Python Structures
- class isaacgym.gymapi.Vec3
-
- dtype = dtype([('x', '<f4'), ('y', '<f4'), ('z', '<f4')])
- static from_buffer(arg0: buffer) object
- property x
- property y
- property z
- class isaacgym.gymapi.Quat
Quaternion representation in Gym
- dtype = dtype([('x', '<f4'), ('y', '<f4'), ('z', '<f4'), ('w', '<f4')])
- static from_buffer(arg0: buffer) object
- property w
- property x
- property y
- property z
- class isaacgym.gymapi.Transform
Represents a transform in the system
- dtype = dtype([('p', [('x', '<f4'), ('y', '<f4'), ('z', '<f4')]), ('r', [('x', '<f4'), ('y', '<f4'), ('z', '<f4'), ('w', '<f4')])])
- static from_buffer(arg0: buffer) object
- property p
Position, in meters
- property r
Rotation Quaternion, represented in the format \(x\hat{i} + y\hat{j} + z\hat{k} + w\)
- transform_point(self: Transform, arg0: Vec3) Vec3
Rotates point by transform quatertnion and adds transform offset
- Parameters:
param1 (
isaacgym.gymapi.Vec3) – Point to transform.- Returns:
The transformed point.
- Return type:
- transform_points(self: Transform, arg0: numpy.ndarray[Vec3]) numpy.ndarray[Vec3]
Rotates points by transform quatertnion and adds transform offset
- Parameters:
param1 (
numpy.ndarrayofisaacgym.gymapi.Vec3) – Points to transform.- Returns:
The transformed points.
- Return type:
numpy.ndarray[
isaacgym.gymapi.Vec3]
- transform_vector(self: Transform, arg0: Vec3) Vec3
Rotates vector by transform quatertnion
- Parameters:
param1 (
isaacgym.gymapi.Vec3) – Vector to transform.- Returns:
The transformed vector.
- Return type:
- transform_vectors(self: Transform, arg0: numpy.ndarray[Vec3]) numpy.ndarray[Vec3]
Rotates vectors by transform quatertnion
- Parameters:
param1 (
numpy.ndarrayofisaacgym.gymapi.Vec3) – Vectors to transform.- Returns:
The transformed vectors.
- Return type:
numpy.ndarray[
isaacgym.gymapi.Vec3]
- class isaacgym.gymapi.RigidBodyState
Containing states to get/set for a rigid body in the simulation
- dtype = dtype([('pose', [('p', [('x', '<f4'), ('y', '<f4'), ('z', '<f4')]), ('r', [('x', '<f4'), ('y', '<f4'), ('z', '<f4'), ('w', '<f4')])]), ('vel', [('linear', [('x', '<f4'), ('y', '<f4'), ('z', '<f4')]), ('angular', [('x', '<f4'), ('y', '<f4'), ('z', '<f4')])])])
- property pose
Transform with position and orientation of rigid body
- property vel
Set of angular and linear velocities of rigid body
- class isaacgym.gymapi.RigidBodyProperties
Set of properties used for rigid bodies.
- property com
center of mass in body space
- property flags
Flags to enable certain behaivors on Rigid Bodies simulation. See
isaacgym.gymapi.BodyFlags
- property inertia
Inertia tensor relative to the center of mass.
- property invInertia
Inverse of Inertia tensor.
- property invMass
Inverse of mass value.
