API

Python API

SimulationManager	This class provide functions that take care of many time-related events such as warm starting simulation in order for the physics data to be retrievable.
IsaacEvents	An enumeration.

class SimulationManager

Bases: object

This class provide functions that take care of many time-related events such as warm starting simulation in order for the physics data to be retrievable. Adding/ removing callback functions that gets triggered with certain events such as a physics step, on post reset, on physics ready..etc.

classmethod set_backend(val: str) → None

classmethod get_backend() → str

classmethod get_physics_sim_view()

classmethod set_physics_sim_device(val) → None

classmethod get_physics_sim_device() → str

classmethod get_physics_dt(

physics_scene: str | None = None,

) → str

Returns the current physics dt.

Parameters:

physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Returns:

physics dt.

Return type:

float

classmethod get_broadphase_type(

physics_scene: str | None = None,

) → str

Gets current broadcast phase algorithm type.

Parameters:

physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Returns:

Broadcast phase algorithm used.

Return type:

str

classmethod set_broadphase_type(

val: str,

physics_scene: str | None = None,

) → None

Broadcast phase algorithm used in simulation.

Parameters:

• val (str) – type of broadcasting to be used, can be “MBP”.

• physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

classmethod enable_gpu_dynamics(

flag: bool,

physics_scene: str | None = None,

) → None

Enables gpu dynamics pipeline, required for deformables for instance.

Parameters:

• flag (bool) – enables or disables gpu dynamics on the PhysicsScene.

• physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

classmethod is_gpu_dynamics_enabled(

physics_scene: str | None = None,

) → bool

Checks if Gpu Dynamics is enabled.

Parameters:

physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Returns:

True if Gpu Dynamics is enabled, otherwise False.

Return type:

bool

classmethod enable_fabric(enable)

classmethod is_fabric_enabled(enable)

classmethod set_solver_type(

solver_type: str,

physics_scene: str | None = None,

) → None

solver used for simulation.

Parameters:

• solver_type (str) – can be “TGS” or “PGS”.

• physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

classmethod get_solver_type(

physics_scene: str | None = None,

) → str

Gets current solver type.

Parameters:

physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Returns:

solver used for simulation.

Return type:

str

classmethod enable_stablization(

flag: bool,

physics_scene: str | None = None,

) → None

Enables additional stabilization pass in the solver.

Parameters:

• flag (bool) – enables or disables stabilization on the PhysicsScene

• physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

classmethod is_stablization_enabled(

physics_scene: str | None = None,

) → bool

Checks if stabilization is enabled.

Parameters:

physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Returns:

True if stabilization is enabled, otherwise False.

Return type:

bool

classmethod register_callback(callback: callable, event)

classmethod deregister_callback(callback_id)

classmethod enable_usd_notice_handler(flag)

classmethod enable_fabric_usd_notice_handler(stage_id, flag)

classmethod is_fabric_usd_notice_handler_enabled(stage_id)

classmethod assets_loading() → bool

Checks if textures are loaded.

Returns:

True if textures are loading and not done yet, otherwise False.

Return type:

bool

class IsaacEvents(value)

Bases: Enum

An enumeration.