omni.isaac.lab.sim.spawners

Sub-module containing utilities for creating prims in Omniverse.

Spawners are used to create prims into Omniverse simulator. At their core, they are calling the USD Python API or Omniverse Kit Commands to create prims. However, they also provide a convenient interface for creating prims from their respective config classes.

There are two main ways of using the spawners:

1. Using the function from the module

   import omni.isaac.lab.sim as sim_utils
   from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR
   
   # spawn from USD file
   cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd")
   prim_path = "/World/myAsset"
   
   # spawn using the function from the module
   sim_utils.spawn_from_usd(prim_path, cfg)
   

2. Using the func reference in the config class

   import omni.isaac.lab.sim as sim_utils
   from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR
   
   # spawn from USD file
   cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/FrankaEmika/panda_instanceable.usd")
   prim_path = "/World/myAsset"
   
   # use the `func` reference in the config class
   cfg.func(prim_path, cfg)
   

For convenience, we recommend using the second approach, as it allows to easily change the config class and the function call in a single line of code.

Depending on the type of prim, the spawning-functions can also deal with the creation of prims over multiple prim path. These need to be provided as a regex prim path expressions, which are resolved based on the parent prim paths using the omni.isaac.lab.sim.utils.clone() function decorator. For example:

• /World/Table_[1,2]/Robot will create the prims /World/Table_1/Robot and /World/Table_2/Robot only if the parent prim /World/Table_1 and /World/Table_2 exist.

• /World/Robot_[1,2] will NOT create the prims /World/Robot_1 and /World/Robot_2 as the prim path expression can be resolved to multiple prims.

Submodules

shapes	Sub-module for spawning primitive shapes in the simulation.
meshes	Sub-module for spawning meshes in the simulation.
lights	Sub-module for spawners that spawn lights in the simulation.
sensors	Sub-module for spawners that spawn sensors in the simulation.
from_files	Sub-module for spawners that spawn assets from files.
materials	Sub-module for spawners that spawn USD-based and PhysX-based materials.
wrappers	Sub-module for wrapping spawner configurations.

Classes

SpawnerCfg	Configuration parameters for spawning an asset.
RigidObjectSpawnerCfg	Configuration parameters for spawning a rigid asset.
DeformableObjectSpawnerCfg	Configuration parameters for spawning a deformable asset.

Spawners

class omni.isaac.lab.sim.spawners.SpawnerCfg

Configuration parameters for spawning an asset.

Spawning an asset is done by calling the func function. The function takes in the prim path to spawn the asset at, the configuration instance and transformation, and returns the prim path of the spawned asset.

The function is typically decorated with omni.isaac.lab.sim.spawner.utils.clone() decorator that checks if input prim path is a regex expression and spawns the asset at all matching prims. For this, the decorator uses the Cloner API from Isaac Sim and handles the copy_from_source parameter.

Attributes:

func	Function to use for spawning the asset.
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.

func: Callable[[...], pxr.Usd.Prim]

Function to use for spawning the asset.

The function takes in the prim path (or expression) to spawn the asset at, the configuration instance and transformation, and returns the source prim spawned.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

class omni.isaac.lab.sim.spawners.RigidObjectSpawnerCfg

基类：SpawnerCfg

Configuration parameters for spawning a rigid asset.

备注

By default, all properties are set to None. This means that no properties will be added or modified to the prim outside of the properties available by default when spawning the prim.

Attributes:

mass_props	Mass properties.
func	Function to use for spawning the asset.
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
rigid_props	Rigid body properties.
collision_props	Properties to apply to all collision meshes.
activate_contact_sensors	Activate contact reporting on all rigid bodies.

mass_props: schemas.MassPropertiesCfg | None

Mass properties.

func: Callable[..., Usd.Prim]

Function to use for spawning the asset.

The function takes in the prim path (or expression) to spawn the asset at, the configuration instance and transformation, and returns the source prim spawned.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

rigid_props: schemas.RigidBodyPropertiesCfg | None

Rigid body properties.

For making a rigid object static, set the schemas.RigidBodyPropertiesCfg.kinematic_enabled as True. This will make the object static and will not be affected by gravity or other forces.

collision_props: schemas.CollisionPropertiesCfg | None

Properties to apply to all collision meshes.

activate_contact_sensors: bool

Activate contact reporting on all rigid bodies. Defaults to False.

This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.

class omni.isaac.lab.sim.spawners.DeformableObjectSpawnerCfg

基类：SpawnerCfg

Configuration parameters for spawning a deformable asset.

Unlike rigid objects, deformable objects are affected by forces and can deform when subjected to external forces. This class is used to configure the properties of the deformable object.

Deformable bodies don’t have a separate collision mesh. The collision mesh is the same as the visual mesh. The collision properties such as rest and collision offsets are specified in the deformable_props.

备注

By default, all properties are set to None. This means that no properties will be added or modified to the prim outside of the properties available by default when spawning the prim.

Attributes:

func	Function to use for spawning the asset.
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
mass_props	Mass properties.
deformable_props	Deformable body properties.

func: Callable[..., Usd.Prim]

Function to use for spawning the asset.

The function takes in the prim path (or expression) to spawn the asset at, the configuration instance and transformation, and returns the source prim spawned.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

mass_props: schemas.MassPropertiesCfg | None

Mass properties.

deformable_props: schemas.DeformableBodyPropertiesCfg | None

Deformable body properties.

Shapes

Sub-module for spawning primitive shapes in the simulation.

NVIDIA Omniverse provides various primitive shapes that can be used to create USDGeom prims. Based on the configuration, the spawned prim can be:

• a visual mesh (no physics)

• a static collider (no rigid body)

• a rigid body (with collision and rigid body properties).

Classes

ShapeCfg	Configuration parameters for a USD Geometry or Geom prim.
CapsuleCfg	Configuration parameters for a capsule prim.
ConeCfg	Configuration parameters for a cone prim.
CuboidCfg	Configuration parameters for a cuboid prim.
CylinderCfg	Configuration parameters for a cylinder prim.
SphereCfg	Configuration parameters for a sphere prim.

class omni.isaac.lab.sim.spawners.shapes.ShapeCfg

Configuration parameters for a USD Geometry or Geom prim.

Attributes:

visual_material_path	Path to the visual material to use for the prim.
visual_material	Visual material properties.
physics_material_path	Path to the physics material to use for the prim.
physics_material	Physics material properties.
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
mass_props	Mass properties.
rigid_props	Rigid body properties.
collision_props	Properties to apply to all collision meshes.
activate_contact_sensors	Activate contact reporting on all rigid bodies.

visual_material_path: str

Path to the visual material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if visual_material is not None.

visual_material: VisualMaterialCfg | None

Visual material properties.

备注

If None, then no visual material will be added.

physics_material_path: str

Path to the physics material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if physics_material is not None.

physics_material: PhysicsMaterialCfg | None

Physics material properties.

备注

If None, then no physics material will be added.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

mass_props: schemas.MassPropertiesCfg | None

Mass properties.

rigid_props: schemas.RigidBodyPropertiesCfg | None

Rigid body properties.

For making a rigid object static, set the schemas.RigidBodyPropertiesCfg.kinematic_enabled as True. This will make the object static and will not be affected by gravity or other forces.

collision_props: schemas.CollisionPropertiesCfg | None

Properties to apply to all collision meshes.

activate_contact_sensors: bool

Activate contact reporting on all rigid bodies. Defaults to False.

This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.

omni.isaac.lab.sim.spawners.shapes.spawn_capsule(prim_path: str, cfg: shapes_cfg.CapsuleCfg, translation: tuple[float, float, float] | None = None, orientation: tuple[float, float, float, float] | None = None) → Usd.Prim

Create a USDGeom-based capsule prim with the given attributes.

For more information, see USDGeomCapsule.

备注

This function is decorated with clone() that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression.

参数:

• prim_path – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths.

• cfg – The configuration instance.

• translation – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to the origin.

• orientation – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to identity.

返回:

The created prim.

抛出:

ValueError – If a prim already exists at the given path.

class omni.isaac.lab.sim.spawners.shapes.CapsuleCfg

基类：ShapeCfg

Configuration parameters for a capsule prim.

See spawn_capsule() for more information.

Attributes:

visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
mass_props	Mass properties.
rigid_props	Rigid body properties.
collision_props	Properties to apply to all collision meshes.
activate_contact_sensors	Activate contact reporting on all rigid bodies.
visual_material_path	Path to the visual material to use for the prim.
visual_material	Visual material properties.
physics_material_path	Path to the physics material to use for the prim.
physics_material	Physics material properties.
radius	Radius of the capsule (in m).
height	Height of the capsule (in m).
axis	Axis of the capsule.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

mass_props: schemas.MassPropertiesCfg | None

Mass properties.

rigid_props: schemas.RigidBodyPropertiesCfg | None

Rigid body properties.

For making a rigid object static, set the schemas.RigidBodyPropertiesCfg.kinematic_enabled as True. This will make the object static and will not be affected by gravity or other forces.

collision_props: schemas.CollisionPropertiesCfg | None

Properties to apply to all collision meshes.

activate_contact_sensors: bool

Activate contact reporting on all rigid bodies. Defaults to False.

This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.

visual_material_path: str

Path to the visual material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if visual_material is not None.

visual_material: VisualMaterialCfg | None

Visual material properties.

备注

If None, then no visual material will be added.

physics_material_path: str

Path to the physics material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if physics_material is not None.

physics_material: PhysicsMaterialCfg | None

Physics material properties.

备注

If None, then no physics material will be added.

radius: float

Radius of the capsule (in m).

height: float

Height of the capsule (in m).

axis: Literal['X', 'Y', 'Z']

Axis of the capsule. Defaults to “Z”.

omni.isaac.lab.sim.spawners.shapes.spawn_cone(prim_path: str, cfg: shapes_cfg.ConeCfg, translation: tuple[float, float, float] | None = None, orientation: tuple[float, float, float, float] | None = None) → Usd.Prim

Create a USDGeom-based cone prim with the given attributes.

For more information, see USDGeomCone.

备注

This function is decorated with clone() that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression.

参数:

• prim_path – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths.

• cfg – The configuration instance.

• translation – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to the origin.

• orientation – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to identity.

返回:

The created prim.

抛出:

ValueError – If a prim already exists at the given path.

class omni.isaac.lab.sim.spawners.shapes.ConeCfg

基类：ShapeCfg

Configuration parameters for a cone prim.

See spawn_cone() for more information.

Attributes:

visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
mass_props	Mass properties.
rigid_props	Rigid body properties.
collision_props	Properties to apply to all collision meshes.
activate_contact_sensors	Activate contact reporting on all rigid bodies.
visual_material_path	Path to the visual material to use for the prim.
visual_material	Visual material properties.
physics_material_path	Path to the physics material to use for the prim.
physics_material	Physics material properties.
radius	Radius of the cone (in m).
height	Height of the v (in m).
axis	Axis of the cone.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

mass_props: schemas.MassPropertiesCfg | None

Mass properties.

rigid_props: schemas.RigidBodyPropertiesCfg | None

Rigid body properties.

For making a rigid object static, set the schemas.RigidBodyPropertiesCfg.kinematic_enabled as True. This will make the object static and will not be affected by gravity or other forces.

collision_props: schemas.CollisionPropertiesCfg | None

Properties to apply to all collision meshes.

activate_contact_sensors: bool

Activate contact reporting on all rigid bodies. Defaults to False.

This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.

visual_material_path: str

Path to the visual material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if visual_material is not None.

visual_material: VisualMaterialCfg | None

Visual material properties.

备注

If None, then no visual material will be added.

physics_material_path: str

Path to the physics material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if physics_material is not None.

physics_material: PhysicsMaterialCfg | None

Physics material properties.

备注

If None, then no physics material will be added.

radius: float

Radius of the cone (in m).

height: float

Height of the v (in m).

axis: Literal['X', 'Y', 'Z']

Axis of the cone. Defaults to “Z”.

omni.isaac.lab.sim.spawners.shapes.spawn_cuboid(prim_path: str, cfg: shapes_cfg.CuboidCfg, translation: tuple[float, float, float] | None = None, orientation: tuple[float, float, float, float] | None = None) → Usd.Prim

Create a USDGeom-based cuboid prim with the given attributes.

For more information, see USDGeomCube.

备注

Since USD only supports cubes, we set the size of the cube to the minimum of the given size and scale the cube accordingly.

备注

This function is decorated with clone() that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression.

参数:

• prim_path – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths.

• cfg – The configuration instance.

• translation – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to the origin.

• orientation – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to identity.

返回:

The created prim.

抛出:

If a prim already exists at the given path. –

class omni.isaac.lab.sim.spawners.shapes.CuboidCfg

基类：ShapeCfg

Configuration parameters for a cuboid prim.

See spawn_cuboid() for more information.

Attributes:

size	Size of the cuboid.
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
mass_props	Mass properties.
rigid_props	Rigid body properties.
collision_props	Properties to apply to all collision meshes.
activate_contact_sensors	Activate contact reporting on all rigid bodies.
visual_material_path	Path to the visual material to use for the prim.
visual_material	Visual material properties.
physics_material_path	Path to the physics material to use for the prim.
physics_material	Physics material properties.

size: tuple[float, float, float]

Size of the cuboid.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

mass_props: schemas.MassPropertiesCfg | None

Mass properties.

rigid_props: schemas.RigidBodyPropertiesCfg | None

Rigid body properties.

For making a rigid object static, set the schemas.RigidBodyPropertiesCfg.kinematic_enabled as True. This will make the object static and will not be affected by gravity or other forces.

collision_props: schemas.CollisionPropertiesCfg | None

Properties to apply to all collision meshes.

activate_contact_sensors: bool

Activate contact reporting on all rigid bodies. Defaults to False.

This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.

visual_material_path: str

Path to the visual material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if visual_material is not None.

visual_material: VisualMaterialCfg | None

Visual material properties.

备注

If None, then no visual material will be added.

physics_material_path: str

Path to the physics material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if physics_material is not None.

physics_material: PhysicsMaterialCfg | None

Physics material properties.

备注

If None, then no physics material will be added.

omni.isaac.lab.sim.spawners.shapes.spawn_cylinder(prim_path: str, cfg: shapes_cfg.CylinderCfg, translation: tuple[float, float, float] | None = None, orientation: tuple[float, float, float, float] | None = None) → Usd.Prim

Create a USDGeom-based cylinder prim with the given attributes.

For more information, see USDGeomCylinder.

备注

This function is decorated with clone() that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression.

参数:

• prim_path – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths.

• cfg – The configuration instance.

• translation – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to the origin.

• orientation – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to identity.

返回:

The created prim.

抛出:

ValueError – If a prim already exists at the given path.

class omni.isaac.lab.sim.spawners.shapes.CylinderCfg

基类：ShapeCfg

Configuration parameters for a cylinder prim.

See spawn_cylinder() for more information.

Attributes:

radius	Radius of the cylinder (in m).
height	Height of the cylinder (in m).
axis	Axis of the cylinder.
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
mass_props	Mass properties.
rigid_props	Rigid body properties.
collision_props	Properties to apply to all collision meshes.
activate_contact_sensors	Activate contact reporting on all rigid bodies.
visual_material_path	Path to the visual material to use for the prim.
visual_material	Visual material properties.
physics_material_path	Path to the physics material to use for the prim.
physics_material	Physics material properties.

radius: float

Radius of the cylinder (in m).

height: float

Height of the cylinder (in m).

axis: Literal['X', 'Y', 'Z']

Axis of the cylinder. Defaults to “Z”.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

mass_props: schemas.MassPropertiesCfg | None

Mass properties.

rigid_props: schemas.RigidBodyPropertiesCfg | None

Rigid body properties.

For making a rigid object static, set the schemas.RigidBodyPropertiesCfg.kinematic_enabled as True. This will make the object static and will not be affected by gravity or other forces.

collision_props: schemas.CollisionPropertiesCfg | None

Properties to apply to all collision meshes.

activate_contact_sensors: bool

Activate contact reporting on all rigid bodies. Defaults to False.

This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.

visual_material_path: str

Path to the visual material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if visual_material is not None.

visual_material: VisualMaterialCfg | None

Visual material properties.

备注

If None, then no visual material will be added.

physics_material_path: str

Path to the physics material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if physics_material is not None.

physics_material: PhysicsMaterialCfg | None

Physics material properties.

备注

If None, then no physics material will be added.

omni.isaac.lab.sim.spawners.shapes.spawn_sphere(prim_path: str, cfg: shapes_cfg.SphereCfg, translation: tuple[float, float, float] | None = None, orientation: tuple[float, float, float, float] | None = None) → Usd.Prim

Create a USDGeom-based sphere prim with the given attributes.

For more information, see USDGeomSphere.

备注

This function is decorated with clone() that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression.

参数:

• prim_path – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths.

• cfg – The configuration instance.

• translation – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to the origin.

• orientation – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to identity.

返回:

The created prim.

抛出:

ValueError – If a prim already exists at the given path.

class omni.isaac.lab.sim.spawners.shapes.SphereCfg

基类：ShapeCfg

Configuration parameters for a sphere prim.

See spawn_sphere() for more information.

Attributes:

radius	Radius of the sphere (in m).
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
mass_props	Mass properties.
rigid_props	Rigid body properties.
collision_props	Properties to apply to all collision meshes.
activate_contact_sensors	Activate contact reporting on all rigid bodies.
visual_material_path	Path to the visual material to use for the prim.
visual_material	Visual material properties.
physics_material_path	Path to the physics material to use for the prim.
physics_material	Physics material properties.

radius: float

Radius of the sphere (in m).

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

mass_props: schemas.MassPropertiesCfg | None

Mass properties.

rigid_props: schemas.RigidBodyPropertiesCfg | None

Rigid body properties.

For making a rigid object static, set the schemas.RigidBodyPropertiesCfg.kinematic_enabled as True. This will make the object static and will not be affected by gravity or other forces.

collision_props: schemas.CollisionPropertiesCfg | None

Properties to apply to all collision meshes.

activate_contact_sensors: bool

Activate contact reporting on all rigid bodies. Defaults to False.

This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.

visual_material_path: str

Path to the visual material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if visual_material is not None.

visual_material: VisualMaterialCfg | None

Visual material properties.

备注

If None, then no visual material will be added.

physics_material_path: str

Path to the physics material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if physics_material is not None.

physics_material: PhysicsMaterialCfg | None

Physics material properties.

备注

If None, then no physics material will be added.

Meshes

Sub-module for spawning meshes in the simulation.

NVIDIA Omniverse deals with meshes as USDGeomMesh prims. This sub-module provides various configurations to spawn different types of meshes. Based on the configuration, the spawned prim can be:

• a visual mesh (no physics)

• a static collider (no rigid or deformable body)

• a deformable body (with deformable properties)

备注

While rigid body properties can be set on a mesh, it is recommended to use the omni.isaac.lab.sim.spawners.shapes module to spawn rigid bodies. This is because USD shapes are more optimized for physics simulations.

Classes

MeshCfg	Configuration parameters for a USD Geometry or Geom prim.
MeshCapsuleCfg	Configuration parameters for a capsule mesh prim.
MeshConeCfg	Configuration parameters for a cone mesh prim.
MeshCuboidCfg	Configuration parameters for a cuboid mesh prim with deformable properties.
MeshCylinderCfg	Configuration parameters for a cylinder mesh prim with deformable properties.
MeshSphereCfg	Configuration parameters for a sphere mesh prim with deformable properties.

class omni.isaac.lab.sim.spawners.meshes.MeshCfg

Configuration parameters for a USD Geometry or Geom prim.

This class is similar to ShapeCfg but is specifically for meshes.

Meshes support both rigid and deformable properties. However, their schemas are applied at different levels in the USD hierarchy based on the type of the object. These are described below:

• Deformable body properties: Applied to the mesh prim: {prim_path}/geometry/mesh.

• Collision properties: Applied to the mesh prim: {prim_path}/geometry/mesh.

• Rigid body properties: Applied to the parent prim: {prim_path}.

where {prim_path} is the path to the prim in the USD stage and {prim_path}/geometry/mesh is the path to the mesh prim.

备注

There are mututally exclusive parameters for rigid and deformable properties. If both are set, then an error will be raised. This also holds if collision and deformable properties are set together.

Attributes:

visual_material_path	Path to the visual material to use for the prim.
visual_material	Visual material properties.
physics_material_path	Path to the physics material to use for the prim.
physics_material	Physics material properties.
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
mass_props	Mass properties.
deformable_props	Deformable body properties.
rigid_props	Rigid body properties.
collision_props	Properties to apply to all collision meshes.
activate_contact_sensors	Activate contact reporting on all rigid bodies.

visual_material_path: str

Path to the visual material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if visual_material is not None.

visual_material: materials.VisualMaterialCfg | None

Visual material properties.

备注

If None, then no visual material will be added.

physics_material_path: str

Path to the physics material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if physics_material is not None.

physics_material: materials.PhysicsMaterialCfg | None

Physics material properties.

备注

If None, then no physics material will be added.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

mass_props: schemas.MassPropertiesCfg | None

Mass properties.

deformable_props: schemas.DeformableBodyPropertiesCfg | None

Deformable body properties.

rigid_props: schemas.RigidBodyPropertiesCfg | None

Rigid body properties.

For making a rigid object static, set the schemas.RigidBodyPropertiesCfg.kinematic_enabled as True. This will make the object static and will not be affected by gravity or other forces.

collision_props: schemas.CollisionPropertiesCfg | None

Properties to apply to all collision meshes.

activate_contact_sensors: bool

Activate contact reporting on all rigid bodies. Defaults to False.

This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.

omni.isaac.lab.sim.spawners.meshes.spawn_mesh_capsule(prim_path: str, cfg: meshes_cfg.MeshCapsuleCfg, translation: tuple[float, float, float] | None = None, orientation: tuple[float, float, float, float] | None = None) → Usd.Prim

Create a USD-Mesh capsule prim with the given attributes.

备注

This function is decorated with clone() that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression.

参数:

• prim_path – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths.

• cfg – The configuration instance.

• translation – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to the origin.

• orientation – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to identity.

返回:

The created prim.

抛出:

ValueError – If a prim already exists at the given path.

class omni.isaac.lab.sim.spawners.meshes.MeshCapsuleCfg

基类：MeshCfg

Configuration parameters for a capsule mesh prim.

See spawn_capsule() for more information.

Attributes:

visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
mass_props	Mass properties.
deformable_props	Deformable body properties.
rigid_props	Rigid body properties.
collision_props	Properties to apply to all collision meshes.
activate_contact_sensors	Activate contact reporting on all rigid bodies.
visual_material_path	Path to the visual material to use for the prim.
visual_material	Visual material properties.
physics_material_path	Path to the physics material to use for the prim.
physics_material	Physics material properties.
radius	Radius of the capsule (in m).
height	Height of the capsule (in m).
axis	Axis of the capsule.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

mass_props: schemas.MassPropertiesCfg | None

Mass properties.

deformable_props: schemas.DeformableBodyPropertiesCfg | None

Deformable body properties.

rigid_props: schemas.RigidBodyPropertiesCfg | None

Rigid body properties.

For making a rigid object static, set the schemas.RigidBodyPropertiesCfg.kinematic_enabled as True. This will make the object static and will not be affected by gravity or other forces.

collision_props: schemas.CollisionPropertiesCfg | None

Properties to apply to all collision meshes.

activate_contact_sensors: bool

Activate contact reporting on all rigid bodies. Defaults to False.

This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.

visual_material_path: str

Path to the visual material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if visual_material is not None.

visual_material: materials.VisualMaterialCfg | None

Visual material properties.

备注

If None, then no visual material will be added.

physics_material_path: str

Path to the physics material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if physics_material is not None.

physics_material: materials.PhysicsMaterialCfg | None

Physics material properties.

备注

If None, then no physics material will be added.

radius: float

Radius of the capsule (in m).

height: float

Height of the capsule (in m).

axis: Literal['X', 'Y', 'Z']

Axis of the capsule. Defaults to “Z”.

omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cone(prim_path: str, cfg: meshes_cfg.MeshConeCfg, translation: tuple[float, float, float] | None = None, orientation: tuple[float, float, float, float] | None = None) → Usd.Prim

Create a USD-Mesh cone prim with the given attributes.

备注

This function is decorated with clone() that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression.

参数:

• prim_path – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths.

• cfg – The configuration instance.

• translation – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to the origin.

• orientation – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to identity.

返回:

The created prim.

抛出:

ValueError – If a prim already exists at the given path.

class omni.isaac.lab.sim.spawners.meshes.MeshConeCfg

基类：MeshCfg

Configuration parameters for a cone mesh prim.

See spawn_cone() for more information.

Attributes:

visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
mass_props	Mass properties.
deformable_props	Deformable body properties.
rigid_props	Rigid body properties.
collision_props	Properties to apply to all collision meshes.
activate_contact_sensors	Activate contact reporting on all rigid bodies.
visual_material_path	Path to the visual material to use for the prim.
visual_material	Visual material properties.
physics_material_path	Path to the physics material to use for the prim.
physics_material	Physics material properties.
radius	Radius of the cone (in m).
height	Height of the v (in m).
axis	Axis of the cone.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

mass_props: schemas.MassPropertiesCfg | None

Mass properties.

deformable_props: schemas.DeformableBodyPropertiesCfg | None

Deformable body properties.

rigid_props: schemas.RigidBodyPropertiesCfg | None

Rigid body properties.

For making a rigid object static, set the schemas.RigidBodyPropertiesCfg.kinematic_enabled as True. This will make the object static and will not be affected by gravity or other forces.

collision_props: schemas.CollisionPropertiesCfg | None

Properties to apply to all collision meshes.

activate_contact_sensors: bool

Activate contact reporting on all rigid bodies. Defaults to False.

This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.

visual_material_path: str

Path to the visual material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if visual_material is not None.

visual_material: materials.VisualMaterialCfg | None

Visual material properties.

备注

If None, then no visual material will be added.

physics_material_path: str

Path to the physics material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if physics_material is not None.

physics_material: materials.PhysicsMaterialCfg | None

Physics material properties.

备注

If None, then no physics material will be added.

radius: float

Radius of the cone (in m).

height: float

Height of the v (in m).

axis: Literal['X', 'Y', 'Z']

Axis of the cone. Defaults to “Z”.

omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cuboid(prim_path: str, cfg: meshes_cfg.MeshCuboidCfg, translation: tuple[float, float, float] | None = None, orientation: tuple[float, float, float, float] | None = None) → Usd.Prim

Create a USD-Mesh cuboid prim with the given attributes.

备注

This function is decorated with clone() that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression.

参数:

• prim_path – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths.

• cfg – The configuration instance.

• translation – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to the origin.

• orientation – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to identity.

返回:

The created prim.

抛出:

ValueError – If a prim already exists at the given path.

class omni.isaac.lab.sim.spawners.meshes.MeshCuboidCfg

基类：MeshCfg

Configuration parameters for a cuboid mesh prim with deformable properties.

See spawn_mesh_cuboid() for more information.

Attributes:

size	Size of the cuboid (in m).
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
mass_props	Mass properties.
deformable_props	Deformable body properties.
rigid_props	Rigid body properties.
collision_props	Properties to apply to all collision meshes.
activate_contact_sensors	Activate contact reporting on all rigid bodies.
visual_material_path	Path to the visual material to use for the prim.
visual_material	Visual material properties.
physics_material_path	Path to the physics material to use for the prim.
physics_material	Physics material properties.

size: tuple[float, float, float]

Size of the cuboid (in m).

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

mass_props: schemas.MassPropertiesCfg | None

Mass properties.

deformable_props: schemas.DeformableBodyPropertiesCfg | None

Deformable body properties.

rigid_props: schemas.RigidBodyPropertiesCfg | None

Rigid body properties.

For making a rigid object static, set the schemas.RigidBodyPropertiesCfg.kinematic_enabled as True. This will make the object static and will not be affected by gravity or other forces.

collision_props: schemas.CollisionPropertiesCfg | None

Properties to apply to all collision meshes.

activate_contact_sensors: bool

Activate contact reporting on all rigid bodies. Defaults to False.

This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.

visual_material_path: str

Path to the visual material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if visual_material is not None.

visual_material: materials.VisualMaterialCfg | None

Visual material properties.

备注

If None, then no visual material will be added.

physics_material_path: str

Path to the physics material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if physics_material is not None.

physics_material: materials.PhysicsMaterialCfg | None

Physics material properties.

备注

If None, then no physics material will be added.

omni.isaac.lab.sim.spawners.meshes.spawn_mesh_cylinder(prim_path: str, cfg: meshes_cfg.MeshCylinderCfg, translation: tuple[float, float, float] | None = None, orientation: tuple[float, float, float, float] | None = None) → Usd.Prim

Create a USD-Mesh cylinder prim with the given attributes.

备注

This function is decorated with clone() that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression.

参数:

• prim_path – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths.

• cfg – The configuration instance.

• translation – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to the origin.

• orientation – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to identity.

返回:

The created prim.

抛出:

ValueError – If a prim already exists at the given path.

class omni.isaac.lab.sim.spawners.meshes.MeshCylinderCfg

基类：MeshCfg

Configuration parameters for a cylinder mesh prim with deformable properties.

See spawn_cylinder() for more information.

Attributes:

radius	Radius of the cylinder (in m).
height	Height of the cylinder (in m).
axis	Axis of the cylinder.
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
mass_props	Mass properties.
deformable_props	Deformable body properties.
rigid_props	Rigid body properties.
collision_props	Properties to apply to all collision meshes.
activate_contact_sensors	Activate contact reporting on all rigid bodies.
visual_material_path	Path to the visual material to use for the prim.
visual_material	Visual material properties.
physics_material_path	Path to the physics material to use for the prim.
physics_material	Physics material properties.

radius: float

Radius of the cylinder (in m).

height: float

Height of the cylinder (in m).

axis: Literal['X', 'Y', 'Z']

Axis of the cylinder. Defaults to “Z”.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

mass_props: schemas.MassPropertiesCfg | None

Mass properties.

deformable_props: schemas.DeformableBodyPropertiesCfg | None

Deformable body properties.

rigid_props: schemas.RigidBodyPropertiesCfg | None

Rigid body properties.

For making a rigid object static, set the schemas.RigidBodyPropertiesCfg.kinematic_enabled as True. This will make the object static and will not be affected by gravity or other forces.

collision_props: schemas.CollisionPropertiesCfg | None

Properties to apply to all collision meshes.

activate_contact_sensors: bool

Activate contact reporting on all rigid bodies. Defaults to False.

This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.

visual_material_path: str

Path to the visual material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if visual_material is not None.

visual_material: materials.VisualMaterialCfg | None

Visual material properties.

备注

If None, then no visual material will be added.

physics_material_path: str

Path to the physics material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if physics_material is not None.

physics_material: materials.PhysicsMaterialCfg | None

Physics material properties.

备注

If None, then no physics material will be added.

omni.isaac.lab.sim.spawners.meshes.spawn_mesh_sphere(prim_path: str, cfg: meshes_cfg.MeshSphereCfg, translation: tuple[float, float, float] | None = None, orientation: tuple[float, float, float, float] | None = None) → Usd.Prim

Create a USD-Mesh sphere prim with the given attributes.

备注

This function is decorated with clone() that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression.

参数:

• prim_path – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths.

• cfg – The configuration instance.

• translation – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to the origin.

• orientation – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to identity.

返回:

The created prim.

抛出:

ValueError – If a prim already exists at the given path.

class omni.isaac.lab.sim.spawners.meshes.MeshSphereCfg

基类：MeshCfg

Configuration parameters for a sphere mesh prim with deformable properties.

See spawn_mesh_sphere() for more information.

Attributes:

radius	Radius of the sphere (in m).
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
mass_props	Mass properties.
deformable_props	Deformable body properties.
rigid_props	Rigid body properties.
collision_props	Properties to apply to all collision meshes.
activate_contact_sensors	Activate contact reporting on all rigid bodies.
visual_material_path	Path to the visual material to use for the prim.
visual_material	Visual material properties.
physics_material_path	Path to the physics material to use for the prim.
physics_material	Physics material properties.

radius: float

Radius of the sphere (in m).

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

mass_props: schemas.MassPropertiesCfg | None

Mass properties.

deformable_props: schemas.DeformableBodyPropertiesCfg | None

Deformable body properties.

rigid_props: schemas.RigidBodyPropertiesCfg | None

Rigid body properties.

For making a rigid object static, set the schemas.RigidBodyPropertiesCfg.kinematic_enabled as True. This will make the object static and will not be affected by gravity or other forces.

collision_props: schemas.CollisionPropertiesCfg | None

Properties to apply to all collision meshes.

activate_contact_sensors: bool

Activate contact reporting on all rigid bodies. Defaults to False.

This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.

visual_material_path: str

Path to the visual material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if visual_material is not None.

visual_material: materials.VisualMaterialCfg | None

Visual material properties.

备注

If None, then no visual material will be added.

physics_material_path: str

Path to the physics material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if physics_material is not None.

physics_material: materials.PhysicsMaterialCfg | None

Physics material properties.

备注

If None, then no physics material will be added.

Lights

Sub-module for spawners that spawn lights in the simulation.

There are various different kinds of lights that can be spawned into the USD stage. Please check the Omniverse documentation for lighting overview.

