[isaacsim.core.nodes] Isaac Sim Core OmniGraph Nodes#

Version: 3.2.16

Common Isaac Sim OmniGraph nodes

Enable Extension#

The extension can be enabled (if not already) in one of the following ways:

Define the next entry as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --enable isaacsim.core.nodes

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

[dependencies]
"isaacsim.core.nodes" = {}

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

API#

Isaac Sim Core Nodes Module

This module provides core functionality for simulation time management and tracking. It offers methods to query various time metrics in the simulation:

  • Simulation time (sim time)

  • Monotonic simulation time

  • System (real-world) time

  • Physics step count

These time functions can be queried for the current state or for specific points in time using RationalTime objects or (deprecated) stage with history (swh) frame numbers.

Usage:

# Import the module from isaacsim.core.nodes.bindings import _isaacsim_core_nodes

# Acquire the interface core_nodes = _isaacsim_core_nodes.acquire_interface()

# Get current time metrics sim_time = core_nodes.get_sim_time() monotonic_time = core_nodes.get_sim_time_monotonic() system_time = core_nodes.get_system_time()

# Get time metrics for a specific frame frame_sim_time = core_nodes.get_sim_time_at_time((0, 0))

# Get physics step count steps = core_nodes.get_physics_num_steps()

# Timeline control affects time metrics and physics steps timeline = omni.timeline.get_timeline_interface() timeline.play() # Start simulation, physics steps will increment timeline.stop() # Stop simulation, physics steps reset to 0

class CoreNodes
get_physics_num_steps(
self: isaacsim.core.nodes.bindings._isaacsim_core_nodes.CoreNodes,
) → int

Gets the number of physics steps completed since simulation start.

This counter is reset to zero when the timeline is stopped.

Returns:

The number of physics steps completed.

Return type:

int

@deprecated: This method is deprecated and will be removed in a future release. Please use isaacsim.core.simulation_manager.get_num_physics_steps() instead.

get_sim_time(
self: isaacsim.core.nodes.bindings._isaacsim_core_nodes.CoreNodes,
) → float

Gets the current simulation time in seconds.

Returns:

The current simulation time in seconds.

Return type:

float

@deprecated: This method is deprecated and will be removed in a future release. Please use isaacsim.core.simulation_manager.get_simulation_time() instead.

get_sim_time_at_time(*args, **kwargs)

Overloaded function.

  1. get_sim_time_at_time(self: isaacsim.core.nodes.bindings._isaacsim_core_nodes.CoreNodes, arg0: omni::fabric::RationalTime) -> float

    Gets simulation time in seconds at a specific rational time.

    Args:

    time (omni.fabric.RationalTime): The rational time to query.

    Returns:

    float: The simulation time in seconds at the specified time.

    @deprecated: This method is deprecated and will be removed in a future release. Please use isaacsim.core.simulation_manager.get_simulation_time_at_time() instead.

  2. get_sim_time_at_time(self: isaacsim.core.nodes.bindings._isaacsim_core_nodes.CoreNodes, arg0: Tuple[int, int]) -> float

    Gets simulation time in seconds at a specific rational time.

    Args:

    time (tuple): A tuple of (numerator, denominator) representing the rational time.

    Returns:

    float: The simulation time in seconds at the specified time.

    @deprecated: This method is deprecated and will be removed in a future release. Please use isaacsim.core.simulation_manager.get_simulation_time_at_time() instead.

get_sim_time_monotonic(
self: isaacsim.core.nodes.bindings._isaacsim_core_nodes.CoreNodes,
) → float

Gets a monotonically increasing simulation time in seconds.

This time is guaranteed to always increase, unlike regular simulation time which can be reset or modified by timeline operations.

Returns:

The monotonic simulation time in seconds.

Return type:

float

@deprecated: This method is deprecated and will be removed in a future release. Please use isaacsim.core.simulation_manager.get_simulation_monotonic() instead.

get_sim_time_monotonic_at_time(*args, **kwargs)

Overloaded function.

  1. get_sim_time_monotonic_at_time(self: isaacsim.core.nodes.bindings._isaacsim_core_nodes.CoreNodes, arg0: omni::fabric::RationalTime) -> float

    Gets monotonic simulation time in seconds at a specific rational time.

    Args:

    time (omni.fabric.RationalTime): The rational time to query.

    Returns:

    float: The monotonic simulation time in seconds at the specified time.

    @deprecated: This method is deprecated and will be removed in a future release. Please use isaacsim.core.simulation_manager.get_simulation_time_monotonic_at_time() instead.

  2. get_sim_time_monotonic_at_time(self: isaacsim.core.nodes.bindings._isaacsim_core_nodes.CoreNodes, arg0: Tuple[int, int]) -> float

    Gets monotonic simulation time in seconds at a specific rational time.

    Args:

    time (tuple): A tuple of (numerator, denominator) representing the rational time.

    Returns:

    float: The monotonic simulation time in seconds at the specified time.

    @deprecated: This method is deprecated and will be removed in a future release. Please use isaacsim.core.simulation_manager.get_simulation_time_monotonic_at_time() instead.

get_system_time(
self: isaacsim.core.nodes.bindings._isaacsim_core_nodes.CoreNodes,
) → float

Gets the current system (real-world) time in seconds.

Returns:

The current system time in seconds.

Return type:

float

@deprecated: This method is deprecated and will be removed in a future release. Please use isaacsim.core.simulation_manager.get_system_time() instead.

get_system_time_at_time(*args, **kwargs)

Overloaded function.

  1. get_system_time_at_time(self: isaacsim.core.nodes.bindings._isaacsim_core_nodes.CoreNodes, arg0: omni::fabric::RationalTime) -> float

    Gets system (real-world) time in seconds at a specific rational time.

    Args:

    time (omni.fabric.RationalTime): The rational time to query.

    Returns:

    float: The system time in seconds at the specified time.

    @deprecated: This method is deprecated and will be removed in a future release. Please use isaacsim.core.simulation_manager.get_system_time_at_time() instead.

  2. get_system_time_at_time(self: isaacsim.core.nodes.bindings._isaacsim_core_nodes.CoreNodes, arg0: Tuple[int, int]) -> float

    Gets system (real-world) time in seconds at a specific rational time.

    Args:

    time (tuple): A tuple of (numerator, denominator) representing the rational time.

    Returns:

    float: The system time in seconds at the specified time.

    @deprecated: This method is deprecated and will be removed in a future release. Please use isaacsim.core.simulation_manager.get_system_time_at_time() instead.

acquire_interface(
plugin_name: str = None,
library_path: str = None,
) → isaacsim.core.nodes.bindings._isaacsim_core_nodes.CoreNodes
release_interface(
arg0: isaacsim.core.nodes.bindings._isaacsim_core_nodes.CoreNodes,
) → None

Omnigraph Nodes#

The extension exposes the following Omnigraph nodes: