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⚠Work in Progress: We are actively updating the 5.0.0 documentation.
Please note that the content is subject to change.
For the latest updates and source code, visit our GitHub repository.

Isaac Sim

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Isaac Sim

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Table of Contents

General

Core Experimental API
Coding Style Guidelines

API Reference

C++ API
- Classes
  - Colour
  - IPCBufferManager
  - Plane
  - Point3
  - Rect
  - Rotation
  - XMatrix
  - XMatrix44
  - XQuat
  - XVector2
  - XVector3
  - XVector4
- Macros
- Enumerations
  - GymMeshNormalMode
- Functions
  - ACos
  - ASin
  - ATan
  - ATan2
  - Abs
  - Add
  - Add
  - AffineInverse
  - AlignToVector
  - AngleToVector
  - BasisFromVector
  - BourkeColorMap
  - Clamp
  - ClosestPointBetweenLineSegmentAndTri
  - ClosestPointBetweenLineSegments
  - ClosestPointOnFatTriangle
  - ClosestPointOnTriangle
  - ClosestPointToAABB
  - ColourToRGBA8
  - Cos
  - CosineSampleHemisphere
  - CreateCapsule
  - CreateCubeMesh
  - CreateCylinder
  - CreateDiscMesh
  - CreateEllipsoid
  - CreateQuadMesh
  - CreateSphere
  - CreateTetrahedron
  - CreateTriMesh
  - Cross
  - Cross
  - Cube
  - DataPath
  - DegToRad
  - Determinant
  - Determinant
  - Determinant
  - Diagonalize
  - DifferentiateQuat
  - Distance
  - Dot
  - Dot
  - Dot
  - Dot
  - Dot
  - Dot
  - Dot
  - Dot3
  - Dot3
  - EulerFromQuatZYX
  - ExpandPath
  - ExportMeshToBin
  - ExtractFrustumPlanes
  - FileMove
  - FileScan
  - FrobeniusNorm
  - GetBasisVector0
  - GetBasisVector1
  - GetBasisVector2
  - GetCmdLineArg
  - GetExePath
  - GetExtension
  - GetFilePathByPlatform
  - GetRotationQuat
  - GetSeconds
  - GetWorkingDirectory
  - GfIsClose
  - HSVToRGB
  - HermiteInterpolate
  - HermiteSecondDerivative
  - HermiteTangent
  - IntegrateQuat
  - IntersectLineSegmentPlane
  - IntersectLineTri
  - IntersectPlaneAABB
  - IntersectRayAABB
  - IntersectRayAABBFast
  - IntersectRayFatTriangle
  - IntersectRayPlane
  - IntersectRaySphere
  - IntersectRaySphere
  - IntersectRayTri
  - IntersectRayTriTwoSided
  - IntersectSegmentTri
  - Intersection
  - InvSqrt
  - Inverse
  - Inverse
  - Inverse
  - Inverse
  - Inverse
  - InverseDouble
  - InverseTransformPoint
  - InverseTransformVector
  - JetColorMap
  - L2_magnitude
  - LU
  - Length
  - Length
  - LengthSq
  - Lerp
  - LinearToSrgb
  - LoadFileToBuffer
  - LoadFileToString
  - Log
  - Log2
  - LookAtMatrix
  - Max
  - Max
  - Max
  - Max
  - Min
  - Min
  - Min
  - Min
  - Mod
  - Multiply
  - Multiply
