda_finger_joint2']

property dof_properties: ndarray#

Articulation DOF properties.

DOF properties#
Index	Property name	Description
0	`type`	DOF type: invalid/unknown/uninitialized (0), rotation (1), translation (2)
1	`hasLimits`	Whether the DOF has limits
2	`lower`	Lower DOF limit (in radians or meters)
3	`upper`	Upper DOF limit (in radians or meters)
4	`driveMode`	Drive mode for the DOF: force (1), acceleration (2)
5	`maxVelocity`	Maximum DOF velocity. In radians/s, or stage_units/s
6	`maxEffort`	Maximum DOF effort. In N or N*stage_units
7	`stiffness`	DOF stiffness
8	`damping`	DOF damping

Returns:: Named NumPy array of shape (num_dof, 9).

Example:

>>> # get properties for all DOFs
>>> prim.dof_properties
[(1,  True, -2.8973,  2.8973, 1, 1.0000000e+01, 5220., 60000., 3000.)
 (1,  True, -1.7628,  1.7628, 1, 1.0000000e+01, 5220., 60000., 3000.)
 (1,  True, -2.8973,  2.8973, 1, 5.9390470e+36, 5220., 60000., 3000.)
 (1,  True, -3.0718, -0.0698, 1, 5.9390470e+36, 5220., 60000., 3000.)
 (1,  True, -2.8973,  2.8973, 1, 5.9390470e+36,  720., 25000., 3000.)
 (1,  True, -0.0175,  3.7525, 1, 5.9390470e+36,  720., 15000., 3000.)
 (1,  True, -2.8973,  2.8973, 1, 1.0000000e+01,  720.,  5000., 3000.)
 (2,  True,  0.    ,  0.04  , 1, 3.4028235e+38,  720.,  6000., 1000.)
 (2,  True,  0.    ,  0.04  , 1, 3.4028235e+38,  720.,  6000., 1000.)]
>>>
>>> # property names
>>> prim.dof_properties.dtype.names
('type', 'hasLimits', 'lower', 'upper', 'driveMode', 'maxVelocity', 'maxEffort', 'stiffness', 'damping')
>>>
>>> # get DOF upper limits
>>> prim.dof_properties["upper"]
[ 2.8973  1.7628  2.8973 -0.0698  2.8973  3.7525  2.8973  0.04    0.04  ]
>>>
>>> # get the last DOF (panda_finger_joint2) upper limit
>>> prim.dof_properties["upper"][8]  # or prim.dof_properties[8][3]
0.04

property end_effector: SingleRigidPrim#

End effector of the manipulator.

Returns:: End effector that can be used to get its world pose, angular velocity, etc.

property gripper: Gripper#

Gripper of the manipulator.

Returns:: Gripper that can be used to open or close the gripper, get its world pose or angular velocity, etc.

property handles_initialized: bool#

Whether the articulation handler is initialized.

Returns:: Whether the handler was initialized.

Example:

>>> prim.handles_initialized
True

property name: str | None#

Name given to the prim when instantiating it.

Returns:: Name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool#

Whether the prim is a non-root articulation link.

Returns:: True if the prim itself is a non-root link.

Example:

>>> # for a wrapped articulation (where the root prim has the Physics Articulation Root property applied)
>>> prim.non_root_articulation_link
False

property num_bodies: int#

Number of articulation links.

Returns:: Number of links.

Example:

>>> prim.num_bodies
9

property num_dof: int#

Number of degrees of freedom of the articulation.

Returns:: Amount of DOFs.

Example:

>>> prim.num_dof
9

property prim: pxr.Usd.Prim#

USD Prim object that this object holds.

Returns:: USD Prim object that this object holds.

property prim_path: str#

Prim path in the stage.

Returns:: Prim path in the stage.

Controllers#

class PickPlaceController( name: str, cspace_controller: BaseController, gripper: Gripper, end_effector_initial_height: float | None = None, events_dt: list[float] | None = None, )#

Bases: BaseController

A simple pick and place state machine for tutorials.

Each phase runs for 1 second, which is the internal time of the state machine.

Dt of each phase/event step is defined.

Phase 0: Move end_effector above the cube center at the ‘end_effector_initial_height’.
Phase 1: Lower end_effector down to encircle the target cube.
Phase 2: Wait for the robot inertia to settle.
Phase 3: Close grip.
Phase 4: Move end_effector up again, keeping the grip tight (lifting the block).
Phase 5: Smoothly move the end_effector toward the goal xy, keeping the height constant.
Phase 6: Move end_effector vertically toward goal height at the ‘end_effector_initial_height’.
Phase 7: Loosen the grip.
Phase 8: Move end_effector vertically up again at the ‘end_effector_initial_height’.
Phase 9: Move end_effector towards the old xy position.

Parameters:

name – Name id of the controller.
cspace_controller – A Cartesian space controller that returns an ArticulationAction type.
gripper – A gripper controller for open/close actions.
end_effector_initial_height – End effector initial picking height to start from. See the phases above for usage details.
events_dt – Dt of each phase/event step. Dt values for 10 phases have to be defined.

Raises:

Exception – events_dt needs to be a list or numpy array.
Exception – events_dt must have exactly 10 entries.

forward( picking_position: ndarray, placing_position: ndarray, current_joint_positions: ndarray, end_effector_offset: ndarray | None = None, end_effector_orientation: ndarray | None = None, ) → ArticulationAction#

Runs the pick and place state machine for one controller step.