- property mass
mass value, in kg
- class isaacgym.gymapi.DofState
States of a Degree of Freedom in the Asset architecture
- dtype = dtype([('pos', '<f4'), ('vel', '<f4')])
- property pos
DOF position, in radians if it’s a revolute DOF, or meters, if it’s a prismatic DOF
- property vel
DOF velocity, in radians/s if it’s a revolute DOF, or m/s, if it’s a prismatic DOF
- class isaacgym.gymapi.DofFrame
Frame of a Degree of Freedom
- property axis
direction for the DOF action
- dtype = dtype([('origin', [('x', '<f4'), ('y', '<f4'), ('z', '<f4')]), ('axis', [('x', '<f4'), ('y', '<f4'), ('z', '<f4')])])
- static from_buffer(arg0: buffer) object
- property origin
position in environment for the DOF
- class isaacgym.gymapi.Velocity
Holds linear and angular velocities, in $m/s$ and $radians/s$
- property angular
angular velocity component
- dtype = dtype([('linear', [('x', '<f4'), ('y', '<f4'), ('z', '<f4')]), ('angular', [('x', '<f4'), ('y', '<f4'), ('z', '<f4')])])
- static from_buffer(arg0: buffer) object
- property linear
Linear velocity component
- class isaacgym.gymapi.IndexRange
Used for passing start and end indexes of a vector when setting or getting data of a slice of the vector.
- property count
- property start
- class isaacgym.gymapi.PlaneParams
Parameters for global ground plane
- property distance
Ground plane distance from origin
- property dynamic_friction
Coefficient of dynamic friction
- property normal
Ground plane normal coefficient
- property restitution
Coefficient of restitution
- property segmentation_id
SegmentationID value for segmentation ground truth
- property static_friction
Coefficient of static friction
- class isaacgym.gymapi.AttractorProperties
The Attractor is used to pull a rigid body towards a pose. Each pose axis can be individually selected.
- property axes
Axes to set the attractor, using GymTransformAxesFlags. Multiple axes can be selected using bitwise combination of each axis flag. if axis flag is set to zero, the attractor will be disabled and won’t impact in solver computational complexity.
- property damping
Damping to be used on attraction solver.
- property offset
Offset from rigid body origin to set the attractor pose.
- property rigid_handle
Handle to the rigid body to set the attractor to
- property stiffness
Stiffness to be used on attraction for solver. Stiffness value should be larger than the largest agent kinematic chain stifness
- property target
Target pose to attract to.
- class isaacgym.gymapi.RigidShapeProperties
Set of properties used for all rigid shapes.
- property compliance
Coefficient of compliance. Determines how compliant the shape is. The smaller the value, the stronger the material will hold its shape. Value should be greater or equal to zero.
- property contact_offset
Distance at which contacts are generated (used with PhysX only
- property filter
Collision filter bitmask - shapes A and B only collide if (filterA & filterB) == 0.
- property friction
Coefficient of static friction. Value should be equal or greater than zero.
- property rest_offset
How far objects should come to rest from the surface of this body (used with PhysX only
- property restitution
Coefficient of restitution. It’s the ratio of the final to initial velocity after the rigid body collides. Range [0,1]
- property rolling_friction
Coefficient of rolling friction.
- property thickness
How far objects should come to rest from the surface of this body (used with Flex only)
- property torsion_friction
Coefficient of torsion friction.
- class isaacgym.gymapi.ForceSensorProperties
Set of properties used for force sensors.
- property enable_constraint_solver_forces
Enable to receive forces from constraint solver (default = True).
- property enable_forward_dynamics_forces
Enable to receive forces from forward dynamics (default = True).
- property use_world_frame
Enable to receive forces in the world rotation frame, otherwise they will be reported in the sensor’s local frame (default = False).
- class isaacgym.gymapi.SoftMaterial
Soft Material definition
- property activation
Current fiber activation.
- property activationMax
Maximum activation value.
- property damping
Material damping.
- property model
Model type, See
isaacgym.gymapi.SoftMaterialType
- property poissons
Poisson Ration.
- property youngs
Young Modulus.
- class isaacgym.gymapi.Tensor
Internal wrapper class of tensors.
- property data_address
address of data
- property data_ptr
pointer to buffer
- property device
- property dtype
data type
- property ndim
number of dimensions
- property own_data
flag for ownership
- property shape
tensor shape
- class isaacgym.gymapi.RigidContact
Rigid Bodies contact information. Each contact in simulation generates a set of information.
