Public API for module isaacsim.physics.newton.tensors:#
Classes#
class NewtonSimulationView
def init(self, backend: NewtonSimView, frontend: NumpyFrontend | TorchFrontend | WarpFrontend)
def create_articulation_view(self, pattern: str | list[str]) -> NewtonArticulationView
def create_rigid_body_view(self, pattern: str | list[str]) -> NewtonRigidBodyView
def create_rigid_contact_view(self, pattern: str | list[str], filter_patterns: list[list[str]] | None = None, max_contact_data_count: int = 0) -> NewtonRigidContactView
def invalidate(self)
def is_valid(self) -> bool
def set_subspace_roots(self, pattern: str | list[str]) -> bool
class NewtonSimView
def init(self, newton_stage: NewtonStage)
[property] def model(self) -> Any
def get_gravity(self, gravity: list[float]) -> bool
def set_gravity(self, gravity: list[float])
def update_articulations_kinematic(self) -> bool
def initialize_kinematic_bodies(self)
def invalidate(self)
def is_valid(self) -> bool
def create_rigid_contact_view(self, pattern: list[str], filter_patterns: list[list[str]] | None = None, max_contact_data_count: int = 0) -> RigidContactSet | None
def create_rigid_body_view(self, pattern: str | list[str]) -> RigidBodySet
def create_articulation_view(self, pattern: str | list[str]) -> ArticulationSet
def set_subspace_roots(self, pattern: str | list[str]) -> bool
class ArticulationSet
def init(self, newton_stage: NewtonStage, articulation_indices: wp.array, root_body_indices: wp.array, dof_position_indices: wp.array, dof_velocity_indices: wp.array, dof_axis_indices: wp.array, joint_indices: wp.array, shape_indices: wp.array, link_indices: wp.array, meta_types: list[ArticulationMetaType], count: int, max_dofs: int)
[property] def model(self) -> Any
[property] def shared_metatype(self) -> ArticulationMetaType
[property] def max_links(self) -> int
[property] def link_paths(self) -> list[list[str]]
[property] def max_shapes(self) -> int
class RigidBodySet
def init(self, newton_stage: NewtonStage, body_indices: wp.array, body_paths: list[str], body_names: list[str])
[property] def model(self) -> Any
class RigidContactSet
def init(self, newton_stage: NewtonStage, sensor_indices: wp.array, sensor_paths: list[str], sensor_names: list[str], filter_indices: wp.array, filter_paths: list[list[str]], filter_names: list[list[str]], max_filters: int, body_sensor_map: wp.array, world_body_idx: int, max_contact_data_count: int = 0)
[property] def model(self) -> Any
class NewtonArticulationView
def init(self, backend: Any, frontend: Any)
[property] def count(self) -> int
[property] def max_dofs(self) -> int
[property] def max_links(self) -> int
[property] def max_shapes(self) -> int
[property] def max_fixed_tendons(self) -> int
[property] def dof_paths(self) -> Any
[property] def dof_names(self) -> list[list[str]]
[property] def link_paths(self) -> list[list[str]]
[property] def link_names(self) -> list[list[str]]
[property] def joint_paths(self) -> list[list[str]]
[property] def joint_names(self) -> list[list[str]]
[property] def prim_paths(self) -> list[str]
[property] def shared_metatype(self) -> Any | None
[property] def is_homogeneous(self) -> bool
[property] def jacobian_shape(self) -> tuple[int, int]
[property] def generalized_mass_matrix_shape(self) -> tuple[int, int]
def get_metatype(self, index: int) -> Any
def update(self, dt: float)
def get_root_transforms(self, copy: bool = copy_data) -> Any
def get_root_velocities(self, copy: bool = copy_data) -> Any
def get_masses(self, copy: bool = copy_data) -> Any
def get_inv_masses(self, copy: bool = copy_data) -> Any
def get_inertias(self, copy: bool = copy_data) -> Any
def get_inv_inertias(self, copy: bool = copy_data) -> Any
def get_coms(self, copy: bool = copy_data) -> Any
def set_coms(self, data: Any, indices: Any, indices_mask: Any | None = None)
def get_dof_positions(self, copy: bool = copy_data) -> Any
def get_dof_velocities(self, copy: bool = copy_data) -> Any
def get_dof_limits(self, copy: bool = copy_data) -> Any
def get_dof_stiffnesses(self, copy: bool = copy_data) -> Any
def get_dof_dampings(self, copy: bool = copy_data) -> Any
def get_dof_armatures(self, copy: bool = copy_data) -> Any
def get_dof_position_targets(self, copy: bool = copy_data) -> Any
def get_dof_velocity_targets(self, copy: bool = copy_data) -> Any
def set_root_transforms(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_root_velocities(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_masses(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_inertias(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_dof_positions(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_dof_velocities(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_dof_stiffnesses(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_dof_dampings(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_dof_armatures(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_dof_position_targets(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_dof_velocity_targets(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_dof_actuation_forces(self, data: Any, indices: Any, indices_mask: Any | None = None)
