Skip to main content

Ctrl+K

⚠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

discord
github
twitter
youtube
instagram
www
linkedin
twitch

Isaac Sim

discord
github
twitter
youtube
instagram
www
linkedin
twitch

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
Namespaces
omni
isaac
dynamic_control
kHandleTypeMask

kHandleTypeMask#

Fully qualified name: omni::isaac::dynamic_control::kHandleTypeMask

constexpr uint64_t omni::isaac::dynamic_control::kHandleTypeMask = 0x000000ff00000000#

previous

kHandleObjectMask

next

kMaxDims

On this page

kHandleTypeMask

Copyright © 2018-2025, NVIDIA Corporation.

Last updated on Jun 18, 2025.