Isaac Sim: Extensions API#

General

API Reference#

  • C++ API

  • Python API reference can be found on the individual pages of each extension.

Extensions#

Extensions (App)#

Extension

Title

Description

isaacsim.app.about

Isaac Sim About Window

Show application/build information.

isaacsim.app.selector

Isaac Sim App Selector

Mini Launch Pad app for Isaac Sim Sub Apps

isaacsim.app.setup

Isaac Sim Setup

This Extension does the setup of the Isaac Sim App

Extensions (Asset)#

Extension

Title

Description

isaacsim.asset.browser

Isaac Sim Asset Browser

The Isaac Sim Asset Browser extension provides an user interface for loading isaac sim assets and files.

isaacsim.asset.exporter.urdf

Isaac Sim USD to URDF exporter

Extension that exports USD files to URDF

isaacsim.asset.gen.conveyor

Isaac Sim Conveyor belt utility

The Conveyor Belt Utility Extension provides an utility to turn Rigid bodies into conveyors in Omniverse Isaac Sim. It provides an Omnigraph Node that support configuring a mesh asset into a conveyor belt Rigid Body in simulation, and commands to create the conveyor belt Omnigraph programatically.

isaacsim.asset.gen.conveyor.ui

Isaac Sim Conveyor belt utility UI

UI components for isaacsim.asset.gen.conveyor. It provides menu entries to support UI-based creation of Custom Conveyor Bodies, and a Conveyor Track tool that creates a system of fixed conveyor belts from a dataset.

isaacsim.asset.gen.omap

Isaac Sim Occupancy Map

The Isaac Sim Occupancy Map extension provides tools to generate occupancy maps for a Scene

isaacsim.asset.gen.omap.ui

UI components for the Isaac Sim Occupancy Map

UI components for the Isaac Sim Occupancy Map provides UI for 2D Occupancy Map Generation

isaacsim.asset.importer.heightmap

Height Map extension for Isaac Sim Occupancy Map

The Height Map extension provides tools for 2D Occupancy Map generation

isaacsim.asset.importer.urdf

Urdf Importer Extension

URDF Importer

isaacsim.asset.importer.mjcf

Omniverse MJCF Importer

MJCF Importer

Extensions (Benchmark)#

Extension

Title

Description

isaacsim.benchmark.examples

Benchmark

This extension provides benchmarking utilities

isaacsim.benchmark.services

Benchmark Services

This extension provides benchmarking utilities

Extensions (Code Editor)#

Extension

Title

Description

isaacsim.code_editor.jupyter

Jupyter notebook integration

Jupyter notebook version of Omniverse’s script editor

isaacsim.code_editor.vscode

VS Code integration

VS Code version of Omniverse’s script editor

Extensions (Core)#

Extension

Title

Description

isaacsim.core.api

Isaac Sim Core

The Core extension provides a set of APIs to control the Simulation State as well as the physics scene. It also provides wrappers for USD objects, physics and visual materials.

isaacsim.core.cloner

Isaac Sim Cloner

The Cloner extension provides a set of APIs to clone prims and environments in an efficient way as well as filtering the collisions across the clones if needed.

isaacsim.core.deprecation_manager

Deprecation manager

Manage deprecated OmniGraph nodes and app/extension settings

isaacsim.core.experimental.materials

Isaac Sim Core (Materials)

The Core Materials extension provides a set of APIs to create and/or wrap one or more USD materials in the stage…

isaacsim.core.experimental.objects

Isaac Sim Core (Objects)

The Core Objects extension provides a set of APIs to create and/or wrap one or more USD objects in the stage…

isaacsim.core.experimental.prims

Isaac Sim Core (Prims)

The Core Prims extension provides a set of APIs to wrap one or more USD prims in the stage in order to manipulate (read/write) their attributes and perform other operations during the simulation.

isaacsim.core.experimental.utils

Isaac Sim Core (Utils)

The Core Utils extension provides a set of utility functions.

isaacsim.core.includes

Isaac Sim Common Includes

Extension containing common isaac sim headers

isaacsim.core.nodes

Isaac Sim Core OmniGraph Nodes

Common Isaac Sim OmniGraph nodes

isaacsim.core.prims

Isaac Sim Core API (Prims)

The Core Prims extension provides a set of APIs to read and write state information to the different types of prims.

isaacsim.core.simulation_manager

Isaac Sim Core Simulation Manager

The Core Simulation Manager extension provides a set of APIs to control and query the simulation’s state and the different callbacks available.

isaacsim.core.throttling

Isaac Sim Throttling

Control throttling behaviors for isaac sim

isaacsim.core.utils

Isaac Sim Utilities

The Core Utils extension provides useful utilities for USD, physics, math, rendering and carb.

isaacsim.core.version

Isaac Sim Version

Isaac Sim Version extension provides tools to query Isaac Sim version and build information.

Extensions (Cortex)#

Extension

Title

Description

isaacsim.cortex.behaviors

Isaac Cortex Sample Behaviors

Library of Sample Behaviors for Isaac Cortex used in our core examples. It contains a pick and place state machine used on a UR10 for bin stacking, and six examples used on a Franka robot, namely a simple decider network and a state machine, block stacking, and Peck game, state machine and decider network behaviors.

isaacsim.cortex.framework

Omni Isaac Cortex

Isaac Cortex is a framework within NVIDIA’s Isaac Sim that integrates various robotics tools into a unified system, facilitating the development of collaborative robotic applications. It emphasizes reactivity and adaptability, enabling robots to operate safely alongside humans without the need for physical barriers.

Extensions (Examples)#

Extension

Title

Description

isaacsim.examples.browser

Isaac Sim Example Browser

A browser for Isaac Sim assets

isaacsim.examples.extension

Generate Extension

UI tool for generating extension templates for different common workflows

isaacsim.examples.interactive

Isaac Sim Samples

Sample extensions for Isaac Sim

isaacsim.examples.ui

Isaac Sim UI Example

Example with all the Core UI Elements in Isaac Sim

Extensions (GUI)#

Extension

Title

Description

isaacsim.gui.components

Isaac Sim UI Utilities

Core UI Elements for Isaac Sim

isaacsim.gui.menu

Isaac Sim Menus

Menus specific to Isaac Sim

isaacsim.gui.property

Isaac Sim Property Extensions

Adds Isaac Sim Specific Property Utils

Extensions (Replicator)#

Extension

Title

Description

isaacsim.replicator.behavior

Isaac Sim Replicator Behavior Scripts

The extension provides various randomization and event scripts for Synthetic Data Generation (SDG) workflows. The scripts can be attached to prims providing modular, persitent, and shareable behaviors. The scripts use exposed variables as custom USD properties which can be modified throught the UI or programmatically.

isaacsim.replicator.behavior.ui

Isaac Sim Replicator Behavior Scripts UI

UI components for the Replicator Behavior Scripts exntension. It provides the UI Widget for the Property Panel for configuring the exposed variables of the scripts.

isaacsim.replicator.domain_randomization

Isaac Sim Replicator Domain Randomization

The extension provides various Domain Randomization scripts and OmniGraph nodes for randomizing simulation environments.

isaacsim.replicator.examples

Isaac Sim Replicator Examples

The extension provides various replicator snippets and examples for Synthetic Data Generation (SDG) workflows.

isaacsim.replicator.grasping

Replicator Grasping Workflow

Synthetic data generation workflow for grasping scenarios

isaacsim.replicator.mobility_gen

MobilityGen

A toolset for generating mobility data for robots.

isaacsim.replicator.synthetic_recorder

Isaac Sim Replicator Synthetic Data Recorder

The extension provides a UI to record synthetic data using Replicator writers. By default the UI uses the Replicator BasicWriter, it however also supports custom writers with custom parameters loaded through config files as key-value pairs.

isaacsim.replicator.writers

Isaac Sim Replicator Writers

The extension provides various custom Replicator based writers for Synthetic Data Generation (SDG) workflows. The writers are registered with Replicator at extension startup.

Extensions (Robot Motion & Setup)#

Extension

Title

Description

isaacsim.robot_motion.lula

Isaac Sim Lula

Extension that provides lula python interface

isaacsim.robot_motion.lula_test_widget

Lula Test Widget

Run Simple Tests Using Lula Algorithms

isaacsim.robot_motion.motion_generation

Isaac Sim Motion Generation

Extension that provides support for generating motion with Lula-based motion policies and an interface for writing arbitrary motion policies

isaacsim.robot_setup.assembler

Robot Assembler

Alpha version of Robot Assembler Extension: Assemble multiple Articulations into a single robot

isaacsim.robot_setup.gain_tuner

Gain Tuner

Gain Tuner for Articulation PD Gains

isaacsim.robot_setup.grasp_editor

Grasp Editor

Author grasps by hand for a specific robot gripper and USD asset.

isaacsim.robot_setup.wizard

Isaac Sim Robot Wizard [Beta]

Wizard to guide through robot import and configuration

isaacsim.robot_setup.xrdf_editor

Robot Description Editor

Generates and edit Lula robot_description YAML files

Extensions (Robot)#

Extension

Title

Description

isaacsim.robot.manipulators

Isaac Sim Manipulators

Manipulators

isaacsim.robot.manipulators.examples

Manipulators Examples

examples of manipulators and grippers

isaacsim.robot.manipulators.ui

Isaac Sim Manipulators UI

Manipulators

isaacsim.robot.policy.examples

Reinforcement Learning Inference Example for Robots in Isaac Sim

The Policy Based Robot Control Examples extension provides utilities for deploying reinforcement learning policies in Isaac Sim, as well as locomotion examples for humanoid and quadruped robots.

isaacsim.robot.schema

Isaac USD schema

Extension used to host all USD schemas made for robots. Provides the generated schema USDA. and a few utility functions used for informal schemas.