Parameters:

picking_position – The object’s position to be picked in local frame.
placing_position – The object’s position to be placed in local frame.
current_joint_positions – Current joint positions of the robot.
end_effector_offset – Offset of the end effector target.
end_effector_orientation – End effector orientation while picking and placing.

Returns:

Action to be executed by the ArticulationController.

get_current_event() → int#

Current event/ phase of the state machine.

Returns:: Current event/ phase of the state machine.

is_done() → bool#

True if the state machine reached the last phase. Otherwise False.

Returns:: True if the state machine reached the last phase. Otherwise False.

is_paused() → bool#

True if the state machine is paused. Otherwise False.

Returns:: True if the state machine is paused. Otherwise False.

pause() → None#: Pauses the state machine’s time and phase.

reset( end_effector_initial_height: float | None = None, events_dt: list[float] | None = None, ) → None#

Resets the state machine to start from the first phase/ event.

Parameters:

end_effector_initial_height – End effector initial picking height to start from.
events_dt – Dt of each phase/ event step. 10 phases dt has to be defined.

Raises:

Exception – If events_dt is not a list or numpy array.
Exception – If events_dt does not contain 10 entries.

resume() → None#: Resumes the state machine’s time and phase.

class StackingController( name: str, pick_place_controller: PickPlaceController, picking_order_cube_names: list[str], robot_observation_name: str, )#

Bases: BaseController

Controller for stacking objects in a specified order.

Parameters:

name – Name identifier for the controller.
pick_place_controller – The underlying pick and place controller.
picking_order_cube_names – Ordered list of cube names to pick and stack.
robot_observation_name – Name key for robot observations in the observation dict.

forward( observations: dict, end_effector_orientation: ndarray | None = None, end_effector_offset: ndarray | None = None, ) → ArticulationAction#

Executes the stacking sequence by picking and placing cubes in the specified order.

Parameters:

observations – Robot and cube observations including positions and joint states.
end_effector_orientation – Optional orientation for the end effector during manipulation.
end_effector_offset – Optional position offset for the end effector during manipulation.

Returns:

Robot joint position command for the current stacking step.

is_done() → bool#

Check if all cubes have been stacked.

Returns:: True if all cubes have been stacked, False otherwise.

reset( picking_order_cube_names: list[str] | None = None, ) → None#

Reset the controller state and optionally update the picking order.

Parameters:: picking_order_cube_names – New list of cube names to pick in order.

Grippers#

class Gripper(end_effector_prim_path: str)#

Bases: SingleRigidPrim

Provides high level functions to set/get properties and actions of a gripper.

Parameters:: end_effector_prim_path – Prim path of the Prim that corresponds to the gripper root/end effector.

apply_visual_material( visual_material: VisualMaterial, weaker_than_descendants: bool = False, ) → None#

Apply visual material to the held prim and optionally its descendants.

Parameters:

visual_material – Visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants – True if the material shouldn’t override the descendants materials, otherwise False.

Example:

>>> from isaacsim.core.api.materials import OmniGlass
>>>
>>> # create a dark-red glass visual material
>>> material = OmniGlass(
...     prim_path="/World/material/glass",  # path to the material prim to create
...     ior=1.25,
...     depth=0.001,
...     thin_walled=False,
...     color=np.array([0.5, 0.0, 0.0])
... )
>>> prim.apply_visual_material(material)

abstract close() → None#

Applies actions to the articulation that closes the gripper (ex: to hold an object).

Raises:: NotImplementedError – This abstract method must be implemented by a subclass.

disable_rigid_body_physics() → None#

Disable the rigid body physics.

When disabled, the object will not be moved by external forces such as gravity and collisions.

Example:

>>> prim.disable_rigid_body_physics()

enable_rigid_body_physics() → None#

Enable the rigid body physics.

When enabled, the object will be moved by external forces such as gravity and collisions.

Example:

>>> prim.enable_rigid_body_physics()

abstract forward(

*args: Any,

**kwargs: Any,

) → ArticulationAction#

Calculates the ArticulationAction for all of the articulation joints that corresponds to a specific action, such as “open”.

Parameters:

*args – Variable length argument list.
**kwargs – Additional keyword arguments.

Returns:

Articulation action to be passed to the articulation itself (includes all joints of the articulation).

Raises:

NotImplementedError – This abstract method must be implemented by a subclass.

get_angular_velocity() → ndarray#

Get the angular velocity of the rigid body.

Returns:: Current angular velocity of the rigid prim. Shape (3,).

get_applied_visual_material() → VisualMaterial#

Return the current applied visual material if it was applied using apply_visual_material or is one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.

Returns:: The current applied visual material if its type is currently supported.

Example:

>>> # given a visual material applied
>>> prim.get_applied_visual_material()
<isaacsim.core.api.materials.omni_glass.OmniGlass object at 0x7f36263106a0>

get_com() → tuple[ndarray, ndarray]#

Get the center of mass pose of the rigid body.

Returns:: A tuple of (position, orientation) where position is the center of mass position and orientation is the center of mass orientation.

get_current_dynamic_state() → DynamicState#

Get the current rigid body state (position, orientation, linear velocity, and angular velocity).

Returns:: The dynamic state of the rigid body prim.

