OmnikitHelper [omni.isaac.python_app]

This extension provides convenience functions when running in pure python mode

class OmniKitHelper(config={'active_gpu': None, 'anti_aliasing': 3, 'denoiser': True, 'display_options': 0, 'experience': 'isaac-sim.python.kit', 'headless': True, 'height': 800, 'max_bounces': 4, 'max_specular_transmission_bounces': 6, 'max_volume_bounces': 4, 'renderer': 'PathTracing', 'samples_per_pixel_per_frame': 64, 'subdiv_refinement_level': 0, 'sync_loads': False, 'width': 1024, 'window_height': 900, 'window_width': 1440})

Deprecated: Please use omni.isaac.kit.SimulationApp Helper class for launching OmniKit from a Python environment.

DEFAULT_CONFIG = {'active_gpu': None, 'anti_aliasing': 3, 'denoiser': True, 'display_options': 0, 'experience': 'isaac-sim.python.kit', 'headless': True, 'height': 800, 'max_bounces': 4, 'max_specular_transmission_bounces': 6, 'max_volume_bounces': 4, 'renderer': 'PathTracing', 'samples_per_pixel_per_frame': 64, 'subdiv_refinement_level': 0, 'sync_loads': False, 'width': 1024, 'window_height': 900, 'window_width': 1440}
create_prim(path, prim_type, translation=None, rotation=None, scale=None, ref=None, semantic_label=None, attributes={})

Create a prim, apply specified transforms, apply semantic label and set specified attributes.

Parameters

  • path (str) – The path of the new prim.

  • prim_type (str) – Prim type name

  • translation (tuple(float, float, float), optional) – prim translation (applied last)

  • rotation (tuple(float, float, float), optional) – prim rotation in degrees with rotation order ZYX.

  • scale (tuple(float, float, float), optional) – scaling factor in x, y, z.

  • ref (str, optional) – Path to the USD that this prim will reference.

  • semantic_label (str, optional) – Semantic label.

  • attributes (dict, optional) – Key-value pairs of prim attributes to set.

execute(*args, **kwargs)

Allow use of omni.kit.commands interface

get_context()

Returns the current USD context.

get_stage()

Returns the current USD stage.

get_status()

Get the status of the renderer to see if anything is loading

is_exiting()

get current exit status for this object :returns: True if exit() was called previously, False otherwise :rtype: bool

is_loading()

convenience function to see if any files are being loaded

Returns

True if loading, False otherwise

Return type

bool

pause()

Pauses the editor physics simulation

play()

Starts the editor physics simulation

set_physics_dt(physics_dt: float = 0.016666666666666666, physics_substeps: int = 1)

Specify the physics step size to use when simulating, default is 1/60. Note that a physics scene has to be in the stage for this to do anything

Parameters

  • physics_dt (float) – Use this value for physics step

  • physics_substeps (int) – The number of physics substeps to perform each editor timestep

set_setting(setting, value)

Convenience function to set settings.

Parameters

  • setting (str) – string representing the setting being changed

  • value – new value for the setting being changed, the type of this value must match its repsective setting

set_up_axis(axis)

Change the up axis of the current stage

Parameters

axis – valid values are UsdGeom.Tokens.y, or UsdGeom.Tokens.z

setup_renderer(mode='non-default')

Sets the defaults for the renderer based on the config provided at initialization

shutdown()
stop()

Stops the editor physics simulation

update(dt=0.0, physics_dt=None, physics_substeps=None)

Render one frame. Optionally specify dt in seconds, specify None to use wallclock. Specify physics_dt and physics_substeps to decouple the physics step size from rendering

For example: to render with a dt of 1/30 and simulate physics at 1/120 use:

  • dt = 1/30.0

  • physics_dt = 1/120.0

  • physics_substeps = 4

Parameters

  • dt (float) – The step size used for the overall update, set to None to use wallclock

  • physics_dt (float, optional) – If specified use this value for physics step

  • physics_substeps (int, optional) – Maximum number of physics substeps to perform