- property body0
Colliding rigid body indexes in the environment, -1 if it is ground plane
- property body1
Colliding rigid body indexes in the environment, -1 if it is ground plane
- property env0
Environment contact body0 belongs to, -1 if it is shared/unrecognized env
- property env1
Environment contact body1 belongs to, -1 if it is shared/unrecognized env
- property friction
Effective coefficient of Friction between bodies pair
- property initial_overlap
Amount of overlap along normal direction at the start of the time-step
- property lambda
Contact force magnitude
- property lambda_friction
Friction forces magnitudes. The direction of the friction force is the projection on the normal plane of the relative velocity of the bodies.
- property local_pos0
Local space position of the body0 contact feature excluding thickness, normal forces applied here
- property local_pos1
Local space position of the body1 contact feature excluding thickness, normal forces applied here
- property min_dist
Minimum distance to try and maintain along the contact normal between the two points
- property normal
Contact normal from body0->body1 in world space
- property offset0
The local space offset from the feature localPos0 to the surface. That’s the location where friction will be applied
- property offset1
The local space offset from the feature localPos1 to the surface. That’s the location where friction will be applied
- property rolling_friction
Effective coeffitienc of Rolling Friction between bodies pair
- property torsion_friction
Effective coefficient of Torsional friction between bodies pair
- class isaacgym.gymapi.FlexParams
Simulation parameters used for FleX physics engine
- property contact_regularization
Distance for soft bodies to maintain against ground planes
- property deterministic_mode
Flag to activate deterministic simulation. Flex Newton solver only
- property dynamic_friction
Coefficient of friction used when colliding against shapes
- property friction_mode
Type of friction mode:
- 0 single friction dir, non-linear cone projection, but can't change direction during linear solve
1 two friction dirs, non-linear cone projection, can change direction during linear solve
2 same as above plus torsional (spinning) friction
- property geometric_stiffness
Improves stability of joints by approximating the system Hessian
- property max_rigid_contacts
Max number of rigid body contacts
- property max_soft_contacts
Max number of soft body contacts
- property num_inner_iterations
Number of inner loop iterations taken by the solver per simulation step. Is used only by Newton solver.
- property num_outer_iterations
Number of iterations taken by the solver per simulation step.
- property particle_friction
Coefficient of friction used when colliding particles
- property relaxation
Control the convergence rate of the parallel solver. Values greater than 1 may lead to instability.
- property return_contacts
Read contact information back to CPU
- property shape_collision_distance
Distance for soft bodies to maintain against rigid bodies and ground plane
- property shape_collision_margin
Distance for rigid bodies at which contacts are generated
- property solver_type
Type of solver used:
0 = XPBD (GPU)
1 = Newton Jacobi (GPU)
2 = Newton LDLT (CPU)
3 = Newton PCG (CPU)
4 = Newton PCG (GPU)
5 = Newton PCR (GPU)
6 = Newton Gauss Seidel (CPU)
7 = Newton NNCG (GPU)
- property static_friction
Coefficient of static friction used when colliding against shapes
- property warm_start
Fraction of the cached Lagrange Multiplier to be used on the next simulation step.
- class isaacgym.gymapi.PhysXParams
Simulation parameters used for PhysX physics engine
- property always_use_articulations
If set, even single-body actors will be created as articulations
- property bounce_threshold_velocity
A contact with a relative velocity below this will not bounce. A typical value for simulation stability is about 2*gravity*dt/num_substeps.
- property contact_collection
Contact collection mode
- property contact_offset
Shapes whose distance is less than the sum of their contactOffset values will generate contacts.
- property default_buffer_size_multiplier
Default buffer size multiplier
- property friction_correlation_distance
Friction correlation distance
- property friction_offset_threshold
Friction offset threshold
- property max_depenetration_velocity
The maximum velocity permitted to be introduced by the solver to correct for penetrations in contacts.