  - Multiply
  - Multiply
  - Multiply
  - Multiply
  - Multiply
  - Multiply
  - Multiply
  - Multiply
  - Normalize
  - Normalize
  - NormalizePath
  - NormalizePlane
  - OrthographicMatrix
  - Outer
  - Outer
  - Outer
  - Permutation
  - PerpCCW
  - PerpCW
  - PlaneFromPoints
  - PointInTriangle
  - PoissonSample3D
  - PoissonSampleBox3D
  - PolarDecomposition
  - Pow
  - PrintMatrix
  - ProjectionMatrix
  - QRDecomposition
  - QuatFromAxisAngle
  - QuatFromAxisAngle
  - QuatFromEulerZYX
  - RadToDeg
  - Rand
  - Rand
  - RandInit
  - RandVec3
  - Randf
  - Randf
  - Randf
  - Randf
  - Random
  - RandomShuffle
  - RandomSignedUnit
  - RandomUnit
  - RandomUnitVector
  - RangeMap
  - Rotate
  - RotateInv
  - RotationMatrix
  - RotationMatrix
  - RotationMatrix
  - Round
  - SafeNormalize
  - SaveStringToFile
  - ScalarTriple
  - ScaleMatrix
  - Sgn
  - Sign
  - Sign
  - Sin
  - SinCos
  - Skew
  - Sleep
  - SmoothStep
  - Solve
  - SolveQuadratic
  - SpecularExponentToRoughness
  - SpecularRoughnessToExponent
  - SphericalToXYZ
  - SqDistPointSegment
  - Sqr
  - Sqrt
  - Sqrt
  - SrgbToLinear
  - StripExtension
  - StripFilename
  - StripPath
  - SurfaceArea
  - Swap
  - Tan
  - TestSphereAgainstFrustum
  - TightPack3D
  - ToneMap
  - Trace
  - Trace
  - TransformBounds
  - TransformBounds
  - TransformFromVector
  - TransformMatrix
  - TransformMatrix
  - TransformPoint
  - TransformVector
  - TranslationMatrix
  - Transpose
  - Transpose
  - Transpose
  - Transpose
  - UniformSampleDisc
  - UniformSampleHemisphere
  - UniformSampleSphere
  - UniformSampleSphereVolume
  - UniformSampleTriangle
  - Union
  - Union
  - VectorToAngle
  - ViewMatrix
  - XYZToLinear
  - YxyToXYZ
  - createFactory
  - createFactory
  - euler_xyz2quat
  - getClosestAxis
  - getEulerXYZ
  - getEulerZYX
  - maxf
  - minf
  - operator!=
  - operator*
  - operator*
  - operator*
  - operator*
  - operator*
  - operator*
  - operator*
  - operator*
  - operator*
  - operator*
  - operator*
  - operator*
  - operator*
  - operator*
  - operator*
  - operator*
  - operator*
  - operator*
  - operator*
  - operator*=
  - operator*=
  - operator+
  - operator+
  - operator+
  - operator+
  - operator+=
  - operator+=
  - operator-
  - operator-
  - operator-
  - operator-
  - operator-=
  - operator-=
  - operator==
  - operator==
  - operator==
  - operator==
  - operator==
  - operator==
  - quat2Mat
  - quat2rpy
  - quaternionFromVectors
  - rotate
  - rotateInv
  - rpy2quat
  - sign
  - zUpQuat2rpy
- Groups
  - Dynamic Control State Flags
  - transform axis flags
- Namespaces
  - color
  - isaacsim
    