Example:

>>> # for the example the rigid body is in free fall
>>> state = prim.get_current_dynamic_state()
>>> state
<isaacsim.core.utils.types.DynamicState object at 0x7f740b36f670>
>>> state.position
[  0.99999857   2.0000017  -74.2862    ]
>>> state.orientation
[ 1.0000000e+00 -2.3961178e-07 -4.9891562e-09  4.9388258e-09]
>>> state.linear_velocity
[  0.        0.      -38.09554]
>>> state.angular_velocity
[0. 0. 0.]

abstract get_default_state(

*args: Any,

**kwargs: Any,

) → Any#

Gets the default state of the gripper.

Parameters:

*args – Variable length argument list.
**kwargs – Additional keyword arguments.

Returns:

The default state of the gripper.

Raises:

NotImplementedError – This abstract method must be implemented by a subclass.

get_density() → float#

Get the density of the rigid body.

Returns:: Density of the rigid body.

Example:

>>> prim.get_density()
0

get_linear_velocity() → ndarray#

Get the linear velocity of the rigid body.

Returns:: Current linear velocity of the rigid prim. Shape (3,).

Example:

>>> prim.get_linear_velocity()
[ 1.0812164e-04  6.1415871e-05 -2.1341663e-04]

get_local_pose() → tuple[ndarray, ndarray]#

Get prim’s pose with respect to the local frame (the prim’s parent frame).

Returns:: First index is the position in the local frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the local frame.

Example:

>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame
>>> position, orientation = prim.get_local_pose()
>>> position
[0. 0. 0.]
>>> orientation
[0. 0. 0.]

get_local_scale() → ndarray#

Get prim’s scale with respect to the local frame (the parent’s frame).

Returns:: Scale applied to the prim’s dimensions in the local frame. shape is (3, ).

Example:

>>> prim.get_local_scale()
[1. 1. 1.]

get_mass() → float#

Get the mass of the rigid body.

Returns:: Mass of the rigid body in kg.

Example:

>>> prim.get_mass()
0

get_sleep_threshold() → float#

Get the threshold for the rigid body to enter a sleep state.

Search for Rigid Body Dynamics > Sleeping in PhysX docs for more details.

Returns:: Mass-normalized kinetic energy threshold below which an actor may go to sleep. Range is [0, inf). Units are distance^2 / second^2.

Example:

>>> prim.get_sleep_threshold()
5e-05

get_visibility() → bool#

Get the visibility of the prim in stage.

Returns:: True if the prim is visible in stage. False otherwise.

Example:

>>> # get the visible state of a visible prim on the stage
>>> prim.get_visibility()
True

get_world_pose() → tuple[ndarray, ndarray]#

Get prim’s pose with respect to the world’s frame.

Returns:: First index is the position in the world frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the world frame.

Example:

>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame
>>> position, orientation = prim.get_world_pose()
>>> position
[1.  0.5 0. ]
>>> orientation
[1. 0. 0. 0.]

get_world_scale() → ndarray#

Get prim’s scale with respect to the world’s frame.

Returns:: Scale applied to the prim’s dimensions in the world frame. shape is (3, ).

Example:

>>> prim.get_world_scale()
[1. 1. 1.]

initialize( physics_sim_view: omni.physics.tensors.SimulationView = None, ) → None#

Creates a physics simulation view if not passed and creates a rigid prim view using PhysX tensor API.

This needs to be called after each hard reset (i.e stop + play on the timeline) before interacting with any of the functions of this class.

Parameters:: physics_sim_view – Current physics simulation view.

is_valid() → bool#

Check if the prim path has a valid USD Prim at it.

Returns:: True if the current prim path corresponds to a valid prim in stage. False otherwise.

Example:

>>> # given an existing and valid prim
>>> prims.is_valid()
True

is_visual_material_applied() → bool#

Check if there is a visual material applied.

Returns:: True if there is a visual material applied. False otherwise.

Example:

>>> # given a visual material applied
>>> prim.is_visual_material_applied()
True

abstract open() → None#

Applies actions to the articulation that opens the gripper (ex: to release an object held).

Raises:: NotImplementedError – This abstract method must be implemented by a subclass.

post_reset() → None#

Reset the prim to its default state (position and orientation).

Note

For an articulation, in addition to configuring the root prim’s default position and spatial orientation (defined via the set_default_state method), the joint’s positions, velocities, and efforts (defined via the set_joints_default_state method) are imposed.

Example:

>>> prim.post_reset()

set_angular_velocity(velocity: ndarray) → None#

Set the angular velocity of the rigid body in the stage.

Warning

This method will immediately set the rigid body state.

Parameters:: velocity – Angular velocity to set the rigid prim to. Shape (3,).

set_com( position: ndarray, orientation: ndarray, ) → None#

Set the center of mass pose of the rigid body.

Parameters:

position – Center of mass position. Shape (3,).
orientation – Center of mass orientation. Shape (4,).

abstract set_default_state(

*args: Any,

**kwargs: Any,

) → None#

Sets the default state of the gripper.

Parameters:

*args – Variable length argument list.
**kwargs – Additional keyword arguments.

Raises:

NotImplementedError – This abstract method must be implemented by a subclass.

set_density(density: float) → None#

Set the density of the rigid body.

Parameters:: density – Density of the rigid body.

Example:

>>> prim.set_density(0.9)

set_linear_velocity(velocity: ndarray) → None#

Set the linear velocity of the rigid body in the stage.

Warning

This method will immediately set the rigid prim state.