Classes

LightCfg	Configuration parameters for creating a light in the scene.
CylinderLightCfg	Configuration parameters for creating a cylinder light in the scene.
DiskLightCfg	Configuration parameters for creating a disk light in the scene.
DistantLightCfg	Configuration parameters for creating a distant light in the scene.
DomeLightCfg	Configuration parameters for creating a dome light in the scene.
SphereLightCfg	Configuration parameters for creating a sphere light in the scene.

omni.isaac.lab.sim.spawners.lights.spawn_light(prim_path: str, cfg: lights_cfg.LightCfg, translation: tuple[float, float, float] | None = None, orientation: tuple[float, float, float, float] | None = None) → Usd.Prim

Create a light prim at the specified prim path with the specified configuration.

The created prim is based on the USD.LuxLight API.

备注

This function is decorated with clone() that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression.

参数:

• prim_path – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths.

• cfg – The configuration for the light source.

• translation – The translation of the prim. Defaults to None, in which case this is set to the origin.

• orientation – The orientation of the prim as (w, x, y, z). Defaults to None, in which case this is set to identity.

抛出:

ValueError – When a prim already exists at the specified prim path.

class omni.isaac.lab.sim.spawners.lights.LightCfg

Configuration parameters for creating a light in the scene.

Please refer to the documentation on USD LuxLight for more information.

备注

The default values for the attributes are those specified in the their official documentation.

Attributes:

prim_type	The prim type name for the light prim.
color	The color of emitted light, in energy-linear terms.
enable_color_temperature	Enables color temperature.
color_temperature	Color temperature (in Kelvin) representing the white point.
normalize	Normalizes power by the surface area of the light.
exposure	Scales the power of the light exponentially as a power of 2.
intensity	Scales the power of the light linearly.
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.

prim_type: str

The prim type name for the light prim.

color: tuple[float, float, float]

The color of emitted light, in energy-linear terms. Defaults to white.

enable_color_temperature: bool

Enables color temperature. Defaults to false.

color_temperature: float

Color temperature (in Kelvin) representing the white point. The valid range is [1000, 10000]. Defaults to 6500K.

The color temperature corresponds to the warmth or coolness of light. Warmer light has a lower color temperature, while cooler light has a higher color temperature.

备注

It only takes effect when enable_color_temperature is true.

normalize: bool

Normalizes power by the surface area of the light. Defaults to false.

This makes it easier to independently adjust the power and shape of the light, by causing the power to not vary with the area or angular size of the light.

exposure: float

Scales the power of the light exponentially as a power of 2. Defaults to 0.0.

The result is multiplied against the intensity.

intensity: float

Scales the power of the light linearly. Defaults to 1.0.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

class omni.isaac.lab.sim.spawners.lights.CylinderLightCfg

Configuration parameters for creating a cylinder light in the scene.

A cylinder light is a light source that emits light from a cylinder. It is useful for simulating fluorescent lights. For more information, please refer to the documentation on USDLux CylinderLight.

备注

The default values for the attributes are those specified in the their official documentation.

Attributes:

visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
color	The color of emitted light, in energy-linear terms.
enable_color_temperature	Enables color temperature.
color_temperature	Color temperature (in Kelvin) representing the white point.
normalize	Normalizes power by the surface area of the light.
exposure	Scales the power of the light exponentially as a power of 2.
intensity	Scales the power of the light linearly.
prim_type	The prim type name for the light prim.
length	Length of the cylinder (in m).
radius	Radius of the cylinder (in m).
treat_as_line	Treats the cylinder as a line source, i.e. a zero-radius cylinder.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

color: tuple[float, float, float]

The color of emitted light, in energy-linear terms. Defaults to white.

enable_color_temperature: bool

Enables color temperature. Defaults to false.

color_temperature: float

Color temperature (in Kelvin) representing the white point. The valid range is [1000, 10000]. Defaults to 6500K.

The color temperature corresponds to the warmth or coolness of light. Warmer light has a lower color temperature, while cooler light has a higher color temperature.

备注

It only takes effect when enable_color_temperature is true.

normalize: bool

Normalizes power by the surface area of the light. Defaults to false.

This makes it easier to independently adjust the power and shape of the light, by causing the power to not vary with the area or angular size of the light.

exposure: float

Scales the power of the light exponentially as a power of 2. Defaults to 0.0.

The result is multiplied against the intensity.

intensity: float

Scales the power of the light linearly. Defaults to 1.0.

prim_type: str

The prim type name for the light prim.

length: float

Length of the cylinder (in m). Defaults to 1.0m.

radius: float

Radius of the cylinder (in m). Defaults to 0.5m.

treat_as_line: bool

Treats the cylinder as a line source, i.e. a zero-radius cylinder. Defaults to false.

class omni.isaac.lab.sim.spawners.lights.DiskLightCfg

Configuration parameters for creating a disk light in the scene.

A disk light is a light source that emits light from a disk. It is useful for simulating fluorescent lights. For more information, please refer to the documentation on USDLux DiskLight.

备注

The default values for the attributes are those specified in the their official documentation.

Attributes:

prim_type	The prim type name for the light prim.
radius	Radius of the disk (in m).
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
color	The color of emitted light, in energy-linear terms.
enable_color_temperature	Enables color temperature.
color_temperature	Color temperature (in Kelvin) representing the white point.
normalize	Normalizes power by the surface area of the light.
exposure	Scales the power of the light exponentially as a power of 2.
intensity	Scales the power of the light linearly.

prim_type: str

The prim type name for the light prim.

radius: float

Radius of the disk (in m). Defaults to 0.5m.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

color: tuple[float, float, float]

The color of emitted light, in energy-linear terms. Defaults to white.

enable_color_temperature: bool

Enables color temperature. Defaults to false.

color_temperature: float

Color temperature (in Kelvin) representing the white point. The valid range is [1000, 10000]. Defaults to 6500K.

The color temperature corresponds to the warmth or coolness of light. Warmer light has a lower color temperature, while cooler light has a higher color temperature.

备注

It only takes effect when enable_color_temperature is true.

normalize: bool

Normalizes power by the surface area of the light. Defaults to false.

This makes it easier to independently adjust the power and shape of the light, by causing the power to not vary with the area or angular size of the light.

exposure: float

Scales the power of the light exponentially as a power of 2. Defaults to 0.0.

The result is multiplied against the intensity.

intensity: float

Scales the power of the light linearly. Defaults to 1.0.

class omni.isaac.lab.sim.spawners.lights.DistantLightCfg

Configuration parameters for creating a distant light in the scene.

A distant light is a light source that is infinitely far away, and emits parallel rays of light. It is useful for simulating sun/moon light. For more information, please refer to the documentation on USDLux DistantLight.

备注

The default values for the attributes are those specified in the their official documentation.

Attributes:

prim_type	The prim type name for the light prim.
angle	Angular size of the light (in degrees).
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
color	The color of emitted light, in energy-linear terms.
enable_color_temperature	Enables color temperature.
color_temperature	Color temperature (in Kelvin) representing the white point.
normalize	Normalizes power by the surface area of the light.
exposure	Scales the power of the light exponentially as a power of 2.
intensity	Scales the power of the light linearly.

prim_type: str

The prim type name for the light prim.

angle: float

Angular size of the light (in degrees). Defaults to 0.53 degrees.

As an example, the Sun is approximately 0.53 degrees as seen from Earth. Higher values broaden the light and therefore soften shadow edges.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

color: tuple[float, float, float]

The color of emitted light, in energy-linear terms. Defaults to white.

enable_color_temperature: bool

Enables color temperature. Defaults to false.

color_temperature: float

Color temperature (in Kelvin) representing the white point. The valid range is [1000, 10000]. Defaults to 6500K.

The color temperature corresponds to the warmth or coolness of light. Warmer light has a lower color temperature, while cooler light has a higher color temperature.

备注

It only takes effect when enable_color_temperature is true.

normalize: bool

Normalizes power by the surface area of the light. Defaults to false.

This makes it easier to independently adjust the power and shape of the light, by causing the power to not vary with the area or angular size of the light.

exposure: float

Scales the power of the light exponentially as a power of 2. Defaults to 0.0.

The result is multiplied against the intensity.

intensity: float

Scales the power of the light linearly. Defaults to 1.0.

class omni.isaac.lab.sim.spawners.lights.DomeLightCfg

Configuration parameters for creating a dome light in the scene.

A dome light is a light source that emits light inwards from all directions. It is also possible to attach a texture to the dome light, which will be used to emit light. For more information, please refer to the documentation on USDLux DomeLight.

备注

The default values for the attributes are those specified in the their official documentation.

Attributes:

prim_type	The prim type name for the light prim.
texture_file	A color texture to use on the dome, such as an HDR (high dynamic range) texture intended for IBL (image based lighting).
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
color	The color of emitted light, in energy-linear terms.
enable_color_temperature	Enables color temperature.
color_temperature	Color temperature (in Kelvin) representing the white point.
normalize	Normalizes power by the surface area of the light.
exposure	Scales the power of the light exponentially as a power of 2.
intensity	Scales the power of the light linearly.
texture_format	The parametrization format of the color map file.
visible_in_primary_ray	Whether the dome light is visible in the primary ray.

prim_type: str

The prim type name for the light prim.

texture_file: str | None

A color texture to use on the dome, such as an HDR (high dynamic range) texture intended for IBL (image based lighting). Defaults to None.

If None, the dome will emit a uniform color.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

color: tuple[float, float, float]

The color of emitted light, in energy-linear terms. Defaults to white.

enable_color_temperature: bool

Enables color temperature. Defaults to false.

color_temperature: float

Color temperature (in Kelvin) representing the white point. The valid range is [1000, 10000]. Defaults to 6500K.

The color temperature corresponds to the warmth or coolness of light. Warmer light has a lower color temperature, while cooler light has a higher color temperature.

备注

It only takes effect when enable_color_temperature is true.

normalize: bool

Normalizes power by the surface area of the light. Defaults to false.

This makes it easier to independently adjust the power and shape of the light, by causing the power to not vary with the area or angular size of the light.

exposure: float

Scales the power of the light exponentially as a power of 2. Defaults to 0.0.

The result is multiplied against the intensity.

intensity: float

Scales the power of the light linearly. Defaults to 1.0.

texture_format: Literal['automatic', 'latlong', 'mirroredBall', 'angular', 'cubeMapVerticalCross']

The parametrization format of the color map file. Defaults to “automatic”.

Valid values are:

• "automatic": Tries to determine the layout from the file itself. For example, Renderman texture files embed an explicit parameterization.

• "latlong": Latitude as X, longitude as Y.

• "mirroredBall": An image of the environment reflected in a sphere, using an implicitly orthogonal projection.

• "angular": Similar to mirroredBall but the radial dimension is mapped linearly to the angle, providing better sampling at the edges.

• "cubeMapVerticalCross": A cube map with faces laid out as a vertical cross.

visible_in_primary_ray: bool

Whether the dome light is visible in the primary ray. Defaults to True.

If true, the texture in the sky is visible, otherwise the sky is black.

class omni.isaac.lab.sim.spawners.lights.SphereLightCfg

Configuration parameters for creating a sphere light in the scene.

A sphere light is a light source that emits light outward from a sphere. For more information, please refer to the documentation on USDLux SphereLight.

备注

The default values for the attributes are those specified in the their official documentation.

