[isaacsim.robot_setup.virtual_gantry_schema] Isaac Sim Virtual Gantry Schema#

Version: 1.0.1

Virtual Gantry Schema#

Codeless USD schema defining the IsaacVirtualGantry prim type: an Xform whose world transform is the anchor of a one-sided spring-damper “rope” that suspends one articulation body.

Kept separate from isaacsim.robot.schema so that schema stays limited to describing robots. The extension loads at order = -100 — the schema tier — so the prim type is registered before the extensions that depend on it.

The runtime that drives these prims is isaacsim.robot_setup.virtual_gantry; the Create menu and property panel are in isaacsim.robot_setup.virtual_gantry.ui.

from isaacsim.robot_setup.virtual_gantry_schema import Attributes, CreateVirtualGantry

prim = CreateVirtualGantry(stage, "/World/VirtualGantry")
prim.GetAttribute(Attributes.GANTRY_STIFFNESS.name).Set(5000.0)

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_setup.virtual_gantry_schema

Experience/extension configuration

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

[dependencies]
"isaacsim.robot_setup.virtual_gantry_schema" = {}

Extension Manager UI

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