Parameters:: velocity – Linear velocity to set the rigid prim to. Shape (3,).

set_local_pose( translation: Sequence[float] | None = None, orientation: Sequence[float] | None = None, ) → None#

Set prim’s pose with respect to the local frame (the prim’s parent frame).

Warning

This method will change (teleport) the prim pose immediately to the indicated value

Parameters:

translation – Translation in the local frame of the prim (with respect to its parent prim). shape is (3, ).
orientation – Quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Hint

This method belongs to the methods used to set the prim state

Example:

>>> prim.set_local_pose(translation=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))

set_local_scale( scale: Sequence[float] | None, ) → None#

Set prim’s scale with respect to the local frame (the prim’s parent frame).

Parameters:: scale – Scale to be applied to the prim’s dimensions. shape is (3, ).

Example:

>>> # scale prim 10 times smaller
>>> prim.set_local_scale(np.array([0.1, 0.1, 0.1]))

set_mass(mass: float) → None#

Set the mass of the rigid body.

Parameters:: mass – Mass of the rigid body in kg.

Example:

>>> prim.set_mass(1.0)

set_sleep_threshold(threshold: float) → None#

Set the threshold for the rigid body to enter a sleep state.

Search for Rigid Body Dynamics > Sleeping in PhysX docs for more details.

Parameters:: threshold – Mass-normalized kinetic energy threshold below which an actor may go to sleep. Range: [0, inf). Units: distance^2 / second^2.

Example:

>>> prim.set_sleep_threshold(1e-5)

set_visibility(visible: bool) → None#

Set the visibility of the prim in stage.

Parameters:: visible – Flag to set the visibility of the USD prim in stage.

Example:

>>> # make prim not visible in the stage
>>> prim.set_visibility(visible=False)

set_world_pose( position: Sequence[float] | None = None, orientation: Sequence[float] | None = None, ) → None#

Set prim’s pose with respect to the world’s frame.

Warning

This method will change (teleport) the prim pose immediately to the indicated value

Parameters:

position – Position in the world frame of the prim. shape is (3, ).
orientation – Quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Hint

This method belongs to the methods used to set the prim state

Example:

>>> prim.set_world_pose(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))

property name: str | None#

Name given to the prim when instantiating it.

Returns:: Name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool#

Whether the prim is a non-root articulation link.

Returns:: True if the prim itself is a non-root link.

Example:

>>> # for a wrapped articulation (where the root prim has the Physics Articulation Root property applied)
>>> prim.non_root_articulation_link
False

property prim: pxr.Usd.Prim#

USD Prim object that this object holds.

Returns:: USD Prim object that this object holds.

property prim_path: str#

Prim path in the stage.

Returns:: Prim path in the stage.

class ParallelGripper( end_effector_prim_path: str, joint_prim_names: list[str], joint_opened_positions: ndarray, joint_closed_positions: ndarray, action_deltas: ndarray = None, use_mimic_joints: bool = False, )#

Bases: Gripper

Provides high level functions to set/get properties and actions of a parallel gripper.

(a gripper that has two fingers).

Parameters:

end_effector_prim_path – Prim path of the Prim that corresponds to the gripper root/end effector.
joint_prim_names – The left finger joint prim name and the right finger joint prim name respectively.
joint_opened_positions – Joint positions of the left finger joint and the right finger joint respectively when opened.
joint_closed_positions – Joint positions of the left finger joint and the right finger joint respectively when closed.
action_deltas – Deltas to apply for finger joint positions when opening or closing the gripper.
use_mimic_joints – Whether to use mimic joints. If True, only the drive joint is used.

apply_action( control_actions: ArticulationAction, ) → None#

Applies actions to all articulation joints from an ArticulationAction for the finger joints only.

Parameters:: control_actions – ArticulationAction for the left finger joint and the right finger joint respectively.

apply_visual_material( visual_material: VisualMaterial, weaker_than_descendants: bool = False, ) → None#

Apply visual material to the held prim and optionally its descendants.

Parameters:

visual_material – Visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants – True if the material shouldn’t override the descendants materials, otherwise False.

Example:

>>> from isaacsim.core.api.materials import OmniGlass
>>>
>>> # create a dark-red glass visual material
>>> material = OmniGlass(
...     prim_path="/World/material/glass",  # path to the material prim to create
...     ior=1.25,
...     depth=0.001,
...     thin_walled=False,
...     color=np.array([0.5, 0.0, 0.0])
... )
>>> prim.apply_visual_material(material)

close() → None#: Applies actions to the articulation that closes the gripper, for example to hold an object.

disable_rigid_body_physics() → None#

Disable the rigid body physics.

When disabled, the object will not be moved by external forces such as gravity and collisions.

Example:

>>> prim.disable_rigid_body_physics()

enable_rigid_body_physics() → None#

Enable the rigid body physics.

When enabled, the object will be moved by external forces such as gravity and collisions.

Example:

>>> prim.enable_rigid_body_physics()

forward( action: str, ) → ArticulationAction#

Calculates the ArticulationAction for all articulation joints that correspond to “open” or “close” actions.

Parameters:: action – “open” or “close” as an abstract action.
Raises:: Exception – If action is not “open” or “close”.
Returns:: Articulation action to be passed to the articulation itself (includes all joints of the articulation).

get_action_deltas() → ndarray#

Deltas that will be applied for finger joint positions when opening or closing the gripper.

Returns:: Deltas for left and right finger joints.

get_angular_velocity() → ndarray#

Get the angular velocity of the rigid body.

