API

Python API

SimulationManager	This class provide functions that take care of many time-related events such as warm starting simulation in order for the physics data to be retrievable.
IsaacEvents

class SimulationManager

Bases: object

This class provide functions that take care of many time-related events such as warm starting simulation in order for the physics data to be retrievable. Adding/ removing callback functions that gets triggered with certain events such as a physics step, on post reset, on physics ready..etc.

classmethod assets_loading() → bool

Checks if textures are loaded.

Returns:

True if textures are loading and not done yet, otherwise False.

Return type:

bool

classmethod deregister_callback(callback_id)

Deregisters a callback which was previously registered using register_callback.

Parameters:

callback_id – The ID of the callback returned by register_callback to deregister.

classmethod enable_all_default_callbacks(

enable: bool = True,

) → None

Enable or disable all default callbacks. Default callbacks are: warm_start, on_stop, post_warm_start, stage_open.

Parameters:

enable – Whether to enable all callbacks.

classmethod enable_ccd(

flag: bool,

physics_scene: str = None,

) → None

Enables Continuous Collision Detection (CCD).

Parameters:

• flag (bool) – enables or disables CCD on the PhysicsScene.

• physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

classmethod enable_fabric(enable)

Enables or disables physics fabric integration and associated settings.

Parameters:

enable – Whether to enable or disable fabric.

classmethod enable_fabric_usd_notice_handler(stage_id, flag)

Enables or disables the fabric usd notice handler.

Parameters:

• stage_id – The stage ID to enable or disable the handler for.

• flag – Whether to enable or disable the handler.

classmethod enable_gpu_dynamics(

flag: bool,

physics_scene: str = None,

) → None

Enables gpu dynamics pipeline, required for deformables for instance.

Parameters:

• flag (bool) – enables or disables gpu dynamics on the PhysicsScene. If flag is true, CCD is disabled.

• physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

classmethod enable_on_stop_callback(enable: bool = True) → None

Enable or disable the on stop callback.

Parameters:

enable – Whether to enable the callback.

classmethod enable_post_warm_start_callback(

enable: bool = True,

) → None

Enable or disable the post warm start callback.

Parameters:

enable – Whether to enable the callback.

classmethod enable_stablization(

flag: bool,

physics_scene: str = None,

) → None

Enables additional stabilization pass in the solver.

Parameters:

• flag (bool) – enables or disables stabilization on the PhysicsScene

• physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

classmethod enable_stage_open_callback(

enable: bool = True,

) → None

Enable or disable the stage open callback. Note: This also enables/disables the assets loading and loaded callbacks. If disabled, assets_loading() will always return True.

Parameters:

enable – Whether to enable the callback.

classmethod enable_usd_notice_handler(flag)

Enables or disables the usd notice handler.

Parameters:

flag – Whether to enable or disable the handler.

classmethod enable_warm_start_callback(

enable: bool = True,

) → None

Enable or disable the warm start callback.

Parameters:

enable – Whether to enable the callback.

classmethod get_backend() → str

classmethod get_broadphase_type(

physics_scene: str = None,

) → str

Gets current broadcast phase algorithm type.

Parameters:

physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Returns:

Broadcast phase algorithm used.

Return type:

str

classmethod get_default_callback_status() → dict

Get the status of all default callbacks. Default callbacks are: warm_start, on_stop, post_warm_start, stage_open.

Returns:

Dictionary with callback names and their enabled status.

classmethod get_default_physics_scene() → str

classmethod get_num_physics_steps()

classmethod get_physics_dt(physics_scene: str = None) → str

Returns the current physics dt.

Parameters:

physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Returns:

physics dt.

Return type:

float

classmethod get_physics_sim_device() → str

classmethod get_physics_sim_view()

classmethod get_simulation_time()

classmethod get_solver_type(physics_scene: str = None) → str

Gets current solver type.

Parameters:

physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Returns:

solver used for simulation.

Return type:

str

classmethod initialize_physics() → None

classmethod is_ccd_enabled(physics_scene: str = None) → bool

Checks if Continuous Collision Detection (CCD) is enabled.

Parameters:

physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Returns:

True if CCD is enabled, otherwise False.

Return type:

bool

classmethod is_default_callback_enabled(

callback_name: str,

) → bool

Check if a specific default callback is enabled. Default callbacks are: warm_start, on_stop, post_warm_start, stage_open.

Parameters:

callback_name – Name of the callback to check.

Returns:

Whether the callback is enabled.

classmethod is_fabric_enabled(enable)

Checks if fabric is enabled.

Parameters:

enable – Whether to check if fabric is enabled.

Returns:

True if fabric is enabled, otherwise False.

Return type:

bool

classmethod is_fabric_usd_notice_handler_enabled(stage_id)

Checks if fabric usd notice handler is enabled.

Parameters:

stage_id – The stage ID to check.

Returns:

True if fabric usd notice handler is enabled, otherwise False.

Return type:

bool

classmethod is_gpu_dynamics_enabled(

physics_scene: str = None,

) → bool

Checks if Gpu Dynamics is enabled.

Parameters:

physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Returns:

True if Gpu Dynamics is enabled, otherwise False.

Return type:

bool

classmethod is_paused()

classmethod is_simulating()

classmethod is_stablization_enabled(

physics_scene: str = None,

) → bool

Checks if stabilization is enabled.

Parameters:

physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

Returns:

True if stabilization is enabled, otherwise False.

Return type:

bool

classmethod register_callback(

callback: callable,

event,

order: int = 0,

name: str = None,

)

Registers a callback to be triggered when a specific event occurs.

Parameters:

• callback – The callback function to register.

• event – The event to trigger the callback.

• order – The order in which the callback should be triggered.

• name – The name of the callback.

Returns:

The ID of the callback.

Return type:

int

classmethod set_backend(val: str) → None

classmethod set_broadphase_type(

val: str,

physics_scene: str = None,

) → None

Broadcast phase algorithm used in simulation.

Parameters:

• val (str) – type of broadcasting to be used, can be “MBP”.

• physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

classmethod set_default_physics_scene(

physics_scene_prim_path: str,

)

set_physics_dt(

dt: float = 0.016666666666666666,

physics_scene: str = None,

) → None

Sets the physics dt on the physics scene provided.

Parameters:

• dt (float, optional) – physics dt. Defaults to 1.0/60.0.

• physics_scene (str, optional) – physics scene prim path. Defaults to first physics scene found in the stage.

Raises:

• Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

• ValueError – Physics dt must be a >= 0.

• ValueError – Physics dt must be a <= 1.0.

classmethod set_physics_sim_device(val) → None

classmethod set_solver_type(

solver_type: str,

physics_scene: str = None,

) → None

solver used for simulation.

Parameters:

• solver_type (str) – can be “TGS” or “PGS”.

• physics_scene (str, optional) – physics scene prim path.

Raises:

Exception – If the prim path registered in context doesn’t correspond to a valid prim path currently.

classmethod step(render: bool = False)

class IsaacEvents(

value,

names=None,

*,

module=None,

qualname=None,

type=None,

start=1,

boundary=None,

)

Bases: Enum

PHYSICS_READY = 'isaac.physics_ready'

PHYSICS_WARMUP = 'isaac.physics_warmup'

POST_PHYSICS_STEP = 'isaac.post_physics_step'

POST_RESET = 'isaac.post_reset'

PRE_PHYSICS_STEP = 'isaac.pre_physics_step'

PRIM_DELETION = 'isaac.prim_deletion'

SIMULATION_VIEW_CREATED = 'isaac.simulation_view_created'

TIMELINE_STOP = 'isaac.timeline_stop'