SyntheticPerception.core package

Submodules

SyntheticPerception.core.environment module

SyntheticPerception.core.isaac_handler module

SyntheticPerception.core.objects module

Classes:

Object

A class that represents a phsyical entity in an environment.

class SyntheticPerception.core.objects.Object

Bases: object

A class that represents a phsyical entity in an environment. Has methods to move with velocity and set translation,scale and orientation

Methods:

__init__(position, orientation, scale, ...)
apply_velocity(linear_veloc, angular_veloc)	Applys angular and or linear velocity to the object Args: linear_veloc: list[float], angular_veloc: list[float] Returns: None
get_orientation()	Returns the orientation of the object.
get_orientation_quat()	Returns the orientation of the object.
get_translate()	Returns the translation of the object.
get_translate_vec()	Returns the translation of the object.
get_scale()	Returns the scale of the object.
set_scale(value)	Sets the scale of the object.
set_translate(value)	Sets the translation of the object.
set_orient(value)	Sets the orientation of the object.
set_orient_quat(value)	Sets the orientation of the object.
reset()	Resets the translation, scale, and rotation of the object back to its start.
change_start_and_reset([translate, scale, ...])	Changes and resets the object to a new initial positon,orientation,scale Args: translate [], scale [], orient [] Returns: None

__init__(position, orientation, scale, prim_name, parent_path, stage, usd_path=None, semantic_class='None', instanceable=False, visibility='inherited', disable_gravity=True, scale_delta=1) → None

apply_velocity(linear_veloc, angular_veloc) → None

Applys angular and or linear velocity to the object Args: linear_veloc: list[float], angular_veloc: list[float] Returns: None

get_orientation() → pxr.Gf.Vec3d

Returns the orientation of the object. Args: None Returns: [] orientation

get_orientation_quat()

Returns the orientation of the object. Args: None Returns: [] orientation

get_translate()

Returns the translation of the object. Args: None Returns: [] translation

get_translate_vec()

Returns the translation of the object. Args: None Returns: [] translation

get_scale()

Returns the scale of the object. Args: None Returns: [] scale

set_scale(value)

Sets the scale of the object. Args: [] scale Returns: None

set_translate(value)

Sets the translation of the object. Args: [] translation Returns: None

set_orient(value)

Sets the orientation of the object. Args: [] orientation Returns: None

set_orient_quat(value)

Sets the orientation of the object. Args: Gf.Quatf() orienation Returns: None

reset()

Resets the translation, scale, and rotation of the object back to its start. Args: None Returns: None

change_start_and_reset(translate=None, scale=None, orientation=None)

Changes and resets the object to a new initial positon,orientation,scale Args: translate [], scale [], orient [] Returns: None

SyntheticPerception.core.physxutils module

Functions:

getSchemaPrimDef(schema)
getSchemaPropertyNames(schema)
getSchemaAttributeNames(schema)
getSchemaRelationshipNames(schema)
getDerivedSchemas(schema)
getAxisAlignedVector(axis, len)
getForwardVector(up_axis)
isDefined(stage, path)
hasSchema(prim, schemaName)
setPhysics(prim, kinematic[, custom_execute_fn])
setCollider(prim[, approximationShape, ...])
setColliderSubtree(prim[, ...])
setRigidBody(prim, approximationShape, kinematic)
setStaticCollider(prim[, ...])
removePhysics(prim[, custom_execute_fn])
removeCollider(prim[, custom_execute_fn])
removeColliderSubtree(prim[, custom_execute_fn])
removeRigidBodySubtree(prim[, custom_execute_fn])
removeRigidBody(prim[, custom_execute_fn])
removeStaticCollider(prim[, custom_execute_fn])
addPhysicsScene(stage, path)
getUnitScaleFactor(stage)
ensureMaterialOnPath(stage, path)
addRigidBodyMaterial(stage, path[, density, ...])
addCollisionGroup(stage, path)
hasAPI(name, prim)
descendantHasAPI(name, prim)
ancestorHasAPI(name, prim)
familyHasConflictingAPI(prim, api_to_add[, ...])
addPlaneCollider(stage, prim_path, upAxis)
addPairFilter(stage, paths[, custom_execute_fn])
removePairFilter(stage, paths[, ...])
create_unused_path(stage, base_path, path)
createJoint(stage, joint_type, from_prim, ...)
createJoints(stage, joint_type, paths[, ...])
removeAPISchemaProperties(api, prim)
removeMultipleAPISchemaProperties(api, prim, ...)
createAPISchemaPropertyCache(api, prim)
applyAPISchemaPropertyCache(cache, api_inst)
createMultipleAPISchemaPropertyCache(api, ...)
new_memory_stage([attach_stage, file_to_load])
release_memory_stage(stage[, detach_stage])
get_spatial_tendon_parent_link(prim, ...)
get_spatial_tendon_attachment_candidates(prim)	Returns a list of PhysxTendonAttachment(Root)API instance names on the provided prim that are candidates for creating a parent relationship to.
set_physics_scene_asyncsimrender(scenePrim)
get_basis(up_axis)
get_schema_instances(prim, schema_type_name)
has_custom_metadata(object, metadata_name)
get_custom_metadata(object, metadata_name)
set_custom_metadata(object, metadata_name, value)
clear_custom_metadata(object, metadata_name)
set_local_space_velocities(prim, value)
clear_local_space_velocities(prim)
get_aligned_body_transform(stage, cache, ...)
safe_import_tests(source_module_name[, ...])	Tries to import tests if the tests ext is present.

Classes:

CameraTransformHelper

SyntheticPerception.core.physxutils.getSchemaPrimDef(schema)

SyntheticPerception.core.physxutils.getSchemaPropertyNames(schema)

SyntheticPerception.core.physxutils.getSchemaAttributeNames(schema)

SyntheticPerception.core.physxutils.getSchemaRelationshipNames(schema)

SyntheticPerception.core.physxutils.getDerivedSchemas(schema)

SyntheticPerception.core.physxutils.getAxisAlignedVector(axis, len)

SyntheticPerception.core.physxutils.getForwardVector(up_axis)

SyntheticPerception.core.physxutils.isDefined(stage, path)

SyntheticPerception.core.physxutils.hasSchema(prim, schemaName)

SyntheticPerception.core.physxutils.setPhysics(prim, kinematic, custom_execute_fn=None)

SyntheticPerception.core.physxutils.setCollider(prim, approximationShape='none', custom_execute_fn=None)

SyntheticPerception.core.physxutils.setColliderSubtree(prim, approximationShape='none', execute_command_fn=None)

SyntheticPerception.core.physxutils.setRigidBody(prim, approximationShape, kinematic, custom_execute_fn=None)

SyntheticPerception.core.physxutils.setStaticCollider(prim, approximationShape='none', custom_execute_fn=None)

SyntheticPerception.core.physxutils.removePhysics(prim, custom_execute_fn=None)

SyntheticPerception.core.physxutils.removeCollider(prim, custom_execute_fn=None)

SyntheticPerception.core.physxutils.removeColliderSubtree(prim, custom_execute_fn=None)

SyntheticPerception.core.physxutils.removeRigidBodySubtree(prim, custom_execute_fn=None)

SyntheticPerception.core.physxutils.removeRigidBody(prim, custom_execute_fn=None)

SyntheticPerception.core.physxutils.removeStaticCollider(prim, custom_execute_fn=None)

SyntheticPerception.core.physxutils.addPhysicsScene(stage, path)

SyntheticPerception.core.physxutils.getUnitScaleFactor(stage)

SyntheticPerception.core.physxutils.ensureMaterialOnPath(stage, path)

SyntheticPerception.core.physxutils.addRigidBodyMaterial(stage, path, density=None, staticFriction=None, dynamicFriction=None, restitution=None)

SyntheticPerception.core.physxutils.addCollisionGroup(stage, path)

SyntheticPerception.core.physxutils.hasAPI(name, prim)

SyntheticPerception.core.physxutils.descendantHasAPI(name, prim)

SyntheticPerception.core.physxutils.ancestorHasAPI(name, prim)

SyntheticPerception.core.physxutils.familyHasConflictingAPI(prim, api_to_add, check_itself=False)