Returns:: Current angular velocity of the rigid prim. Shape (3,).

get_applied_visual_material() → VisualMaterial#

Return the current applied visual material if it was applied using apply_visual_material or is one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.

Returns:: The current applied visual material if its type is currently supported.

Example:

>>> # given a visual material applied
>>> prim.get_applied_visual_material()
<isaacsim.core.api.materials.omni_glass.OmniGlass object at 0x7f36263106a0>

get_com() → tuple[ndarray, ndarray]#

Get the center of mass pose of the rigid body.

Returns:: A tuple of (position, orientation) where position is the center of mass position and orientation is the center of mass orientation.

get_current_dynamic_state() → DynamicState#

Get the current rigid body state (position, orientation, linear velocity, and angular velocity).

Returns:: The dynamic state of the rigid body prim.

Example:

>>> # for the example the rigid body is in free fall
>>> state = prim.get_current_dynamic_state()
>>> state
<isaacsim.core.utils.types.DynamicState object at 0x7f740b36f670>
>>> state.position
[  0.99999857   2.0000017  -74.2862    ]
>>> state.orientation
[ 1.0000000e+00 -2.3961178e-07 -4.9891562e-09  4.9388258e-09]
>>> state.linear_velocity
[  0.        0.      -38.09554]
>>> state.angular_velocity
[0. 0. 0.]

get_default_state() → ndarray#

Gets the default state of the gripper.

Returns:: Joint positions of the left finger joint and the right finger joint respectively.

get_density() → float#

Get the density of the rigid body.

Returns:: Density of the rigid body.

Example:

>>> prim.get_density()
0

get_joint_positions() → ndarray#

Joint positions of the left finger joint and the right finger joint respectively.

Returns:: Joint positions of the left finger joint and the right finger joint respectively.

get_linear_velocity() → ndarray#

Get the linear velocity of the rigid body.

Returns:: Current linear velocity of the rigid prim. Shape (3,).

Example:

>>> prim.get_linear_velocity()
[ 1.0812164e-04  6.1415871e-05 -2.1341663e-04]

get_local_pose() → tuple[ndarray, ndarray]#

Get prim’s pose with respect to the local frame (the prim’s parent frame).

Returns:: First index is the position in the local frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the local frame.

Example:

>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame
>>> position, orientation = prim.get_local_pose()
>>> position
[0. 0. 0.]
>>> orientation
[0. 0. 0.]

get_local_scale() → ndarray#

Get prim’s scale with respect to the local frame (the parent’s frame).

Returns:: Scale applied to the prim’s dimensions in the local frame. shape is (3, ).

Example:

>>> prim.get_local_scale()
[1. 1. 1.]

get_mass() → float#

Get the mass of the rigid body.

Returns:: Mass of the rigid body in kg.

Example:

>>> prim.get_mass()
0

get_sleep_threshold() → float#

Get the threshold for the rigid body to enter a sleep state.

Search for Rigid Body Dynamics > Sleeping in PhysX docs for more details.

Returns:: Mass-normalized kinetic energy threshold below which an actor may go to sleep. Range is [0, inf). Units are distance^2 / second^2.

Example:

>>> prim.get_sleep_threshold()
5e-05

get_visibility() → bool#

Get the visibility of the prim in stage.

Returns:: True if the prim is visible in stage. False otherwise.

Example:

>>> # get the visible state of a visible prim on the stage
>>> prim.get_visibility()
True

get_world_pose() → tuple[ndarray, ndarray]#

Get prim’s pose with respect to the world’s frame.

Returns:: First index is the position in the world frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the world frame.

Example:

>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame
>>> position, orientation = prim.get_world_pose()
>>> position
[1.  0.5 0. ]
>>> orientation
[1. 0. 0. 0.]

get_world_scale() → ndarray#

Get prim’s scale with respect to the world’s frame.

Returns:: Scale applied to the prim’s dimensions in the world frame. shape is (3, ).

Example:

>>> prim.get_world_scale()
[1. 1. 1.]

initialize( articulation_apply_action_func: Callable, get_joint_positions_func: Callable, set_joint_positions_func: Callable, dof_names: list, physics_sim_view: omni.physics.tensors.SimulationView = None, ) → None#

Creates a physics simulation view if not passed and creates a rigid prim view using PhysX tensor API.

This needs to be called after each hard reset (i.e stop + play on the timeline) before interacting with any of the functions of this class.

Parameters:

articulation_apply_action_func – apply_action function from the Articulation class.
get_joint_positions_func – get_joint_positions function from the Articulation class.
set_joint_positions_func – set_joint_positions function from the Articulation class.
dof_names – DOF names from the Articulation class.
physics_sim_view – Current physics simulation view.

Raises:

Exception – If not all gripper DOF names were resolved to DOF handles and DOF indices.

is_valid() → bool#

Check if the prim path has a valid USD Prim at it.

Returns:: True if the current prim path corresponds to a valid prim in stage. False otherwise.

Example:

>>> # given an existing and valid prim
>>> prims.is_valid()
True

is_visual_material_applied() → bool#

Check if there is a visual material applied.

Returns:: True if there is a visual material applied. False otherwise.

Example:

>>> # given a visual material applied
>>> prim.is_visual_material_applied()
True

open() → None#: Applies actions to the articulation that opens the gripper, for example to release an object held.

post_reset() → None#: Resets the gripper to its default state.

set_action_deltas(value: ndarray) → None#

Sets the deltas to apply for finger joint positions when opening or closing the gripper.