def get_dof_actuation_forces(self, copy: bool = copy_data) -> Any
def get_dof_max_forces(self, copy: bool = copy_data) -> Any
def set_dof_max_forces(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_dof_limits(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_dof_max_velocities(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_dof_drive_model_properties(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_dof_friction_properties(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_disable_gravities(self, data: Any, indices: Any, indices_mask: Any | None = None)
def update_joints(self, indices: Any, indices_mask: Any | None = None)
def apply_forces(self, force_data: Any, indices: Any | None = None, is_global: bool = True, indices_mask: Any | None = None)
def apply_forces_and_torques_at_position(self, force_data: Any | None, torque_data: Any | None, position_data: Any | None, indices: Any, is_global: bool = True, indices_mask: Any | None = None)
def get_generalized_mass_matrices(self, copy: bool = copy_data) -> Any
def get_jacobians(self, copy: bool = copy_data) -> Any
def get_disable_gravities(self, copy: bool = copy_data) -> Any
def get_dof_max_velocities(self, copy: bool = copy_data) -> Any
def get_dof_projected_joint_forces(self, copy: bool = copy_data) -> Any
def get_gravity_compensation_forces(self, copy: bool = copy_data) -> Any
def get_coriolis_and_centrifugal_compensation_forces(self, copy: bool = copy_data) -> Any
def get_dof_friction_properties(self, copy: bool = copy_data) -> Any
def get_drive_types(self, copy: bool = copy_data) -> Any
def get_dof_drive_model_properties(self, copy: bool = copy_data) -> Any
def get_link_incoming_joint_force(self, copy: bool = copy_data) -> Any
def check(self) -> bool
class NewtonRigidBodyView
def init(self, backend: Any, frontend: Any)
[property] def count(self) -> int
[property] def max_shapes(self) -> int
[property] def body_paths(self) -> list[str]
[property] def body_names(self) -> list[str]
def update(self, dt: float)
def get_transforms(self, copy: bool = copy_data) -> Any
def get_velocities(self, copy: bool = copy_data) -> Any
def get_accelerations(self, copy: bool = copy_data) -> Any
def get_masses(self, copy: bool = copy_data) -> Any
def get_inv_masses(self, copy: bool = copy_data) -> Any
def get_coms(self, copy: bool = copy_data) -> Any
def get_inertias(self, copy: bool = copy_data) -> Any
def get_inv_inertias(self, copy: bool = copy_data) -> Any
def set_transforms(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_velocities(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_masses(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_coms(self, data: Any, indices: Any, indices_mask: Any | None = None)
def set_inertias(self, data: Any, indices: Any, indices_mask: Any | None = None)
def get_disable_simulations(self, copy: bool = copy_data) -> Any
def set_disable_simulations(self, data: Any, indices: Any, indices_mask: Any | None = None)
def get_disable_gravities(self, copy: bool = copy_data) -> Any
def set_disable_gravities(self, data: Any, indices: Any, indices_mask: Any | None = None)
def apply_forces(self, force_data: Any, indices: Any | None = None, is_global: bool = True, indices_mask: Any | None = None)
def apply_forces_and_torques_at_position(self, force_data: Any | None, torque_data: Any | None, position_data: Any | None, indices: Any, is_global: bool = True, indices_mask: Any | None = None)
def check(self) -> bool
class NewtonRigidContactView
def init(self, backend: RigidContactSet, frontend: NumpyFrontend | TorchFrontend | WarpFrontend)
[property] def count(self) -> int
[property] def sensor_count(self) -> int
[property] def filter_count(self) -> int
[property] def sensor_names(self) -> list[str]
[property] def sensor_paths(self) -> list[str]
[property] def filter_paths(self) -> list[list[str]]
[property] def filter_names(self) -> list[list[str]]
[property] def max_contact_data_count(self) -> int
def update(self, dt: float)
def get_net_contact_forces(self, dt: float, copy: bool = copy_data) -> Any
def get_contact_force_matrix(self, dt: float, copy: bool = copy_data) -> wp.array
def get_contact_data(self, dt: float, max_contact_data_count: int = 0, copy: bool = copy_data) -> Any
def get_raw_contact_data(self, dt: float, copy: bool = copy_data) -> Any
def get_actor_paths_from_ids(self, actor_ids: wp.array) -> list[str]
def check(self) -> bool
Functions#
def create_simulation_view(frontend_name: str, newton_stage: NewtonStage, stage_id: int = -1) -> NewtonSimulationView
def find_matching_paths(stage: Usd.Stage, pattern: str | list[str]) -> list[str]