[isaacsim.core.simulation_manager] Isaac Sim Core Simulation Manager

Version: 1.2.2

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

Enable Extension

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

Command-line interface

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

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

Experience/extension configuration

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

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

Extension Manager UI

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

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)

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)

classmethod enable_fabric_usd_notice_handler(stage_id, flag)

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_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_usd_notice_handler(flag)

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_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_fabric_enabled(enable)

classmethod is_fabric_usd_notice_handler_enabled(stage_id)

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,

)

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'