Parameters:: value – Deltas to apply for finger joint positions when opening or closing the gripper. [left, right].

set_angular_velocity(velocity: ndarray) → None#

Set the angular velocity of the rigid body in the stage.

Warning

This method will immediately set the rigid body state.

Parameters:: velocity – Angular velocity to set the rigid prim to. Shape (3,).

set_com( position: ndarray, orientation: ndarray, ) → None#

Set the center of mass pose of the rigid body.

Parameters:

position – Center of mass position. Shape (3,).
orientation – Center of mass orientation. Shape (4,).

set_default_state( joint_positions: ndarray, ) → None#

Sets the default state of the gripper.

Parameters:: joint_positions – Joint positions of the left finger joint and the right finger joint respectively.

set_density(density: float) → None#

Set the density of the rigid body.

Parameters:: density – Density of the rigid body.

Example:

>>> prim.set_density(0.9)

set_joint_positions(positions: ndarray) → None#

Sets the joint positions of the gripper fingers.

Parameters:: positions – Joint positions of the left finger joint and the right finger joint respectively.

set_linear_velocity(velocity: ndarray) → None#

Set the linear velocity of the rigid body in the stage.

Warning

This method will immediately set the rigid prim state.

Parameters:: velocity – Linear velocity to set the rigid prim to. Shape (3,).

set_local_pose( translation: Sequence[float] | None = None, orientation: Sequence[float] | None = None, ) → None#

Set prim’s pose with respect to the local frame (the prim’s parent frame).

Warning

This method will change (teleport) the prim pose immediately to the indicated value

Parameters:

translation – Translation in the local frame of the prim (with respect to its parent prim). shape is (3, ).
orientation – Quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Hint

This method belongs to the methods used to set the prim state

Example:

>>> prim.set_local_pose(translation=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))

set_local_scale( scale: Sequence[float] | None, ) → None#

Set prim’s scale with respect to the local frame (the prim’s parent frame).

Parameters:: scale – Scale to be applied to the prim’s dimensions. shape is (3, ).

Example:

>>> # scale prim 10 times smaller
>>> prim.set_local_scale(np.array([0.1, 0.1, 0.1]))

set_mass(mass: float) → None#

Set the mass of the rigid body.

Parameters:: mass – Mass of the rigid body in kg.

Example:

>>> prim.set_mass(1.0)

set_sleep_threshold(threshold: float) → None#

Set the threshold for the rigid body to enter a sleep state.

Search for Rigid Body Dynamics > Sleeping in PhysX docs for more details.

Parameters:: threshold – Mass-normalized kinetic energy threshold below which an actor may go to sleep. Range: [0, inf). Units: distance^2 / second^2.

Example:

>>> prim.set_sleep_threshold(1e-5)

set_visibility(visible: bool) → None#

Set the visibility of the prim in stage.

Parameters:: visible – Flag to set the visibility of the USD prim in stage.

Example:

>>> # make prim not visible in the stage
>>> prim.set_visibility(visible=False)

set_world_pose( position: Sequence[float] | None = None, orientation: Sequence[float] | None = None, ) → None#

Set prim’s pose with respect to the world’s frame.

Warning

This method will change (teleport) the prim pose immediately to the indicated value

Parameters:

position – Position in the world frame of the prim. shape is (3, ).
orientation – Quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Hint

This method belongs to the methods used to set the prim state

Example:

>>> prim.set_world_pose(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))

property active_joint_count: int#

Number of active joints based on the use_mimic_joints setting.

Returns:: Number of active joints, either 1 when use_mimic_joints is enabled or 2 otherwise.

property active_joint_indices: list[int]#

Indices of active joints based on the use_mimic_joints setting.

Returns:: Active joint indices.

property joint_closed_positions: ndarray#

Joint positions of the left finger joint and the right finger joint respectively when closed.

Returns:: Joint positions of the left finger joint and the right finger joint respectively when closed.

property joint_dof_indicies: ndarray#

Joint DOF indices in the articulation of the left finger joint and the right finger joint respectively.

Returns:: Joint DOF indices in the articulation of the left finger joint and the right finger joint respectively.

property joint_opened_positions: ndarray#

Joint positions of the left finger joint and the right finger joint respectively when opened.

Returns:: Joint positions of the left finger joint and the right finger joint respectively when opened.

property joint_prim_names: list[str]#

The left finger joint prim name and the right finger joint prim name respectively.

Returns:: The left finger joint prim name and the right finger joint prim name respectively.

property name: str | None#

Name given to the prim when instantiating it.

Returns:: Name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool#

Whether the prim is a non-root articulation link.

Returns:: True if the prim itself is a non-root link.

Example:

>>> # for a wrapped articulation (where the root prim has the Physics Articulation Root property applied)
>>> prim.non_root_articulation_link
False

property prim: pxr.Usd.Prim#

USD Prim object that this object holds.

Returns:: USD Prim object that this object holds.

property prim_path: str#

Prim path in the stage.

Returns:: Prim path in the stage.

class SurfaceGripper(end_effector_prim_path: str, surface_gripper_path: str)#

Bases: Gripper

Provides high-level functions to set or get properties and actions of a surface gripper.

For example, a suction cup.

