Isaac Cloner [omni.isaac.cloner]¶
Base Cloner¶
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class
Cloner
¶ This class provides a set of simple APIs to make duplication of objects simple. Objects can be cloned using this class to create copies of the same object, placed at user-specified locations in the scene.
Note that the cloning process is performed in a for-loop, so performance should be expected to follow linear scaling with an increase of clones.
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clone
(source_prim_path: str, prim_paths: List[str], positions: Optional[numpy.ndarray] = None, orientations: Optional[numpy.ndarray] = None)¶ - Clones a source prim at user-specified destination paths.
Clones will be placed at user-specified positions and orientations.
- Parameters
source_prim_path (str) – Path of source object.
prim_paths (List[str]) – List of destination paths.
positions (np.ndarray) – Numpy array containing target positions of clones. Dimension must equal length of prim_paths. Defaults to None. Clones will be placed at (0, 0, 0) if not specified.
orientations (np.ndarray) – Numpy array containing target orientations of clones. Dimension must equal length of prim_paths. Defaults to None. Clones will have identity orientation (1, 0, 0, 0) if not specified.
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generate_paths
(root_path: str, num_paths: int)¶ Generates a list of paths under the root path specified.
- Parameters
root_path (str) – Base path where new paths will be created under.
num_paths (int) – Number of paths to generate.
- Returns
A list of paths
- Return type
paths (List[str])
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Grid Cloner¶
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class
Cloner
¶ This class provides a set of simple APIs to make duplication of objects simple. Objects can be cloned using this class to create copies of the same object, placed at user-specified locations in the scene.
Note that the cloning process is performed in a for-loop, so performance should be expected to follow linear scaling with an increase of clones.
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clone
(source_prim_path: str, prim_paths: List[str], positions: Optional[numpy.ndarray] = None, orientations: Optional[numpy.ndarray] = None)¶ - Clones a source prim at user-specified destination paths.
Clones will be placed at user-specified positions and orientations.
- Parameters
source_prim_path (str) – Path of source object.
prim_paths (List[str]) – List of destination paths.
positions (np.ndarray) – Numpy array containing target positions of clones. Dimension must equal length of prim_paths. Defaults to None. Clones will be placed at (0, 0, 0) if not specified.
orientations (np.ndarray) – Numpy array containing target orientations of clones. Dimension must equal length of prim_paths. Defaults to None. Clones will have identity orientation (1, 0, 0, 0) if not specified.
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generate_paths
(root_path: str, num_paths: int)¶ Generates a list of paths under the root path specified.
- Parameters
root_path (str) – Base path where new paths will be created under.
num_paths (int) – Number of paths to generate.
- Returns
A list of paths
- Return type
paths (List[str])
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class
GridCloner
(spacing: float, num_per_row: int = - 1)¶ This is a specialized Cloner class that will automatically generate clones in a grid fashion.
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clone
(source_prim_path: str, prim_paths: List[str], position_offsets: Optional[numpy.ndarray] = None, orientation_offsets: Optional[numpy.ndarray] = None)¶ Creates clones in a grid fashion. Positions of clones are computed automatically.
- Parameters
source_prim_path (str) – Path of source object.
prim_paths (List[str]) – List of destination paths.
position_offsets (np.ndarray) – Positions to be applied as local translations on top of computed clone position. Defaults to None, no offset will be applied.
orientation_offsets (np.ndarray) – Orientations to be applied as local rotations for each clone. Defaults to None, no offset will be applied.
- Returns
Computed positions of all clones.
- Return type
positions (List)
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define_base_env
(base_env_path: str)¶ Creates a USD Scope at base_env_path. This is designed to be the parent that holds all clones.
- Parameters
base_env_path (str) – Path to create the USD Scope at.
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filter_collisions
(physicsscene_path: str, collision_root_path: str, prim_paths: List[str], global_paths: List[str] = [])¶ Filters collisions between clones. Clones will not collide with each other, but can collide with objects specified in global_paths.
- Parameters
physicsscene_path (str) – Path to PhysicsScene object in stage.
collision_root_path (str) – Path to place collision groups under.
prim_paths (List[str]) – Paths of objects to filter out collision.
global_paths (List[str]) – Paths of objects to generate collision (e.g. ground plane).
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generate_paths
(root_path: str, num_paths: int)¶ Generates a list of paths under the root path specified.
- Parameters
root_path (str) – Base path where new paths will be created under.
num_paths (int) – Number of paths to generate.
- Returns
A list of paths
- Return type
paths (List[str])
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