isaacsim.robot.surface_gripper

Isaac Sim Surface Gripper

Helper to model Suction and Distance based grippers

isaacsim.robot.surface_gripper.ui

Isaac Sim Surface Gripper UI Components

UI components for the Surface Gripper extension

isaacsim.robot.wheeled_robots

Wheeled Robots

This extension provides wheeled robot utilities

isaacsim.robot.wheeled_robots.ui

Wheeled Robots UI

This extension provides the UI elements for the wheeled_robots extension

Extensions (ROS 1 & 2)#

Extension

Title

Description

isaacsim.ros2.bridge

ROS 2 Bridge

The ROS 2 Bridge extension enables communication between the Isaac Sim and ROS 2 systems. It allows for the publishing and subscribing of ROS 2 topics and services via OmniGraph nodes and Action graphs. ROS 2 publishers, subscribers and services are only active when play is pressed. To enable this extension, ensure ROS 2 libraries are sourced in the terminal before running Isaac Sim or source the lightweight ROS 2 libraries included with Isaac Sim as an alternative.

isaacsim.ros2.tf_viewer

TF Viewer

Show the tf transform tree in the viewport

isaacsim.ros2.urdf

Ros2 Robot Description URDF Importer

This extensions expands the URDF Importer by enabling importing the robot description from a given ROS node

Extensions (Sensors)#

Extension

Title

Description

isaacsim.sensors.camera

Isaac Sim Camera Simulation

Provides APIs for camera prims, eg. setting lens distortion and enabling tiled rendering.

isaacsim.sensors.camera.ui

Isaac Sim Camera Simulation UI Components

Provides UI components for Isaac Sim camera simulation, eg. menu options.

isaacsim.sensors.physics

Isaac Sim Physics Sensor Simulation

Isaac Sim Physics Sensor Simulation extension provides APIs for physics-based sensors, including Contact Sensor, Effort Sensor, & IMU Sensor.

isaacsim.sensors.physics.examples

Isaac Sim Physics Sensor Simulation Examples

Isaac Sim Physics Sensor Simulation Examples extension provides example usage and snippets for Isaac Sim physics-based sensors.

isaacsim.sensors.physics.ui

Isaac Sim Physics Sensor Simulation UI Components

Isaac Sim Physics Sensor Simulation UI Components extension provides UI components for Isaac Sim physics-based sensor simulation, eg. menu options.

isaacsim.sensors.physx

Isaac Sim PhysX Sensors

Isaac Sim PhysX Sensors extension provides APIs for PhysX-raycast-based lidars and sensors including Proximity Sensor and Lightbeam Sensor.

isaacsim.sensors.physx.examples

Isaac Sim PhysX Sensor Examples

Provides example usage and snippets for Isaac Sim PhysX-raycast-based sensors.

isaacsim.sensors.physx.ui

Isaac Sim PhysX Sensor UI components

Isaac Sim PhysX Sensor UI components extension provides UI components for Isaac Sim PhysX-raycast-based sensor simulation, eg. menu options.

isaacsim.sensors.rtx

Isaac Sim Isaac Sensor Simulation

Provides APIs for RTX-based sensors, including RTX Lidar & RTX Radar.

isaacsim.sensors.rtx.ui

Isaac Sim RTX Sensor Simulation UI Components

Provides UI components for Isaac Sim RTX-based sensor simulation, eg. menu options.

Extensions (Simulation)#

Extension

Title

Description

isaacsim.simulation_app

Isaac Sim Kit Helpers

This Extension that provides a way to launch a python app

Extensions (Storage)#

Extension

Title

Description

isaacsim.storage.native

Isaac Sim Native Storage

Isaac Sim Native Storage

Extensions (Test)#

Extension

Title

Description

isaacsim.test.collection

Isaac Sim Tests

Collection of tests for isaac sim that are not tied to a specific extension

isaacsim.test.docstring

Isaac Sim DocTest

Test interactive Python docstrings examples

Extensions (Util)#

Extension

Title

Description

isaacsim.util.camera_inspector

Camera Inspector

This extension can inspect and modify the properties of cameras in the scene.

isaacsim.util.merge_mesh

Isaac Sim Merge Mesh

Isaac Sim tool to facilitate combining meshes together in a single USD Prim. It provides the ability to reset the mesh origin to world origin, and combining all materials into a single list, combining materials with the same characteristics.

isaacsim.util.physics

Isaac Sim Physics API Editor

Collision and Physics Utils

Other Extensions#

Extension

Title

Description

omni.isaac.dynamic_control

Isaac Sim Dynamic Control

The Dynamic Control extension provides a set of utilities to control physics objects. It provides opaque handles for different physics objects that remain valid between PhysX scene resets, which occur whenever play or stop is pressed.

omni.kit.loop-isaac

Isaac Loop Runner

Custom Loop Runner for Isaac Sim

Standalone Examples

Generic Model Output