Parameters:

end_effector_prim_path – Prim path of the Prim that corresponds to the gripper root or end effector.
surface_gripper_path – Prim path of the surface gripper.

apply_visual_material( visual_material: VisualMaterial, weaker_than_descendants: bool = False, ) → None#

Apply visual material to the held prim and optionally its descendants.

Parameters:

visual_material – Visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants – True if the material shouldn’t override the descendants materials, otherwise False.

Example:

>>> from isaacsim.core.api.materials import OmniGlass
>>>
>>> # create a dark-red glass visual material
>>> material = OmniGlass(
...     prim_path="/World/material/glass",  # path to the material prim to create
...     ior=1.25,
...     depth=0.001,
...     thin_walled=False,
...     color=np.array([0.5, 0.0, 0.0])
... )
>>> prim.apply_visual_material(material)

close() → None#: Closes the surface gripper, for example to hold an object.

disable_rigid_body_physics() → None#

Disable the rigid body physics.

When disabled, the object will not be moved by external forces such as gravity and collisions.

Example:

>>> prim.disable_rigid_body_physics()

enable_rigid_body_physics() → None#

Enable the rigid body physics.

When enabled, the object will be moved by external forces such as gravity and collisions.

Example:

>>> prim.enable_rigid_body_physics()

forward( action: str, ) → ArticulationAction#

Calculates the ArticulationAction for all articulation joints that corresponds to “open” or “close” actions.

Parameters:

action – “open” or “close” as an abstract action.

Raises:

Exception – If articulation_num_dofs is not set during initialization.
Exception – If action is not “open” or “close”.

Returns:

ArticulationAction to be passed to the articulation itself, including all joints of the articulation.

get_angular_velocity() → ndarray#

Get the angular velocity of the rigid body.

Returns:: Current angular velocity of the rigid prim. Shape (3,).

get_applied_visual_material() → VisualMaterial#

Return the current applied visual material if it was applied using apply_visual_material or is one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.

Returns:: The current applied visual material if its type is currently supported.

Example:

>>> # given a visual material applied
>>> prim.get_applied_visual_material()
<isaacsim.core.api.materials.omni_glass.OmniGlass object at 0x7f36263106a0>

get_com() → tuple[ndarray, ndarray]#

Get the center of mass pose of the rigid body.

Returns:: A tuple of (position, orientation) where position is the center of mass position and orientation is the center of mass orientation.

get_current_dynamic_state() → DynamicState#

Get the current rigid body state (position, orientation, linear velocity, and angular velocity).

Returns:: The dynamic state of the rigid body prim.

Example:

>>> # for the example the rigid body is in free fall
>>> state = prim.get_current_dynamic_state()
>>> state
<isaacsim.core.utils.types.DynamicState object at 0x7f740b36f670>
>>> state.position
[  0.99999857   2.0000017  -74.2862    ]
>>> state.orientation
[ 1.0000000e+00 -2.3961178e-07 -4.9891562e-09  4.9388258e-09]
>>> state.linear_velocity
[  0.        0.      -38.09554]
>>> state.angular_velocity
[0. 0. 0.]

get_default_state() → dict#

Gets the default state of the gripper.

Returns:: Dictionary with key “opened” set to true if the surface gripper should start in an opened state. False otherwise.

get_density() → float#

Get the density of the rigid body.

Returns:: Density of the rigid body.

Example:

>>> prim.get_density()
0

get_linear_velocity() → ndarray#

Get the linear velocity of the rigid body.

Returns:: Current linear velocity of the rigid prim. Shape (3,).

Example:

>>> prim.get_linear_velocity()
[ 1.0812164e-04  6.1415871e-05 -2.1341663e-04]

get_local_pose() → tuple[ndarray, ndarray]#

Get prim’s pose with respect to the local frame (the prim’s parent frame).

Returns:: First index is the position in the local frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the local frame.

Example:

>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame
>>> position, orientation = prim.get_local_pose()
>>> position
[0. 0. 0.]
>>> orientation
[0. 0. 0.]

get_local_scale() → ndarray#

Get prim’s scale with respect to the local frame (the parent’s frame).

Returns:: Scale applied to the prim’s dimensions in the local frame. shape is (3, ).

Example:

>>> prim.get_local_scale()
[1. 1. 1.]

get_mass() → float#

Get the mass of the rigid body.

Returns:: Mass of the rigid body in kg.

Example:

>>> prim.get_mass()
0

get_sleep_threshold() → float#

Get the threshold for the rigid body to enter a sleep state.

Search for Rigid Body Dynamics > Sleeping in PhysX docs for more details.

Returns:: Mass-normalized kinetic energy threshold below which an actor may go to sleep. Range is [0, inf). Units are distance^2 / second^2.

Example:

>>> prim.get_sleep_threshold()
5e-05

get_visibility() → bool#

Get the visibility of the prim in stage.

Returns:: True if the prim is visible in stage. False otherwise.

Example:

>>> # get the visible state of a visible prim on the stage
>>> prim.get_visibility()
True

get_world_pose() → tuple[ndarray, ndarray]#

Get prim’s pose with respect to the world’s frame.

Returns:: First index is the position in the world frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the world frame.

Example:

>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame
>>> position, orientation = prim.get_world_pose()
>>> position
[1.  0.5 0. ]
>>> orientation
[1. 0. 0. 0.]

get_world_scale() → ndarray#

Get prim’s scale with respect to the world’s frame.

Returns:: Scale applied to the prim’s dimensions in the world frame. shape is (3, ).