    asset
    
    core
    
    robot
    
    ros2
    
    sensors
  - mesh
    
    MeshImporter
    
    StatusToString
  - octomap
  - omni
    
    isaac
    
    kit
    
    physics
    
    physx
    
    omni::sensors
  - physics
  - physx
  - pose
  - pxr
  - sensors
  - std
  - transforms
- Pages
  - Deprecated List
- Structs
  - Bounds
  - Material
  - MaterialAssignment
  - Matrix22
  - Matrix33
  - Mesh
  - TextureData
  - Transform
  - USDMesh
  - UVInfo
- Typedefs
  - Mat44
  - Matrix44
  - Quat
  - Vec2
  - Vec3
  - Vec4
  - Vector2
  - Vector3
  - Vector4
- Variables
  - distro
  - k2Pi
  - kDegToRad
  - kInv2Pi
  - kInvPi
  - kMaxPathLength
  - kRadToDeg
  - name

Extensions (App)

isaacsim.app.about
isaacsim.app.selector
isaacsim.app.setup

Extensions (Asset)

isaacsim.asset.browser
isaacsim.asset.exporter.urdf
isaacsim.asset.gen.conveyor
- Conveyor Belt
isaacsim.asset.gen.conveyor.ui
isaacsim.asset.gen.omap
isaacsim.asset.gen.omap.ui
isaacsim.asset.importer.heightmap
[isaacsim.asset.importer.urdf] Urdf Importer Extension
[isaacsim.asset.importer.mjcf] Omniverse MJCF Importer

Extensions (Benchmark)

isaacsim.benchmark.examples
isaacsim.benchmark.services

Extensions (Code Editor)

isaacsim.code_editor.jupyter
isaacsim.code_editor.vscode

Extensions (Core)

isaacsim.core.api
isaacsim.core.cloner
isaacsim.core.deprecation_manager
isaacsim.core.experimental.materials
isaacsim.core.experimental.objects
isaacsim.core.experimental.prims
isaacsim.core.experimental.utils
isaacsim.core.includes
isaacsim.core.nodes
isaacsim.core.prims
isaacsim.core.simulation_manager
isaacsim.core.throttling
isaacsim.core.utils
isaacsim.core.version

Extensions (Cortex)

isaacsim.cortex.behaviors
isaacsim.cortex.framework

Extensions (Examples)

isaacsim.examples.browser
isaacsim.examples.extension
isaacsim.examples.interactive
isaacsim.examples.ui

Extensions (GUI)

isaacsim.gui.components
isaacsim.gui.menu
isaacsim.gui.property

Extensions (Replicator)

isaacsim.replicator.behavior
isaacsim.replicator.behavior.ui
isaacsim.replicator.domain_randomization
isaacsim.replicator.examples
isaacsim.replicator.grasping
isaacsim.replicator.mobility_gen
isaacsim.replicator.synthetic_recorder
isaacsim.replicator.writers
- Dope
- Pose

Extensions (Robot Motion & Setup)

isaacsim.robot_motion.lula
isaacsim.robot_motion.lula_test_widget
isaacsim.robot_motion.motion_generation
isaacsim.robot_setup.assembler
isaacsim.robot_setup.gain_tuner
isaacsim.robot_setup.grasp_editor
isaacsim.robot_setup.wizard
isaacsim.robot_setup.xrdf_editor

Extensions (Robot)

isaacsim.robot.manipulators
- Isaac Gripper Controller Node
isaacsim.robot.manipulators.examples
isaacsim.robot.manipulators.ui
isaacsim.robot.policy.examples
isaacsim.robot.schema
isaacsim.robot.surface_gripper
- Surface Gripper
isaacsim.robot.surface_gripper.ui
isaacsim.robot.wheeled_robots
isaacsim.robot.wheeled_robots.ui

Extensions (ROS 1 & 2)

isaacsim.ros2.bridge
isaacsim.ros2.tf_viewer
isaacsim.ros2.urdf

Extensions (Sensors)

isaacsim.sensors.camera
isaacsim.sensors.camera.ui
isaacsim.sensors.physics
isaacsim.sensors.physics.examples
isaacsim.sensors.physics.ui
isaacsim.sensors.physx
isaacsim.sensors.physx.examples
isaacsim.sensors.physx.ui
isaacsim.sensors.rtx
- Isaac Compute RTX Lidar Flat Scan
- Isaac Extract RTX Sensor Point Cloud
isaacsim.sensors.rtx.ui

Extensions (Simulation)

isaacsim.simulation_app

Extensions (Storage)

isaacsim.storage.native

Extensions (Test)

isaacsim.test.collection
isaacsim.test.docstring

Extensions (Util)

isaacsim.util.camera_inspector
isaacsim.util.merge_mesh
isaacsim.util.physics

Other Extensions

omni.isaac.dynamic_control
omni.kit.loop-isaac

Standalone Examples

Standalone Examples Reference List

Generic Model Output

GenericModelOutput

Isaac Sim API
Functions
Multiply

Multiply#

template<typename T> XVector3<T> Multiply( const XMatrix44<T> &mat, const XVector3<T> &v, )#

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Multiply

On this page

Multiply()

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Last updated on Jun 18, 2025.