Attributes:

visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
color	The color of emitted light, in energy-linear terms.
enable_color_temperature	Enables color temperature.
color_temperature	Color temperature (in Kelvin) representing the white point.
normalize	Normalizes power by the surface area of the light.
exposure	Scales the power of the light exponentially as a power of 2.
intensity	Scales the power of the light linearly.
prim_type	The prim type name for the light prim.
radius	Radius of the sphere.
treat_as_point	Treats the sphere as a point source, i.e. a zero-radius sphere.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

color: tuple[float, float, float]

The color of emitted light, in energy-linear terms. Defaults to white.

enable_color_temperature: bool

Enables color temperature. Defaults to false.

color_temperature: float

Color temperature (in Kelvin) representing the white point. The valid range is [1000, 10000]. Defaults to 6500K.

The color temperature corresponds to the warmth or coolness of light. Warmer light has a lower color temperature, while cooler light has a higher color temperature.

备注

It only takes effect when enable_color_temperature is true.

normalize: bool

Normalizes power by the surface area of the light. Defaults to false.

This makes it easier to independently adjust the power and shape of the light, by causing the power to not vary with the area or angular size of the light.

exposure: float

Scales the power of the light exponentially as a power of 2. Defaults to 0.0.

The result is multiplied against the intensity.

intensity: float

Scales the power of the light linearly. Defaults to 1.0.

prim_type: str

The prim type name for the light prim.

radius: float

Radius of the sphere. Defaults to 0.5m.

treat_as_point: bool

Treats the sphere as a point source, i.e. a zero-radius sphere. Defaults to false.

Sensors

Sub-module for spawners that spawn sensors in the simulation.

Currently, the following sensors are supported:

• Camera: A USD camera prim with settings for pinhole or fisheye projections.

Classes

PinholeCameraCfg	Configuration parameters for a USD camera prim with pinhole camera settings.
FisheyeCameraCfg	Configuration parameters for a USD camera prim with fish-eye camera settings.

omni.isaac.lab.sim.spawners.sensors.spawn_camera(prim_path: str, cfg: sensors_cfg.PinholeCameraCfg | sensors_cfg.FisheyeCameraCfg, translation: tuple[float, float, float] | None = None, orientation: tuple[float, float, float, float] | None = None) → Usd.Prim

Create a USD camera prim with given projection type.

The function creates various attributes on the camera prim that specify the camera’s properties. These are later used by omni.replicator.core to render the scene with the given camera.

备注

This function is decorated with clone() that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression.

参数:

• prim_path – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths.

• cfg – The configuration instance.

• translation – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to the origin.

• orientation – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None, in which case this is set to identity.

返回:

The created prim.

抛出:

ValueError – If a prim already exists at the given path.

class omni.isaac.lab.sim.spawners.sensors.PinholeCameraCfg

Configuration parameters for a USD camera prim with pinhole camera settings.

For more information on the parameters, please refer to the camera documentation.

..note ::

Focal length as well as the aperture sizes and offsets are set as a tenth of the world unit. In our case, the world unit is Meter s.t. all of these values are set in cm.

备注

The default values are taken from the Replicator camera function.

Attributes:

projection_type	Type of projection to use for the camera.
clipping_range	Near and far clipping distances (in m).
focal_length	Perspective focal length (in cm).
focus_distance	Distance from the camera to the focus plane (in m).
f_stop	Lens aperture.
horizontal_aperture	Horizontal aperture (in cm).
vertical_aperture	Vertical aperture (in mm).
horizontal_aperture_offset	Offsets Resolution/Film gate horizontally.
vertical_aperture_offset	Offsets Resolution/Film gate vertically.
lock_camera	Locks the camera in the Omniverse viewport.
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.

Methods:

from_intrinsic_matrix(intrinsic_matrix, ...)

Create a PinholeCameraCfg class instance from an intrinsic matrix.

projection_type: str

Type of projection to use for the camera. Defaults to “pinhole”.

备注

Currently only “pinhole” is supported.

clipping_range: tuple[float, float]

Near and far clipping distances (in m). Defaults to (0.01, 1e6).

The minimum clipping range will shift the camera forward by the specified distance. Don’t set it too high to avoid issues for distance related data types (e.g., distance_to_image_plane).

focal_length: float

Perspective focal length (in cm). Defaults to 24.0cm.

Longer lens lengths narrower FOV, shorter lens lengths wider FOV.

focus_distance: float

Distance from the camera to the focus plane (in m). Defaults to 400.0.

The distance at which perfect sharpness is achieved.

f_stop: float

Lens aperture. Defaults to 0.0, which turns off focusing.

Controls Distance Blurring. Lower Numbers decrease focus range, larger numbers increase it.

horizontal_aperture: float

Horizontal aperture (in cm). Defaults to 20.955 cm.

Emulates sensor/film width on a camera.

备注

The default value is the horizontal aperture of a 35 mm spherical projector.

vertical_aperture: float | None

Vertical aperture (in mm). Defaults to None.

Emulates sensor/film height on a camera. If None, then the vertical aperture is calculated based on the horizontal aperture and the aspect ratio of the image to maintain squared pixels. This is calculated as:

\[\text{vertical aperture} = \text{horizontal aperture} \times \frac{\text{height}}{\text{width}}\]

horizontal_aperture_offset: float

Offsets Resolution/Film gate horizontally. Defaults to 0.0.

vertical_aperture_offset: float

Offsets Resolution/Film gate vertically. Defaults to 0.0.

lock_camera: bool

Locks the camera in the Omniverse viewport. Defaults to True.

If True, then the camera remains fixed at its configured transform. This is useful when wanting to view the camera output on the GUI and not accidentally moving the camera through the GUI interactions.

classmethod from_intrinsic_matrix(intrinsic_matrix: list[float], width: int, height: int, clipping_range: tuple[float, float] = (0.01, 1000000.0), focal_length: float = 24.0, focus_distance: float = 400.0, f_stop: float = 0.0, projection_type: str = 'pinhole', lock_camera: bool = True) → PinholeCameraCfg

Create a PinholeCameraCfg class instance from an intrinsic matrix.

The intrinsic matrix is a 3x3 matrix that defines the mapping between the 3D world coordinates and the 2D image. The matrix is defined as:

\[\begin{split}I_{cam} = \begin{bmatrix} f_x & 0 & c_x \\ 0 & f_y & c_y \\ 0 & 0 & 1 \\end{bmatrix},\end{split}\]

where \(f_x\) and \(f_y\) are the focal length along x and y direction, while \(c_x\) and \(c_y\) are the principle point offsets along x and y direction respectively.

参数:

• intrinsic_matrix – Intrinsic matrix of the camera in row-major format. The matrix is defined as [f_x, 0, c_x, 0, f_y, c_y, 0, 0, 1]. Shape is (9,).

• width – Width of the image (in pixels).

• height – Height of the image (in pixels).

• clipping_range – Near and far clipping distances (in m). Defaults to (0.01, 1e6).

• focal_length – Perspective focal length (in cm). Defaults to 24.0 cm.

• focus_distance – Distance from the camera to the focus plane (in m). Defaults to 400.0 m.

• f_stop – Lens aperture. Defaults to 0.0, which turns off focusing.

• projection_type – Type of projection to use for the camera. Defaults to “pinhole”.

• lock_camera – Locks the camera in the Omniverse viewport. Defaults to True.

返回:

An instance of the PinholeCameraCfg class.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

class omni.isaac.lab.sim.spawners.sensors.FisheyeCameraCfg

Configuration parameters for a USD camera prim with fish-eye camera settings.

For more information on the parameters, please refer to the camera documentation.

备注

The default values are taken from the Replicator camera function.

Attributes:

projection_type	Type of projection to use for the camera.
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
clipping_range	Near and far clipping distances (in m).
focal_length	Perspective focal length (in cm).
focus_distance	Distance from the camera to the focus plane (in m).
f_stop	Lens aperture.
horizontal_aperture	Horizontal aperture (in cm).
vertical_aperture	Vertical aperture (in mm).
horizontal_aperture_offset	Offsets Resolution/Film gate horizontally.
vertical_aperture_offset	Offsets Resolution/Film gate vertically.
lock_camera	Locks the camera in the Omniverse viewport.
fisheye_nominal_width	Nominal width of fisheye lens model (in pixels).
fisheye_nominal_height	Nominal height of fisheye lens model (in pixels).
fisheye_optical_centre_x	Horizontal optical centre position of fisheye lens model (in pixels).
fisheye_optical_centre_y	Vertical optical centre position of fisheye lens model (in pixels).
fisheye_max_fov	Maximum field of view of fisheye lens model (in degrees).
fisheye_polynomial_a	First component of fisheye polynomial.
fisheye_polynomial_b	Second component of fisheye polynomial.
fisheye_polynomial_c	Third component of fisheye polynomial.
fisheye_polynomial_d	Fourth component of fisheye polynomial.
fisheye_polynomial_e	Fifth component of fisheye polynomial.
fisheye_polynomial_f	Sixth component of fisheye polynomial.

projection_type: Literal['fisheye_orthographic', 'fisheye_equidistant', 'fisheye_equisolid', 'fisheye_polynomial', 'fisheye_spherical']

Type of projection to use for the camera. Defaults to “fisheye_polynomial”.

Available options:

• "fisheye_orthographic": Fisheye camera model using orthographic correction.

• "fisheye_equidistant": Fisheye camera model using equidistant correction.

• "fisheye_equisolid": Fisheye camera model using equisolid correction.

• "fisheye_polynomial": Fisheye camera model with \(360^{\circ}\) spherical projection.

• "fisheye_spherical": Fisheye camera model with \(360^{\circ}\) full-frame projection.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

clipping_range: tuple[float, float]

Near and far clipping distances (in m). Defaults to (0.01, 1e6).

The minimum clipping range will shift the camera forward by the specified distance. Don’t set it too high to avoid issues for distance related data types (e.g., distance_to_image_plane).

focal_length: float

Perspective focal length (in cm). Defaults to 24.0cm.

Longer lens lengths narrower FOV, shorter lens lengths wider FOV.

focus_distance: float

Distance from the camera to the focus plane (in m). Defaults to 400.0.

The distance at which perfect sharpness is achieved.

f_stop: float

Lens aperture. Defaults to 0.0, which turns off focusing.

Controls Distance Blurring. Lower Numbers decrease focus range, larger numbers increase it.

horizontal_aperture: float

Horizontal aperture (in cm). Defaults to 20.955 cm.

Emulates sensor/film width on a camera.

备注

The default value is the horizontal aperture of a 35 mm spherical projector.

vertical_aperture: float | None

Vertical aperture (in mm). Defaults to None.

Emulates sensor/film height on a camera. If None, then the vertical aperture is calculated based on the horizontal aperture and the aspect ratio of the image to maintain squared pixels. This is calculated as:

\[\text{vertical aperture} = \text{horizontal aperture} \times \frac{\text{height}}{\text{width}}\]

horizontal_aperture_offset: float

Offsets Resolution/Film gate horizontally. Defaults to 0.0.

vertical_aperture_offset: float

Offsets Resolution/Film gate vertically. Defaults to 0.0.

lock_camera: bool

Locks the camera in the Omniverse viewport. Defaults to True.