- property max_gpu_contact_pairs
Maximum number of contact pairs
- property num_position_iterations
PhysX solver position iterations count. Range [1,255]
- property num_subscenes
Number of subscenes for multithreaded simulation
- property num_threads
Number of CPU threads used by PhysX. Should be set before the simulation is created. Setting this to 0 will run the simulation on the thread that calls PxScene::simulate(). A value greater than 0 will spawn numCores-1 worker threads.
- property num_velocity_iterations
PhysX solver velocity iterations count. Range [1,255]
- property rest_offset
Two shapes will come to rest at a distance equal to the sum of their restOffset values.
- property solver_type
Type of solver used.
0 : PGS (Iterative sequential impulse solver
1 : TGS (Non-linear iterative solver, more robust but slightly more expensive
- property use_gpu
Use PhysX GPU. Disabled at the moment.
- class isaacgym.gymapi.SimParams
Gym Simulation Parameters
- property dt
Simulation step size
- property enable_actor_creation_warning
- property flex
Flex specific simulation parameters (See
isaacgym.gymapi.FlexParams)
- property gravity
3-Dimension vector representing gravity force in Newtons.
- property num_client_threads
- property physx
PhysX specific simulation parameters (See
isaacgym.gymapi.PhysXParams)
- property stress_visualization
- property stress_visualization_max
- property stress_visualization_min
- property substeps
Number of subSteps for simulation
- property up_axis
Up axis
- property use_gpu_pipeline
- class isaacgym.gymapi.AssetOptions
Defines a set of properties for assets imported into Gym.
- property angular_damping
Angular velocity damping for rigid bodies
- property armature
The value added to the diagonal elements of inertia tensors for all of the asset’s rigid bodies/links. Could improve simulation stability
- property collapse_fixed_joints
Merge links that are connected by fixed joints.
- property convex_decomposition_from_submeshes
Whether to treat submeshes in the mesh as the convex decomposition of the mesh. Default False.
- property default_dof_drive_mode
Default mode used to actuate Asset joints. See
isaacgym.gymapi.DriveModeFlags.
- property density
Default density parameter used for calculating mass and inertia tensor when no mass and inertia data are provided, in $kg/m^3$.
- property disable_gravity
Disables gravity for asset.
- property enable_gyroscopic_forces
Enable gyroscopic forces (PhysX only).
- property fix_base_link
Set Asset base to a fixed placement upon import.
- property flip_visual_attachments
Switch Meshes from Z-up left-handed system to Y-up Right-handed coordinate system.
- property linear_damping
Linear velocity damping for rigid bodies.
- property max_angular_velocity
Maximum angular velocity for rigid bodies. In $rad/s$.
- property max_linear_velocity
Maximum linear velocity for rigid bodies. In $m/s$.
- property mesh_normal_mode
How to load normals for the meshes in the asset. One of FROM_ASSET, COMPUTE_PER_VERTEX, or COMPUTE_PER_FACE. Defaults to FROM_ASSET, falls back to COMPUTE_PER_VERTEX if normals not fully specified in mesh.
- property min_particle_mass
Minimum mass for particles in soft bodies, in Kg
- property override_com
Whether to compute the center of mass from geometry and override values given in the original asset.
- property override_inertia
Whether to compute the inertia tensor from geometry and override values given in the original asset.
- property replace_cylinder_with_capsule
flag to replace Cylinders with capsules for additional performance.
- property slices_per_cylinder
Number of faces on generated cylinder mesh, excluding top and bottom.
- property tendon_limit_stiffness
Default tendon limit stiffness. Choose small as the limits are not implicitly solved. Avoid oscillations by setting an apporpriate damping value.
- property thickness
Thickness of the collision shapes. Sets how far objects should come to rest from the surface of this body
- property use_mesh_materials
Whether to use materials loaded from mesh files instead of the materials defined in asset file. Default False.
- property use_physx_armature
Use joint space armature instead of links inertia tensor modififcations.
- property vhacd_enabled
Whether convex decomposition is enabled. Used only with PhysX. Default False.