Example:

>>> prim.get_world_scale()
[1. 1. 1.]

initialize( physics_sim_view: omni.physics.tensors.SimulationView = None, articulation_num_dofs: int = None, ) → None#

Creates a physics simulation view if not passed and stores the articulation DOF count.

This needs to be called after each hard reset, for example stop and play on the timeline, before using this class.

Parameters:

physics_sim_view – Current physics simulation view.
articulation_num_dofs – Number of DOFs of the articulation.

is_closed() → bool#

Whether the gripper is in a closed state.

Returns:: True if the gripper is closed.

is_open() → bool#

Whether the gripper is in an open state.

Returns:: True if the gripper is open.

is_valid() → bool#

Check if the prim path has a valid USD Prim at it.

Returns:: True if the current prim path corresponds to a valid prim in stage. False otherwise.

Example:

>>> # given an existing and valid prim
>>> prims.is_valid()
True

is_visual_material_applied() → bool#

Check if there is a visual material applied.

Returns:: True if there is a visual material applied. False otherwise.

Example:

>>> # given a visual material applied
>>> prim.is_visual_material_applied()
True

open() → None#: Opens the surface gripper, for example to release a held object.

post_reset() → None#: Resets the gripper to its default state.

set_angular_velocity(velocity: ndarray) → None#

Set the angular velocity of the rigid body in the stage.

Warning

This method will immediately set the rigid body state.

Parameters:: velocity – Angular velocity to set the rigid prim to. Shape (3,).

set_com( position: ndarray, orientation: ndarray, ) → None#

Set the center of mass pose of the rigid body.

Parameters:

position – Center of mass position. Shape (3,).
orientation – Center of mass orientation. Shape (4,).

set_default_state(opened: bool) → None#

Sets the default state of the gripper.

Parameters:: opened – True if the surface gripper should start in an opened state. False otherwise.

set_density(density: float) → None#

Set the density of the rigid body.

Parameters:: density – Density of the rigid body.

Example:

>>> prim.set_density(0.9)

set_linear_velocity(velocity: ndarray) → None#

Set the linear velocity of the rigid body in the stage.

Warning

This method will immediately set the rigid prim state.

Parameters:: velocity – Linear velocity to set the rigid prim to. Shape (3,).

set_local_pose( translation: Sequence[float] | None = None, orientation: Sequence[float] | None = None, ) → None#

Set prim’s pose with respect to the local frame (the prim’s parent frame).

Warning

This method will change (teleport) the prim pose immediately to the indicated value

Parameters:

translation – Translation in the local frame of the prim (with respect to its parent prim). shape is (3, ).
orientation – Quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Hint

This method belongs to the methods used to set the prim state

Example:

>>> prim.set_local_pose(translation=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))

set_local_scale( scale: Sequence[float] | None, ) → None#

Set prim’s scale with respect to the local frame (the prim’s parent frame).

Parameters:: scale – Scale to be applied to the prim’s dimensions. shape is (3, ).

Example:

>>> # scale prim 10 times smaller
>>> prim.set_local_scale(np.array([0.1, 0.1, 0.1]))

set_mass(mass: float) → None#

Set the mass of the rigid body.

Parameters:: mass – Mass of the rigid body in kg.

Example:

>>> prim.set_mass(1.0)

set_sleep_threshold(threshold: float) → None#

Set the threshold for the rigid body to enter a sleep state.

Search for Rigid Body Dynamics > Sleeping in PhysX docs for more details.

Parameters:: threshold – Mass-normalized kinetic energy threshold below which an actor may go to sleep. Range: [0, inf). Units: distance^2 / second^2.

Example:

>>> prim.set_sleep_threshold(1e-5)

set_visibility(visible: bool) → None#

Set the visibility of the prim in stage.

Parameters:: visible – Flag to set the visibility of the USD prim in stage.

Example:

>>> # make prim not visible in the stage
>>> prim.set_visibility(visible=False)

set_world_pose( position: Sequence[float] | None = None, orientation: Sequence[float] | None = None, ) → None#

Set prim’s pose with respect to the world’s frame.

Warning

This method will change (teleport) the prim pose immediately to the indicated value

Parameters:

position – Position in the world frame of the prim. shape is (3, ).
orientation – Quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Hint

This method belongs to the methods used to set the prim state

Example:

>>> prim.set_world_pose(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))

update() → None#: Updates the gripper state.

property name: str | None#

Name given to the prim when instantiating it.

Returns:: Name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool#

Whether the prim is a non-root articulation link.

Returns:: True if the prim itself is a non-root link.

Example:

>>> # for a wrapped articulation (where the root prim has the Physics Articulation Root property applied)
>>> prim.non_root_articulation_link
False

property prim: pxr.Usd.Prim#

USD Prim object that this object holds.

Returns:: USD Prim object that this object holds.

property prim_path: str#

Prim path in the stage.

Returns:: Prim path in the stage.

Omnigraph Nodes#

The extension exposes the following Omnigraph nodes:

Isaac Gripper Controller Node

Python API

[isaacsim.robot.manipulators] Isaac Sim Manipulators#

Overview#

Concepts#

Single manipulator#

End effector#

Optional gripper#

Key Components#

SingleManipulator#

Functionality#

Initialization#

Accessing the end effector#

Accessing the gripper#

Reset behavior#

Relationships#

Enable Extension#

Python API#

Manipulators#

Controllers#

Grippers#

Omnigraph Nodes#

`SingleManipulator`#