If True, then the camera remains fixed at its configured transform. This is useful when wanting to view the camera output on the GUI and not accidentally moving the camera through the GUI interactions.

fisheye_nominal_width: float

Nominal width of fisheye lens model (in pixels). Defaults to 1936.0.

fisheye_nominal_height: float

Nominal height of fisheye lens model (in pixels). Defaults to 1216.0.

fisheye_optical_centre_x: float

Horizontal optical centre position of fisheye lens model (in pixels). Defaults to 970.94244.

fisheye_optical_centre_y: float

Vertical optical centre position of fisheye lens model (in pixels). Defaults to 600.37482.

fisheye_max_fov: float

Maximum field of view of fisheye lens model (in degrees). Defaults to 200.0 degrees.

fisheye_polynomial_a: float

First component of fisheye polynomial. Defaults to 0.0.

fisheye_polynomial_b: float

Second component of fisheye polynomial. Defaults to 0.00245.

fisheye_polynomial_c: float

Third component of fisheye polynomial. Defaults to 0.0.

fisheye_polynomial_d: float

Fourth component of fisheye polynomial. Defaults to 0.0.

fisheye_polynomial_e: float

Fifth component of fisheye polynomial. Defaults to 0.0.

fisheye_polynomial_f: float

Sixth component of fisheye polynomial. Defaults to 0.0.

From Files

Sub-module for spawners that spawn assets from files.

Currently, the following spawners are supported:

• UsdFileCfg: Spawn an asset from a USD file.

• UrdfFileCfg: Spawn an asset from a URDF file.

• GroundPlaneCfg: Spawn a ground plane using the grid-world USD file.

Classes

UrdfFileCfg	URDF file to spawn asset from.
UsdFileCfg	USD file to spawn asset from.
GroundPlaneCfg	Create a ground plane prim.

omni.isaac.lab.sim.spawners.from_files.spawn_from_urdf(prim_path: str, cfg: from_files_cfg.UrdfFileCfg, translation: tuple[float, float, float] | None = None, orientation: tuple[float, float, float, float] | None = None) → Usd.Prim

Spawn an asset from a URDF file and override the settings with the given config.

It uses the UrdfConverter class to create a USD file from URDF. This file is then imported at the specified prim path.

In case a prim already exists at the given prim path, then the function does not create a new prim or throw an error that the prim already exists. Instead, it just takes the existing prim and overrides the settings with the given config.

备注

This function is decorated with clone() that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression.

参数:

• prim_path – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths.

• cfg – The configuration instance.

• translation – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case the translation specified in the generated USD file is used.

• orientation – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None, in which case the orientation specified in the generated USD file is used.

返回:

The prim of the spawned asset.

抛出:

FileNotFoundError – If the URDF file does not exist at the given path.

class omni.isaac.lab.sim.spawners.from_files.UrdfFileCfg

URDF file to spawn asset from.

It uses the UrdfConverter class to create a USD file from URDF and spawns the imported USD file. Similar to the UsdFileCfg, the generated USD file can be modified by specifying the respective properties in the configuration class.

See spawn_from_urdf() for more information.

备注

The configuration parameters include various properties. If not None, these properties are modified on the spawned prim in a nested manner.

If they are set to a value, then the properties are modified on the spawned prim in a nested manner. This is done by calling the respective function with the specified properties.

Attributes:

asset_path	The absolute path to the asset file to convert into USD.
usd_dir	The output directory path to store the generated USD file.
usd_file_name	The name of the generated usd file.
force_usd_conversion	Force the conversion of the asset file to usd.
make_instanceable	Make the generated USD file instanceable.
import_inertia_tensor	Import the inertia tensor from urdf.
fix_base	Create a fix joint to the root/base link.
merge_fixed_joints	Consolidate links that are connected by fixed joints.
self_collision	Activate self-collisions between links of the articulation.
default_drive_type	The drive type used for joints.
override_joint_dynamics	Override the joint dynamics parsed from the URDF file.
default_drive_stiffness	The default stiffness of the joint drive.
default_drive_damping	The default damping of the joint drive.
link_density	Default density used for links.
convex_decompose_mesh	Decompose a convex mesh into smaller pieces for a closer fit.
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
mass_props	Mass properties.
deformable_props	Deformable body properties.
rigid_props	Rigid body properties.
collision_props	Properties to apply to all collision meshes.
activate_contact_sensors	Activate contact reporting on all rigid bodies.
scale	Scale of the asset.
articulation_props	Properties to apply to the articulation root.
fixed_tendons_props	Properties to apply to the fixed tendons (if any).
joint_drive_props	Properties to apply to a joint.
visual_material_path	Path to the visual material to use for the prim.
visual_material	Visual material properties to override the visual material properties in the URDF file.

asset_path: str

The absolute path to the asset file to convert into USD.

usd_dir: str | None

The output directory path to store the generated USD file. Defaults to None.

If None, it is resolved as /tmp/IsaacLab/usd_{date}_{time}_{random}, where the parameters in braces are runtime generated.

usd_file_name: str | None

The name of the generated usd file. Defaults to None.

If None, it is resolved from the asset file name. For example, if the asset file name is "my_asset.urdf", then the generated USD file name is "my_asset.usd".

If the providing file name does not end with “.usd” or “.usda”, then the extension “.usd” is appended to the file name.

force_usd_conversion: bool

Force the conversion of the asset file to usd. Defaults to False.

If True, then the USD file is always generated. It will overwrite the existing USD file if it exists.

make_instanceable: bool

Make the generated USD file instanceable. Defaults to True.

备注

Instancing helps reduce the memory footprint of the asset when multiple copies of the asset are used in the scene. For more information, please check the USD documentation on scene-graph instancing.

import_inertia_tensor: bool

Import the inertia tensor from urdf. Defaults to True.

If the "inertial" tag is missing, then it is imported as an identity.

fix_base: bool

Create a fix joint to the root/base link.

merge_fixed_joints: bool

Consolidate links that are connected by fixed joints. Defaults to False.

self_collision: bool

Activate self-collisions between links of the articulation. Defaults to False.

default_drive_type: Literal['none', 'position', 'velocity']

The drive type used for joints. Defaults to "none".

The drive type dictates the loaded joint PD gains and USD attributes for joint control:

• "none": The joint stiffness and damping are set to 0.0.

• "position": The joint stiff and damping are set based on the URDF file or provided configuration.

• "velocity": The joint stiff is set to zero and damping is based on the URDF file or provided configuration.

override_joint_dynamics: bool

Override the joint dynamics parsed from the URDF file. Defaults to False.

default_drive_stiffness: float

The default stiffness of the joint drive. Defaults to 0.0.

default_drive_damping: float

The default damping of the joint drive. Defaults to 0.0.

备注

If override_joint_dynamics is True, the values parsed from the URDF joint tag "<dynamics><damping>" are used. Otherwise, it is overridden by the configured value.

link_density: float

Default density used for links. Defaults to 0.

This setting is only effective if "inertial" properties are missing in the URDF.

convex_decompose_mesh: bool

Decompose a convex mesh into smaller pieces for a closer fit. Defaults to False.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

mass_props: schemas.MassPropertiesCfg | None

Mass properties.

deformable_props: schemas.DeformableBodyPropertiesCfg | None

Deformable body properties.

rigid_props: schemas.RigidBodyPropertiesCfg | None

Rigid body properties.

For making a rigid object static, set the schemas.RigidBodyPropertiesCfg.kinematic_enabled as True. This will make the object static and will not be affected by gravity or other forces.

collision_props: schemas.CollisionPropertiesCfg | None

Properties to apply to all collision meshes.

activate_contact_sensors: bool

Activate contact reporting on all rigid bodies. Defaults to False.

This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.

scale: tuple[float, float, float] | None

Scale of the asset. Defaults to None, in which case the scale is not modified.

articulation_props: schemas.ArticulationRootPropertiesCfg | None

Properties to apply to the articulation root.

fixed_tendons_props: schemas.FixedTendonsPropertiesCfg | None

Properties to apply to the fixed tendons (if any).

joint_drive_props: schemas.JointDrivePropertiesCfg | None

Properties to apply to a joint.

visual_material_path: str

Path to the visual material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if visual_material is not None.

visual_material: materials.VisualMaterialCfg | None

Visual material properties to override the visual material properties in the URDF file.

备注

If None, then no visual material will be added.

omni.isaac.lab.sim.spawners.from_files.spawn_from_usd(prim_path: str, cfg: from_files_cfg.UsdFileCfg, translation: tuple[float, float, float] | None = None, orientation: tuple[float, float, float, float] | None = None) → Usd.Prim

Spawn an asset from a USD file and override the settings with the given config.

In the case of a USD file, the asset is spawned at the default prim specified in the USD file. If a default prim is not specified, then the asset is spawned at the root prim.

In case a prim already exists at the given prim path, then the function does not create a new prim or throw an error that the prim already exists. Instead, it just takes the existing prim and overrides the settings with the given config.

备注

This function is decorated with clone() that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression.

参数:

• prim_path – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths.

• cfg – The configuration instance.

• translation – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case the translation specified in the USD file is used.

• orientation – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None, in which case the orientation specified in the USD file is used.

返回:

The prim of the spawned asset.

抛出:

FileNotFoundError – If the USD file does not exist at the given path.

class omni.isaac.lab.sim.spawners.from_files.UsdFileCfg

USD file to spawn asset from.

USD files are imported directly into the scene. However, given their complexity, there are various different operations that can be performed on them. For example, selecting variants, applying materials, or modifying existing properties.

To prevent the explosion of configuration parameters, the available operations are limited to the most common ones. These include:

• Selecting variants: This is done by specifying the variants parameter.

• Creating and applying materials: This is done by specifying the visual_material and physics_material parameters.

• Modifying existing properties: This is done by specifying the respective properties in the configuration class. For instance, to modify the scale of the imported prim, set the scale parameter.

See spawn_from_usd() for more information.

备注

The configuration parameters include various properties. If not None, these properties are modified on the spawned prim in a nested manner.

If they are set to a value, then the properties are modified on the spawned prim in a nested manner. This is done by calling the respective function with the specified properties.

Attributes:

usd_path	Path to the USD file to spawn asset from.
variants	Variants to select from in the input USD file.
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
mass_props	Mass properties.
deformable_props	Deformable body properties.
rigid_props	Rigid body properties.
collision_props	Properties to apply to all collision meshes.
activate_contact_sensors	Activate contact reporting on all rigid bodies.
scale	Scale of the asset.
articulation_props	Properties to apply to the articulation root.
fixed_tendons_props	Properties to apply to the fixed tendons (if any).
joint_drive_props	Properties to apply to a joint.
visual_material_path	Path to the visual material to use for the prim.
visual_material	Visual material properties to override the visual material properties in the URDF file.

usd_path: str

Path to the USD file to spawn asset from.

variants: object | dict[str, str] | None

Variants to select from in the input USD file. Defaults to None, in which case no variants are applied.

This can either be a configclass object, in which case each attribute is used as a variant set name and its specified value, or a dictionary mapping between the two. Please check the select_usd_variants() function for more information.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

mass_props: schemas.MassPropertiesCfg | None

Mass properties.

deformable_props: schemas.DeformableBodyPropertiesCfg | None

Deformable body properties.

rigid_props: schemas.RigidBodyPropertiesCfg | None

Rigid body properties.

For making a rigid object static, set the schemas.RigidBodyPropertiesCfg.kinematic_enabled as True. This will make the object static and will not be affected by gravity or other forces.

collision_props: schemas.CollisionPropertiesCfg | None

Properties to apply to all collision meshes.

activate_contact_sensors: bool

Activate contact reporting on all rigid bodies. Defaults to False.

