API#

Python API#

Commands

`RangeSensorCreatePrim`
`RangeSensorCreateLidar`	Commands class to create a lidar sensor.
`RangeSensorCreateGeneric`	Commands class to create a generic range sensor.
`IsaacSensorCreateLightBeamSensor`

Sensors

`ProximitySensor`
`RotatingLidarPhysX`

Commands#

class RangeSensorCreatePrim(*args: Any, **kwargs: Any)#: Bases: Command

class RangeSensorCreateLidar(*args: Any, **kwargs: Any)#

Bases: Command

Commands class to create a lidar sensor.

Typical usage example:

result, prim = omni.kit.commands.execute(
    "RangeSensorCreateLidar",
    path="/Lidar",
    parent=None,
    min_range=0.4,
    max_range=100.0,
    draw_points=False,
    draw_lines=False,
    horizontal_fov=360.0,
    vertical_fov=30.0,
    horizontal_resolution=0.4,
    vertical_resolution=4.0,
    rotation_rate=20.0,
    high_lod=False,
    yaw_offset=0.0,
    enable_semantics=False,
)

class RangeSensorCreateGeneric(*args: Any, **kwargs: Any)#

Bases: Command

Commands class to create a generic range sensor.

Typical usage example:

result, prim = omni.kit.commands.execute(
    "RangeSensorCreateGeneric",
    path="/GenericSensor",
    parent=None,
    min_range=0.4,
    max_range=100.0,
    draw_points=False,
    draw_lines=False,
    sampling_rate=60,
)

class IsaacSensorCreateLightBeamSensor(*args: Any, **kwargs: Any)#: Bases: Command

Sensors#

class ProximitySensor( parent: pxr.Usd.Prim, callback_fns=[None, None, None], exclusions=[], )#

Bases: object

update()#

report_hit(hit)#

check_for_overlap()#

status()#

reset()#

get_data() → Dict[str, Dict[str, float]]#

Returns dictionary of overlapped geometry and respective metadata.

key: prim_path of overlapped geometry val: dictionary of metadata:

“duration”: float of time since overlap “distance”: distance from origin of tracker to origin of overlapped geometry

Returns:: overlapped geometry and metadata
Return type:: Dict[str, Dict[str, float]]

to_string()#

is_overlapping()#

get_active_zones() → List[str]#

Returns a list of the prim paths of all the collision meshes the tracker is inside of.

Returns:: prim paths as strings
Return type:: list(str)

get_entered_zones() → List[str]#

Returns a list of the prim paths of all the collision meshes the tracker just entered.

Returns:: prim paths as strings
Return type:: list(str)

get_exited_zones() → List[str]#

Returns a list of the prim paths of all the collision meshes the tracker just exited.

Returns:: prim paths as strings
Return type:: list(str)

class RotatingLidarPhysX( prim_path: str, name: str = 'rotating_lidar_physX', rotation_frequency: float | None = None, rotation_dt: float | None = None, position: ndarray | None = None, translation: ndarray | None = None, orientation: ndarray | None = None, fov: Tuple[float, float] | None = None, resolution: Tuple[float, float] | None = None, valid_range: Tuple[float, float] | None = None, )#

Bases: BaseSensor

initialize(physics_sim_view=None) → None#

Create a physics simulation view if not passed and using PhysX tensor API

Note

If the prim has been added to the world scene (e.g., world.scene.add(prim)), it will be automatically initialized when the world is reset (e.g., world.reset()).

Parameters:: physics_sim_view (omni.physics.tensors.SimulationView, optional) – current physics simulation view. Defaults to None.

Example:

>>> prim.initialize()

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()

add_depth_data_to_frame() → None#

remove_depth_data_from_frame() → None#

add_linear_depth_data_to_frame() → None#

remove_linear_depth_data_from_frame() → None#

add_intensity_data_to_frame() → None#

remove_intensity_data_from_frame() → None#

add_zenith_data_to_frame() → None#

remove_zenith_data_from_frame() → None#

add_azimuth_data_to_frame() → None#

remove_azimuth_data_from_frame() → None#

add_point_cloud_data_to_frame() → None#

remove_point_cloud_data_from_frame() → None#

add_semantics_data_to_frame() → None#

remove_semantics_data_from_frame() → None#

get_num_rows() → int#

get_num_cols() → int#

get_num_cols_in_last_step() → int#

get_current_frame() → dict#

resume() → None#

pause() → None#

is_paused() → bool#

set_fov(value: Tuple[float, float]) → None#

get_fov() → Tuple[float, float]#

set_resolution(value: float) → None#

get_resolution() → float#

set_rotation_frequency(value: int) → None#

get_rotation_frequency() → int#

set_valid_range( value: Tuple[float, float], ) → None#

get_valid_range() → Tuple[float, float]#

enable_semantics() → None#

disable_semantics() → None#

is_semantics_enabled() → bool#

enable_visualization( high_lod: bool = False, draw_points: bool = True, draw_lines: bool = True, ) → None#

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 (VisualMaterial) – visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to 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_visualization() → None#

get_applied_visual_material() → VisualMaterial#

Return the current applied visual material in case it was applied using apply_visual_material or it’s 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.
Return type:: VisualMaterial

Example:

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

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)
Return type:: XFormPrimState

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_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
Return type:: Tuple[np.ndarray, np.ndarray]

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, ).
Return type:: np.ndarray

Example:

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

get_visibility() → bool#

Returns:: true if the prim is visible in stage. false otherwise.
Return type:: bool

Example:

>>> # get the visible state of an 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
Return type:: Tuple[np.ndarray, np.ndarray]

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, ).
Return type:: np.ndarray

Example:

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

is_valid() → bool#

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

Returns:: True is the current prim path corresponds to a valid prim in stage. False otherwise.
Return type:: bool

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.
Return type:: bool

Example:

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

property name: str | None#: Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool#

Used to query if the prim is a non root articulation link

Returns:: True if the prim itself is a non root link
Return type:: bool

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#: Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str#: Returns: str: prim path in the stage

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 (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means 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_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 (Optional[Sequence[float]], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

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 (Optional[Sequence[float]]) – scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.

Example:

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

set_visibility(visible: bool) → None#

Set the visibility of the prim in stage

Parameters:: visible (bool) – 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#

Ses 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 (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

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.]))