Tensor system

Package name omni.physics.tensors or omni.physx.tensors

Pure tensor view

Create tensor view:

sim = omni.physics.tensors.create_simulation_view("numpy")
sim.set_subspace_roots("/World/envs/*")
self.robots = sim.create_articulation_view("/World/envs/*/jetbot")

Obtain tensor value:

# get position
self.robots.get_dof_positions()

Set tensor value:

# set joint position
self.robots.set_dof_positions(self.robot_original_position, self.robot_indices)
self.robots.set_dof_position_targets(self.robot_original_position, self.robot_indices)

# set root position
self.robots.set_root_transforms(pos, self.robot_indices)

Robot

Set up robots

self.robots = RobotView("/World/envs/*/jetbot")
self.robot_indices = np.arange(self.robots.count, dtype=np.int32)
self.robots.initialize()

Get robot information

# self._backend_utils = np_utils  # import omni.isaac.core.utils.numpy as np_utils
self.robot_original_position = self._backend_utils.clone_tensor(self.robots._physics_view.get_dof_positions())
self.xform_original_transform = self.robots.get_world_poses()

Apply action / Set position

action = np.random.uniform(-1, 1, (len(self.robot_indices), 2)) * 20
self.robots.set_joint_velocity_targets(action, self.robot_indices)
pos = [[0.5 * i, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0] for i in range(len(self.robot_indices))]
self.robots._physics_view.set_root_transforms(pos, self.robot_indices)