SyntheticPerception.core.physxutils.addPlaneCollider(stage, prim_path, upAxis)

SyntheticPerception.core.physxutils.addPairFilter(stage, paths, custom_execute_fn=None)

SyntheticPerception.core.physxutils.removePairFilter(stage, paths, custom_execute_fn=None)

SyntheticPerception.core.physxutils.create_unused_path(stage, base_path, path)

SyntheticPerception.core.physxutils.createJoint(stage, joint_type, from_prim, to_prim)

SyntheticPerception.core.physxutils.createJoints(stage, joint_type, paths, join_to_parent=False)

SyntheticPerception.core.physxutils.removeAPISchemaProperties(api, prim)

SyntheticPerception.core.physxutils.removeMultipleAPISchemaProperties(api, prim, api_prefix, multiple_token)

SyntheticPerception.core.physxutils.createAPISchemaPropertyCache(api, prim)

SyntheticPerception.core.physxutils.applyAPISchemaPropertyCache(cache, api_inst)

SyntheticPerception.core.physxutils.createMultipleAPISchemaPropertyCache(api, prim, api_prefix, multiple_token)

SyntheticPerception.core.physxutils.new_memory_stage(attach_stage=True, file_to_load='')

SyntheticPerception.core.physxutils.release_memory_stage(stage, detach_stage=True)

SyntheticPerception.core.physxutils.get_spatial_tendon_parent_link(prim, instance_name)

SyntheticPerception.core.physxutils.get_spatial_tendon_attachment_candidates(prim: pxr.Usd.Prim) → List[str]

Returns a list of PhysxTendonAttachment(Root)API instance names on the provided prim that are candidates for creating a parent relationship to. Notably, this list will exclude leaf attachments that are not suitable targets for a parent relationship.

Args:

prim: the Usd.Prim to parse for suitable attachment candidates

Returns:

A str list of attachment instance names

SyntheticPerception.core.physxutils.set_physics_scene_asyncsimrender(scenePrim, val=True)

SyntheticPerception.core.physxutils.get_basis(up_axis)

SyntheticPerception.core.physxutils.get_schema_instances(prim, schema_type_name)

SyntheticPerception.core.physxutils.has_custom_metadata(object, metadata_name)

SyntheticPerception.core.physxutils.get_custom_metadata(object, metadata_name)

SyntheticPerception.core.physxutils.set_custom_metadata(object, metadata_name, value)

SyntheticPerception.core.physxutils.clear_custom_metadata(object, metadata_name)

SyntheticPerception.core.physxutils.set_local_space_velocities(prim, value)

SyntheticPerception.core.physxutils.clear_local_space_velocities(prim)

SyntheticPerception.core.physxutils.get_aligned_body_transform(stage, cache, joint, body0base)

SyntheticPerception.core.physxutils.safe_import_tests(source_module_name, submodules_list=None)

Tries to import tests if the tests ext is present. The tests ext is expected to be loaded as follows:

1) use when the tests need to be visible in the test runner UI and the tests ext needs to be explicitly loaded by another ext or is included in the kit file

[dependencies] “omni.physx.tests” = {optional=true}

2) this will include the dependency only when running tests in the separate kit process, like when run using the generated batch files and the tests would then likely not be visible in the test runner UI

[[test]] dependencies = [“omni.physx.tests”]

class SyntheticPerception.core.physxutils.CameraTransformHelper

Bases: object

Methods:

__init__(xform_prim[, time, rows])
get_pos()
get_right()
get_forward()
get_up()

__init__(xform_prim, time=pxr.Usd.TimeCode.Default, rows=True)

get_pos()

get_right()

get_forward()

get_up()

SyntheticPerception.core.rig module

SyntheticPerception.core.terrain module

Classes:

Terrain

class SyntheticPerception.core.terrain.Terrain

Bases: Object

Methods:

__init__(position, orientation, scale, ...)

__init__(position, orientation, scale, prim_name, parent_path, stage, usd_path=None, semantic_class='None', instanceable=False, visibility='inherited', disable_gravity=True) → None

Module contents