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

Version: 5.10.4

Overview#

The isaacsim.core.nodes extension provides OmniGraph nodes for Isaac Sim workflows including articulation control, simulation timing, camera info reading, viewport management, and physics step event handling. This extension serves as the computational backbone for synthetic data generation and robotics simulation workflows in Isaac Sim.

Key Components#

`BaseResetNode`#

The BaseResetNode provides automatic reset functionality when timeline playback stops. This base class ensures nodes return to their initial state when simulation stops, maintaining consistency across simulation runs.

class CustomNode(BaseResetNode):
    def custom_reset(self):
        # Custom reset logic when timeline stops
        self.clear_data()

The node automatically subscribes to timeline events and calls the custom_reset() method when the stop event is triggered.

`BaseWriterNode`#

The BaseWriterNode extends BaseResetNode to manage replicator writers for synthetic data output. It provides functionality to attach and detach writers to render products, enabling automated data collection workflows.

Key capabilities include:

Managing multiple writers simultaneously
Automatic writer activation and deactivation
Integration with render product pipelines
Reset functionality that clears all active writers

writer_node = BaseWriterNode()
writer_node.append_writer(my_writer)
writer_node.attach_writers(render_product_path)

`WriterRequest`#

The WriterRequest class encapsulates operations for managing writer attachment and detachment from render products. It provides a structured way to queue writer operations asynchronously.

Each request contains:

The replicator writer to manage
Target render product path(s)
Activation state (attach or detach)

Functionality#

Annotator Registration#

The extension automatically registers various annotators for synthetic data processing:

Time-based annotators for simulation and system time tracking
Camera information readers for extracting camera parameters
World pose readers for spatial data extraction
Image conversion utilities (RGBA to RGB format)
Depth-to-point-cloud converters
Simulation gates for controlling data flow

Data Processing Pipeline#

The nodes enable comprehensive data extraction from rendered scenes, supporting robotics simulations with utilities for image format conversion, point cloud generation, and controlled data flow through simulation gates.

C++ Plugin#

The OmniGraph nodes in this extension are implemented in C++ as a Carbonite plugin (isaacsim::core::nodes::CoreNodes). The native plugin handles node registration via the OGN framework and provides performance-critical compute for image conversion, depth-to-point-cloud processing, simulation timing, and physics step event handling. Python bindings expose the CoreNodes interface through the _isaacsim_core_nodes module for plugin lifecycle management.

Integration#

The extension integrates with omni.replicator.core for synthetic data generation workflows and uses omni.graph as the computational framework. It connects to Isaac Sim’s rendering and simulation systems through dedicated manager components for coordinated operation.

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.nodes

Experience/extension configuration

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

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

Extension Manager UI

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.

Python API#

Isaac Sim Core Nodes Module

class CoreNodes

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:

Python API