Python Enums
- class isaacgym.gymapi.SimType
Simulation Backend type
Members:
SIM_PHYSX : PhysX Backend
SIM_FLEX : Flex Backend
- class isaacgym.gymapi.UpAxis
Up axis
Members:
UP_AXIS_Y : Y axis points up
UP_AXIS_Z : Z axis points up
- class isaacgym.gymapi.ContactCollection
Contact collection mode.
Members:
CC_NEVER : Don’t collect any contacts (value = 0).
CC_LAST_SUBSTEP : Collect contacts for last substep only (value = 1).
CC_ALL_SUBSTEPS : Collect contacts for all substeps (value = 2) (default).
- class isaacgym.gymapi.JointType
Types of Joint supported by the simulator
Members:
JOINT_INVALID : invalid/unknown/uninitialized joint type.
JOINT_FIXED : Fixed joint. Bodies will move together.
JOINT_REVOLUTE : Revolute or Hinge Joint. Bodies will rotate on one defined axis.
JOINT_PRISMATIC : Prismatic Joints. Bodies will move linearly on one axis.
JOINT_BALL : Ball Joint. Bodies will rotate on all directions on point of reference.
JOINT_PLANAR : Planar Joint. Bodies will move on defined plane.
JOINT_FLOATING : Floating Joint. No constraints added between bodies.
- class isaacgym.gymapi.DofType
Types of degree of freedom supported by the simulator
Members:
DOF_INVALID : invalid/unknown/uninitialized DOF type
DOF_ROTATION : The degrees of freedom correspond to a rotation between bodies
DOF_TRANSLATION : The degrees of freedom correspond to a translation between bodies.
- class isaacgym.gymapi.DofDriveMode
Possible drive modes used to control actor DoFs. A DoF that is set to a specific drive mode will ignore drive commands for other modes.
Members:
DOF_MODE_NONE : The DOF is free to move without any controls.
DOF_MODE_POS : The DOF will respond to position target commands.
DOF_MODE_VEL : The DOF will respond to velocity target commands.
DOF_MODE_EFFORT : The DOF will respond to effort (force or torque) commands.
- class isaacgym.gymapi.TendonType
Tendon type
Members:
TENDON_FIXED : Fixed tendon
TENDON_SPATIAL : Spatial tendon
- class isaacgym.gymapi.TensorDataType
Defines the data type of tensors.
Members:
DTYPE_FLOAT32 : float32
DTYPE_UINT32 : uint32
DTYPE_UINT64 : uint64
DTYPE_UINT8 : uint8
DTYPE_INT16 : int16
- class isaacgym.gymapi.CoordinateSpace
Coordinate system for positions.
Members:
ENV_SPACE
LOCAL_SPACE
GLOBAL_SPACE
- class isaacgym.gymapi.MeshType
Types of mesh used by the simulator
Members:
MESH_NONE
MESH_COLLISION : Collision mesh. Mesh is used only for Collision checks and calculations of inertia. For improved performance, it should be an approximation of the body volume by a coarse, convex mesh.
MESH_VISUAL : Visual mesh. Mesh is used only for rendering purposes.
MESH_VISUAL_AND_COLLISION : Visual and Collision Mesh. Mesh is used for both rendering and collision checks
- class isaacgym.gymapi.ImageType
Types of image generated by the sensors
Members:
IMAGE_COLOR : Image RGB. Regular image as a camera sensor would generate. Each pixel is made of three values of the selected data type GymTensorDataType, representing the intensity of Red, Green and Blue.
IMAGE_DEPTH : Depth Image. Each pixel is one value of the selected data type GymTensorDataType, representing how far that point is from the center of the camera.
IMAGE_SEGMENTATION : Segmentation Image. Each pixel is one integer value from the selected data type GymTensorDataType, that represents the class of the object that is displayed on that pixel
IMAGE_OPTICAL_FLOW : Optical Flow image - each pixel is a 2D vector of the screen-space velocity of the bodies visible in that pixel
- class isaacgym.gymapi.IndexDomain
Domain type for indexing into component buffers.