- property vhacd_params
Convex decomposition parameters. Used only with PhysX. If not specified, all triangle meshes will be approximated using a single convex hull.
- class isaacgym.gymapi.CameraProperties
Properties for a camera in Gym
- property enable_tensors
CUDA interop buffers will be available only if this is true.
- property far_plane
distance in world coordinates to far-clipping plane
- property height
Height of output images in pixels
- property horizontal_fov
Horizontal field of view in degrees. Vertical field of view is calculated from height to width ratio
- property near_plane
distance in world coordinate units to near-clipping plane
- property supersampling_horizontal
oversampling factor in the horiziontal/X direction
- property supersampling_vertical
oversampling factor in the vertical/Y direction
- property use_collision_geometry
If true, camera renders collision meshes instead of visual meshes
- property width
Width of output images in pixels
- class isaacgym.gymapi.PerformanceTimers
Amount of time in seconds spent doing the respective activity since last query
- property frame_idling
idling to keep updates close to graphics framerate
- property graphics_image_retrieval
Copying images from the GPU to CPU
- property graphics_sensor_rendering
Rendering image sensors
- property graphics_viewer_rendering
Rendering the viewer
- property physics_data_movement
Copying physics state to/from the GPU
- property physics_sim
Running physics simulation
- property total_time
sum of all other timers
- class isaacgym.gymapi.VhacdParams
VHACD Convex Decomposition parameters
- property alpha
Controls the bias toward clipping along symmetry planes. 0.0-1.0. Default 0.05.
- property beta
Controls the bias toward clipping along revolution axes. 0.0-1.0. Default 0.05.
- property concavity
Maximum concavity. 0.0-1.0. Default 0.0.
- property convex_hull_approximation
Default True.
- property convex_hull_downsampling
Controls the precision of the convex-hull generation process during the clipping plane selection stage. 1-16. Default 4.
- property max_convex_hulls
Maximum number of convex hulls. Default 64.
- property max_num_vertices_per_ch
Controls the maximum number of vertices per convex-hull. 4-1024. Default 64.
- property min_volume_per_ch
Controls the adaptive sampling of the generated convex-hulls. 0.0-0.01. Default 0.0001.
- property mode
tetrahedron-based approximate convex decomposition. Default 0.
- Type:
0
- Type:
voxel-based approximate convex decomposition, 1
- property ocl_acceleration
Default True.
- property pca
Enable/disable normalizing the mesh before applying the convex decomposition. 0-1. Default 0.
- property plane_downsampling
Controls the granularity of the search for the “best” clipping plane. 1-16. Default 4.
- property project_hull_vertices
Default True.
- property resolution
Maximum number of voxels generated during the voxelization stage. 10,000-64,000,000. Default 100,000.
- class isaacgym.gymapi.HeightFieldParams
The heightfield origin is at its center (height = 0), and it is oriented to be perpendicular to the the Gym up-axis.
- property column_scale
Spacing of samples [m] in column dimension
- property dynamic_friction
Coefficient of dynamic friction
- property nbColumns
-Y)
- Type:
Number of samples in column dimension (Y-up
- Type:
Z, Z-up
- property nbRows
Number of samples in row dimension (X)
- property restitution
Coefficient of restitution
- property row_scale
Spacing of samples [m] in row dimension
- property segmentation_id
SegmentationID value for segmentation ground truth
- property static_friction
Coefficient of static friction
- property transform
Transform to apply to heightfield
- property vertical_scale
Vertical scaling [m] to apply to integer height samples
- class isaacgym.gymapi.TriangleMeshParams
Triangle Mesh properties
- property dynamic_friction
Coefficient of dynamic friction
- property nb_triangles
Number of triangles
- property nb_vertices
Number of vertices
- property restitution
Coefficient of restitution
- property segmentation_id
SegmentationID value for segmentation ground truth
- property static_friction
Coefficient of static friction
- property transform
Transform to apply to heightfield