Is this page helpful?

[isaacsim.robot_setup.virtual_gantry.ui] Virtual Gantry UI#

Version: 1.0.0

Virtual Gantry UI#

UI for the Virtual Gantry extension. Everything here only drives the backend; all rope physics lives in isaacsim.robot_setup.virtual_gantry, which has no UI dependencies and can be enabled on its own.

Provides:

  • Create > Robotics > Virtual Gantry — authors an IsaacVirtualGantry prim, placed above the selected prim by default.

  • The property panel shown when an IsaacVirtualGantry prim is selected: the isaac:gantry:* attributes, the attach-body / articulation relationships, and Enable / Disable buttons.

  • Keyboard hotkeys: G toggles every gantry, [ / ] shorten / lengthen the rope by 5 mm. The viewport must have keyboard focus.

The hotkeys reach the running ropes through isaacsim.robot_setup.virtual_gantry.get_manager(), resolved on each press so this extension tolerates starting before the backend. [ / ] adjust the live rope without writing the prim, which is why they need the manager rather than a USD edit like the Enable / Disable buttons.

Preview

Enable Extension#

The extension can be enabled (if not already) in one of the following ways:

Define the next entry as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --enable isaacsim.robot_setup.virtual_gantry.ui

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

[dependencies]
"isaacsim.robot_setup.virtual_gantry.ui" = {}

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

Actions in isaacsim.robot_setup.virtual_gantry.ui#

ID

Display Name

Description

isaac_create_virtual_gantry

Create Virtual Gantry

Create a virtual gantry that suspends a robot during bring-up