Members:
DOMAIN_ACTOR
DOMAIN_ENV
DOMAIN_SIM
- class isaacgym.gymapi.SoftMaterialType
Types of soft material supported in simulation
Members:
MAT_COROTATIONAL : Lagrange co-rotational formulation of finite elements
MAT_NEOHOOKEAN : Neo-Hookean formulation of finite elements
- class isaacgym.gymapi.CameraFollowMode
Camera follow mode
Members:
FOLLOW_POSITION : Camera attached to a rigid body follows only its position
FOLLOW_TRANSFORM : Camera attached to a rigid body follows its transform (both position and orientation)
- class isaacgym.gymapi.KeyboardInput
Members:
KEY_SPACE
KEY_APOSTROPHE
KEY_COMMA
KEY_MINUS
KEY_PERIOD
KEY_SLASH
KEY_0
KEY_1
KEY_2
KEY_3
KEY_4
KEY_5
KEY_6
KEY_7
KEY_8
KEY_9
KEY_SEMICOLON
KEY_EQUAL
KEY_A
KEY_B
KEY_C
KEY_D
KEY_E
KEY_F
KEY_G
KEY_H
KEY_I
KEY_J
KEY_K
KEY_L
KEY_M
KEY_N
KEY_O
KEY_P
KEY_Q
KEY_R
KEY_S
KEY_T
KEY_U
KEY_V
KEY_W
KEY_X
KEY_Y
KEY_Z
KEY_LEFT_BRACKET
KEY_BACKSLASH
KEY_RIGHT_BRACKET
KEY_GRAVE_ACCENT
KEY_ESCAPE
KEY_TAB
KEY_ENTER
KEY_BACKSPACE
KEY_INSERT
KEY_DEL
KEY_RIGHT
KEY_LEFT
KEY_DOWN
KEY_UP
KEY_PAGE_UP
KEY_PAGE_DOWN
KEY_HOME
KEY_END
KEY_CAPS_LOCK
KEY_SCROLL_LOCK
KEY_NUM_LOCK
KEY_PRINT_SCREEN
KEY_PAUSE
KEY_F1
KEY_F2
KEY_F3
KEY_F4
KEY_F5
KEY_F6
KEY_F7
KEY_F8
KEY_F9
KEY_F10
KEY_F11
KEY_F12
KEY_NUMPAD_0
KEY_NUMPAD_1
KEY_NUMPAD_2
KEY_NUMPAD_3
KEY_NUMPAD_4
KEY_NUMPAD_5
KEY_NUMPAD_6
KEY_NUMPAD_7
KEY_NUMPAD_8
KEY_NUMPAD_9
KEY_NUMPAD_DEL
KEY_NUMPAD_DIVIDE
KEY_NUMPAD_MULTIPLY
KEY_NUMPAD_SUBTRACT
KEY_NUMPAD_ADD
KEY_NUMPAD_ENTER
KEY_NUMPAD_EQUAL
KEY_LEFT_SHIFT
KEY_LEFT_CONTROL
KEY_LEFT_ALT
KEY_LEFT_SUPER
KEY_RIGHT_SHIFT
KEY_RIGHT_CONTROL
KEY_RIGHT_ALT
KEY_RIGHT_SUPER
KEY_MENU
- class isaacgym.gymapi.MouseInput
Members:
MOUSE_LEFT_BUTTON
MOUSE_RIGHT_BUTTON
MOUSE_MIDDLE_BUTTON
MOUSE_FORWARD_BUTTON
MOUSE_BACK_BUTTON
MOUSE_SCROLL_RIGHT
MOUSE_SCROLL_LEFT
MOUSE_SCROLL_UP
MOUSE_SCROLL_DOWN
MOUSE_MOVE_RIGHT
MOUSE_MOVE_LEFT
MOUSE_MOVE_UP
MOUSE_MOVE_DOWN