This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.

scale: tuple[float, float, float] | None

Scale of the asset. Defaults to None, in which case the scale is not modified.

articulation_props: schemas.ArticulationRootPropertiesCfg | None

Properties to apply to the articulation root.

fixed_tendons_props: schemas.FixedTendonsPropertiesCfg | None

Properties to apply to the fixed tendons (if any).

joint_drive_props: schemas.JointDrivePropertiesCfg | None

Properties to apply to a joint.

visual_material_path: str

Path to the visual material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if visual_material is not None.

visual_material: materials.VisualMaterialCfg | None

Visual material properties to override the visual material properties in the URDF file.

备注

If None, then no visual material will be added.

omni.isaac.lab.sim.spawners.from_files.spawn_ground_plane(prim_path: str, cfg: from_files_cfg.GroundPlaneCfg, translation: tuple[float, float, float] | None = None, orientation: tuple[float, float, float, float] | None = None) → Usd.Prim

Spawns a ground plane into the scene.

This function loads the USD file containing the grid plane asset from Isaac Sim. It may not work with other assets for ground planes. In those cases, please use the spawn_from_usd function.

备注

This function takes keyword arguments to be compatible with other spawners. However, it does not use any of the kwargs.

参数:

• prim_path – The path to spawn the asset at.

• cfg – The configuration instance.

• translation – The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case the translation specified in the USD file is used.

• orientation – The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None, in which case the orientation specified in the USD file is used.

返回:

The prim of the spawned asset.

抛出:

ValueError – If the prim path already exists.

class omni.isaac.lab.sim.spawners.from_files.GroundPlaneCfg

Create a ground plane prim.

This uses the USD for the standard grid-world ground plane from Isaac Sim by default.

Attributes:

visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
usd_path	Path to the USD file to spawn asset from.
color	The color of the ground plane.
size	The size of the ground plane.
physics_material	Physics material properties.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

usd_path: str

Path to the USD file to spawn asset from. Defaults to the grid-world ground plane.

color: tuple[float, float, float] | None

The color of the ground plane. Defaults to (0.0, 0.0, 0.0).

If None, then the color remains unchanged.

size: tuple[float, float]

The size of the ground plane. Defaults to 100 m x 100 m.

physics_material: RigidBodyMaterialCfg

Physics material properties. Defaults to the default rigid body material.

Materials

Sub-module for spawners that spawn USD-based and PhysX-based materials.

Materials are used to define the appearance and physical properties of objects in the simulation. In Omniverse, they are defined using NVIDIA’s Material Definition Language (MDL). MDL is based on the physically-based rendering (PBR) model, which is a set of equations that describe how light interacts with a surface. The PBR model is used to create realistic-looking materials.

While MDL is primarily used for defining the appearance of objects, it can be extended to define the physical properties of objects. For example, the friction and restitution coefficients of a rubber material. A physics material can be assigned to a physics object to define its physical properties. There are different kinds of physics materials, such as rigid body material, deformable material, and fluid material.

In order to apply a material to an object, we “bind” the geometry of the object to the material. For this, we use the USD Material Binding API. The material binding API takes in the path to the geometry and the path to the material, and binds them together.

For physics material, the material is bound to the physics object with the ‘physics’ purpose. When parsing physics material properties on an object, the following priority is used:

1. Material binding with a ‘physics’ purpose (physics material)

2. Material binding with no purpose (visual material)

3. Material binding with a ‘physics’ purpose on the Physics Scene prim.

4. Default values of material properties inside PhysX.

Usage:

import omni.isaac.core.utils.prims as prim_utils

import omni.isaac.lab.sim as sim_utils

# create a visual material
visual_material_cfg = sim_utils.GlassMdlCfg(glass_ior=1.0, thin_walled=True)
visual_material_cfg.func("/World/Looks/glassMaterial", visual_material_cfg)

# create a mesh prim
cube_cfg = sim_utils.CubeCfg(size=[1.0, 1.0, 1.0])
cube_cfg.func("/World/Primitives/Cube", cube_cfg)

# bind the cube to the visual material
sim_utils.bind_visual_material("/World/Primitives/Cube", "/World/Looks/glassMaterial")

Classes

VisualMaterialCfg	Configuration parameters for creating a visual material.
PreviewSurfaceCfg	Configuration parameters for creating a preview surface.
MdlFileCfg	Configuration parameters for loading an MDL material from a file.
GlassMdlCfg	Configuration parameters for loading a glass MDL material.
PhysicsMaterialCfg	Configuration parameters for creating a physics material.
RigidBodyMaterialCfg	Physics material parameters for rigid bodies.
DeformableBodyMaterialCfg	Physics material parameters for deformable bodies.

Visual Materials

class omni.isaac.lab.sim.spawners.materials.VisualMaterialCfg

Configuration parameters for creating a visual material.

omni.isaac.lab.sim.spawners.materials.spawn_preview_surface(prim_path: str, cfg: visual_materials_cfg.PreviewSurfaceCfg) → Usd.Prim

Create a preview surface prim and override the settings with the given config.

A preview surface is a physically-based surface that handles simple shaders while supporting both specular and metallic workflows. All color inputs are in linear color space (RGB). For more information, see the documentation.

The function calls the USD command CreatePreviewSurfaceMaterialPrim to create the prim.

备注

This function is decorated with clone() that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression.

参数:

• prim_path – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths.

• cfg – The configuration instance.

返回:

The created prim.

抛出:

ValueError – If a prim already exists at the given path.

class omni.isaac.lab.sim.spawners.materials.PreviewSurfaceCfg

Configuration parameters for creating a preview surface.

See spawn_preview_surface() for more information.

Attributes:

diffuse_color	The RGB diffusion color.
emissive_color	The RGB emission component of the surface.
roughness	The roughness for specular lobe.
metallic	The metallic component.
opacity	The opacity of the surface.

diffuse_color: tuple[float, float, float]

The RGB diffusion color. This is the base color of the surface. Defaults to a dark gray.

emissive_color: tuple[float, float, float]

The RGB emission component of the surface. Defaults to black.

roughness: float

The roughness for specular lobe. Ranges from 0 (smooth) to 1 (rough). Defaults to 0.5.

metallic: float

The metallic component. Ranges from 0 (dielectric) to 1 (metal). Defaults to 0.

opacity: float

The opacity of the surface. Ranges from 0 (transparent) to 1 (opaque). Defaults to 1.

备注

Opacity only affects the surface’s appearance during interactive rendering.

omni.isaac.lab.sim.spawners.materials.spawn_from_mdl_file(prim_path: str, cfg: visual_materials_cfg.MdlMaterialCfg) → Usd.Prim

Load a material from its MDL file and override the settings with the given config.

NVIDIA’s Material Definition Language (MDL) is a language for defining physically-based materials. The MDL file format is a binary format that can be loaded by Omniverse and other applications such as Adobe Substance Designer. To learn more about MDL, see the documentation.

The function calls the USD command CreateMdlMaterialPrim to create the prim.

备注

This function is decorated with clone() that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression.

参数:

• prim_path – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths.

• cfg – The configuration instance.

返回:

The created prim.

抛出:

ValueError – If a prim already exists at the given path.

class omni.isaac.lab.sim.spawners.materials.MdlFileCfg

Configuration parameters for loading an MDL material from a file.

See spawn_from_mdl_file() for more information.

Attributes:

mdl_path	The path to the MDL material.
project_uvw	Whether to project the UVW coordinates of the material.
albedo_brightness	Multiplier for the diffuse color of the material.
texture_scale	The scale of the texture.

mdl_path: str

The path to the MDL material.

NVIDIA Omniverse provides various MDL materials in the NVIDIA Nucleus. To use these materials, you can set the path of the material in the nucleus directory using the {NVIDIA_NUCLEUS_DIR} variable. This is internally resolved to the path of the NVIDIA Nucleus directory on the host machine through the attribute omni.isaac.lab.utils.assets.NVIDIA_NUCLEUS_DIR.

For example, to use the “Aluminum_Anodized” material, you can set the path to: {NVIDIA_NUCLEUS_DIR}/Materials/Base/Metals/Aluminum_Anodized.mdl.

project_uvw: bool | None

Whether to project the UVW coordinates of the material. Defaults to None.

If None, then the default setting in the MDL material will be used.

albedo_brightness: float | None

Multiplier for the diffuse color of the material. Defaults to None.

If None, then the default setting in the MDL material will be used.

texture_scale: tuple[float, float] | None

The scale of the texture. Defaults to None.

If None, then the default setting in the MDL material will be used.

class omni.isaac.lab.sim.spawners.materials.GlassMdlCfg

Configuration parameters for loading a glass MDL material.

This is a convenience class for loading a glass MDL material. For more information on glass materials, see the documentation.

备注

The default values are taken from the glass material in the NVIDIA Nucleus.

Attributes:

mdl_path	The path to the MDL material.
glass_color	The RGB color or tint of the glass.
frosting_roughness	The amount of reflectivity of the surface.
thin_walled	Whether to perform thin-walled refraction.
glass_ior	The incidence of refraction to control how much light is bent when passing through the glass.

mdl_path: str

The path to the MDL material. Defaults to the glass material in the NVIDIA Nucleus.

glass_color: tuple[float, float, float]

The RGB color or tint of the glass. Defaults to white.

frosting_roughness: float

The amount of reflectivity of the surface. Ranges from 0 (perfectly clear) to 1 (frosted). Defaults to 0.

thin_walled: bool

Whether to perform thin-walled refraction. Defaults to False.

glass_ior: float

The incidence of refraction to control how much light is bent when passing through the glass. Defaults to 1.491, which is the IOR of glass.

Physical Materials

class omni.isaac.lab.sim.spawners.materials.PhysicsMaterialCfg

Configuration parameters for creating a physics material.

Physics material are PhysX schemas that can be applied to a USD material prim to define the physical properties related to the material. For example, the friction coefficient, restitution coefficient, etc. For more information on physics material, please refer to the PhysX documentation.

omni.isaac.lab.sim.spawners.materials.spawn_rigid_body_material(prim_path: str, cfg: physics_materials_cfg.RigidBodyMaterialCfg) → Usd.Prim

Create material with rigid-body physics properties.

Rigid body materials are used to define the physical properties to meshes of a rigid body. These include the friction, restitution, and their respective combination modes. For more information on rigid body material, please refer to the documentation on PxMaterial.

备注

This function is decorated with clone() that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression.

参数:

• prim_path – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths.

• cfg – The configuration for the physics material.

返回:

The spawned rigid body material prim.

抛出:

ValueError – When a prim already exists at the specified prim path and is not a material.

class omni.isaac.lab.sim.spawners.materials.RigidBodyMaterialCfg

Physics material parameters for rigid bodies.

See spawn_rigid_body_material() for more information.

备注

The default values are the default values used by PhysX 5.

Attributes:

static_friction	The static friction coefficient.
dynamic_friction	The dynamic friction coefficient.
restitution	The restitution coefficient.
improve_patch_friction	Whether to enable patch friction.
friction_combine_mode	Determines the way friction will be combined during collisions.
restitution_combine_mode	Determines the way restitution coefficient will be combined during collisions.
compliant_contact_stiffness	Spring stiffness for a compliant contact model using implicit springs.
compliant_contact_damping	Damping coefficient for a compliant contact model using implicit springs.

static_friction: float

The static friction coefficient. Defaults to 0.5.

dynamic_friction: float

The dynamic friction coefficient. Defaults to 0.5.

restitution: float

The restitution coefficient. Defaults to 0.0.

improve_patch_friction: bool

Whether to enable patch friction. Defaults to True.

friction_combine_mode: Literal['average', 'min', 'multiply', 'max']

Determines the way friction will be combined during collisions. Defaults to “average”.

注意

When two physics materials with different combine modes collide, the combine mode with the higher priority will be used. The priority order is provided here.

restitution_combine_mode: Literal['average', 'min', 'multiply', 'max']

Determines the way restitution coefficient will be combined during collisions. Defaults to “average”.

注意

When two physics materials with different combine modes collide, the combine mode with the higher priority will be used. The priority order is provided here.

compliant_contact_stiffness: float

Spring stiffness for a compliant contact model using implicit springs. Defaults to 0.0.

A higher stiffness results in behavior closer to a rigid contact. The compliant contact model is only enabled if the stiffness is larger than 0.

compliant_contact_damping: float

Damping coefficient for a compliant contact model using implicit springs. Defaults to 0.0.

Irrelevant if compliant contacts are disabled when compliant_contact_stiffness is set to zero and rigid contacts are active.

omni.isaac.lab.sim.spawners.materials.spawn_deformable_body_material(prim_path: str, cfg: physics_materials_cfg.DeformableBodyMaterialCfg) → Usd.Prim

Create material with deformable-body physics properties.

Deformable body materials are used to define the physical properties to meshes of a deformable body. These include the friction and deformable body properties. For more information on deformable body material, please refer to the documentation on PxFEMSoftBodyMaterial.

备注

This function is decorated with clone() that resolves prim path into list of paths if the input prim path is a regex pattern. This is done to support spawning multiple assets from a single and cloning the USD prim at the given path expression.

参数:

• prim_path – The prim path or pattern to spawn the asset at. If the prim path is a regex pattern, then the asset is spawned at all the matching prim paths.

• cfg – The configuration for the physics material.

返回:

The spawned deformable body material prim.

抛出:

ValueError – When a prim already exists at the specified prim path and is not a material.

class omni.isaac.lab.sim.spawners.materials.DeformableBodyMaterialCfg

Physics material parameters for deformable bodies.

See spawn_deformable_body_material() for more information.

备注

The default values are the default values used by PhysX 5.

Attributes:

density	The material density.
dynamic_friction	The dynamic friction.
youngs_modulus	The Young's modulus, which defines the body's stiffness.
poissons_ratio	The Poisson's ratio which defines the body's volume preservation.
elasticity_damping	The elasticity damping for the deformable material.
damping_scale	The damping scale for the deformable material.

density: float | None

The material density. Defaults to None, in which case the simulation decides the default density.

dynamic_friction: float

The dynamic friction. Defaults to 0.25.

youngs_modulus: float

The Young’s modulus, which defines the body’s stiffness. Defaults to 50000000.0.

The Young’s modulus is a measure of the material’s ability to deform under stress. It is measured in Pascals (Pa).

poissons_ratio: float

The Poisson’s ratio which defines the body’s volume preservation. Defaults to 0.45.

The Poisson’s ratio is a measure of the material’s ability to expand in the lateral direction when compressed in the axial direction. It is a dimensionless number between 0 and 0.5. Using a value of 0.5 will make the material incompressible.

elasticity_damping: float

The elasticity damping for the deformable material. Defaults to 0.005.

damping_scale: float

The damping scale for the deformable material. Defaults to 1.0.

A scale of 1 corresponds to default damping. A value of 0 will only apply damping to certain motions leading to special effects that look similar to water filled soft bodies.

Wrappers

Sub-module for wrapping spawner configurations.

Unlike the other spawner modules, this module provides a way to wrap multiple spawner configurations into a single configuration. This is useful when the user wants to spawn multiple assets based on different configurations.

Classes

MultiAssetSpawnerCfg	Configuration parameters for loading multiple assets from their individual configurations.
MultiUsdFileCfg	Configuration parameters for loading multiple USD files.

omni.isaac.lab.sim.spawners.wrappers.spawn_multi_asset(prim_path: str, cfg: wrappers_cfg.MultiAssetSpawnerCfg, translation: tuple[float, float, float] | None = None, orientation: tuple[float, float, float, float] | None = None) → Usd.Prim

Spawn multiple assets based on the provided configurations.

This function spawns multiple assets based on the provided configurations. The assets are spawned in the order they are provided in the list. If the random_choice parameter is set to True, a random asset configuration is selected for each spawn.

参数:

• prim_path – The prim path to spawn the assets.

• cfg – The configuration for spawning the assets.

• translation – The translation of the spawned assets. Default is None.

• orientation – The orientation of the spawned assets in (w, x, y, z) order. Default is None.

返回:

The created prim at the first prim path.

class omni.isaac.lab.sim.spawners.wrappers.MultiAssetSpawnerCfg

Configuration parameters for loading multiple assets from their individual configurations.

Specifying values for any properties at the configuration level will override the settings of individual assets’ configuration. For instance if the attribute MultiAssetSpawnerCfg.mass_props is specified, its value will overwrite the values of the mass properties in each configuration inside assets_cfg (wherever applicable). This is done to simplify configuring similar properties globally. By default, all properties are set to None.

The following is an exception to the above:

• visible: This parameter is ignored. Its value for the individual assets is used.

• semantic_tags: If specified, it will be appended to each individual asset’s semantic tags.

Attributes:

assets_cfg	List of asset configurations to spawn.
random_choice	Whether to randomly select an asset configuration.
visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
mass_props	Mass properties.
deformable_props	Deformable body properties.
rigid_props	Rigid body properties.
collision_props	Properties to apply to all collision meshes.
activate_contact_sensors	Activate contact reporting on all rigid bodies.

assets_cfg: list[omni.isaac.lab.sim.spawners.spawner_cfg.SpawnerCfg]

List of asset configurations to spawn.

random_choice: bool

Whether to randomly select an asset configuration. Default is True.

If False, the asset configurations are spawned in the order they are provided in the list. If True, a random asset configuration is selected for each spawn.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

mass_props: schemas.MassPropertiesCfg | None

Mass properties.

deformable_props: schemas.DeformableBodyPropertiesCfg | None

Deformable body properties.

rigid_props: schemas.RigidBodyPropertiesCfg | None

Rigid body properties.

For making a rigid object static, set the schemas.RigidBodyPropertiesCfg.kinematic_enabled as True. This will make the object static and will not be affected by gravity or other forces.

collision_props: schemas.CollisionPropertiesCfg | None

Properties to apply to all collision meshes.

activate_contact_sensors: bool

Activate contact reporting on all rigid bodies. Defaults to False.

This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.

omni.isaac.lab.sim.spawners.wrappers.spawn_multi_usd_file(prim_path: str, cfg: wrappers_cfg.MultiUsdFileCfg, translation: tuple[float, float, float] | None = None, orientation: tuple[float, float, float, float] | None = None) → Usd.Prim

Spawn multiple USD files based on the provided configurations.

This function creates configuration instances corresponding the individual USD files and calls the spawn_multi_asset() method to spawn them into the scene.

参数:

• prim_path – The prim path to spawn the assets.

• cfg – The configuration for spawning the assets.

• translation – The translation of the spawned assets. Default is None.

• orientation – The orientation of the spawned assets in (w, x, y, z) order. Default is None.

返回:

The created prim at the first prim path.

class omni.isaac.lab.sim.spawners.wrappers.MultiUsdFileCfg

Configuration parameters for loading multiple USD files.

Specifying values for any properties at the configuration level is applied to all the assets imported from their USD files.

小技巧

It is recommended that all the USD based assets follow a similar prim-hierarchy.

Attributes:

visible	Whether the spawned asset should be visible.
semantic_tags	List of semantic tags to add to the spawned asset.
copy_from_source	Whether to copy the asset from the source prim or inherit it.
mass_props	Mass properties.
deformable_props	Deformable body properties.
rigid_props	Rigid body properties.
collision_props	Properties to apply to all collision meshes.
activate_contact_sensors	Activate contact reporting on all rigid bodies.
scale	Scale of the asset.
articulation_props	Properties to apply to the articulation root.
fixed_tendons_props	Properties to apply to the fixed tendons (if any).
joint_drive_props	Properties to apply to a joint.
visual_material_path	Path to the visual material to use for the prim.
visual_material	Visual material properties to override the visual material properties in the URDF file.
variants	Variants to select from in the input USD file.
usd_path	Path or a list of paths to the USD files to spawn asset from.
random_choice	Whether to randomly select an asset configuration.

visible: bool

Whether the spawned asset should be visible. Defaults to True.

semantic_tags: list[tuple[str, str]] | None

List of semantic tags to add to the spawned asset. Defaults to None, which means no semantic tags will be added.

The semantic tags follow the Replicator Semantic tagging system. Each tag is a tuple of the form (type, data), where type is the type of the tag and data is the semantic label associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic tag would be [("class", "avocado")].

You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a spawned asset in the class avocado and the color green, the semantic tags would be [("class", "avocado"), ("color", "green")].

参见

For more information on the semantics filter, see the documentation for the semantics schema editor.

copy_from_source: bool

Whether to copy the asset from the source prim or inherit it. Defaults to True.

This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims.

mass_props: schemas.MassPropertiesCfg | None

Mass properties.

deformable_props: schemas.DeformableBodyPropertiesCfg | None

Deformable body properties.

rigid_props: schemas.RigidBodyPropertiesCfg | None

Rigid body properties.

For making a rigid object static, set the schemas.RigidBodyPropertiesCfg.kinematic_enabled as True. This will make the object static and will not be affected by gravity or other forces.

collision_props: schemas.CollisionPropertiesCfg | None

Properties to apply to all collision meshes.

activate_contact_sensors: bool

Activate contact reporting on all rigid bodies. Defaults to False.

This adds the PhysxContactReporter API to all the rigid bodies in the given prim path and its children.

scale: tuple[float, float, float] | None

Scale of the asset. Defaults to None, in which case the scale is not modified.

articulation_props: schemas.ArticulationRootPropertiesCfg | None

Properties to apply to the articulation root.

fixed_tendons_props: schemas.FixedTendonsPropertiesCfg | None

Properties to apply to the fixed tendons (if any).

joint_drive_props: schemas.JointDrivePropertiesCfg | None

Properties to apply to a joint.

visual_material_path: str

Path to the visual material to use for the prim. Defaults to “material”.

If the path is relative, then it will be relative to the prim’s path. This parameter is ignored if visual_material is not None.

visual_material: materials.VisualMaterialCfg | None

Visual material properties to override the visual material properties in the URDF file.

备注

If None, then no visual material will be added.

variants: object | dict[str, str] | None

Variants to select from in the input USD file. Defaults to None, in which case no variants are applied.

This can either be a configclass object, in which case each attribute is used as a variant set name and its specified value, or a dictionary mapping between the two. Please check the select_usd_variants() function for more information.

usd_path: str | list[str]

Path or a list of paths to the USD files to spawn asset from.

random_choice: bool

Whether to randomly select an asset configuration. Default is True.

If False, the asset configurations are spawned in the order they are provided in the list. If True, a random asset configuration is selected for each spawn.