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Public API for module isaacsim.core.cloner:#

Classes#

  • class Cloner

    • def init(self, stage: Usd.Stage = None)

    • def define_base_env(self, base_env_path: str)

    • def generate_paths(self, root_path: str, num_paths: int) -> list[str]

    • def replicate_physics(self, source_prim_path: str, prim_paths: list, base_env_path: str, root_path: str, enable_env_ids: bool = False, clone_in_fabric: bool = False)

    • def disable_change_listener(self)

    • def enable_change_listener(self)

    • def clone(self, source_prim_path: str, prim_paths: List[str], positions: Union[np.ndarray, torch.Tensor] = None, orientations: Union[np.ndarray, torch.Tensor] = None, replicate_physics: bool = False, base_env_path: str = None, root_path: str = None, copy_from_source: bool = False, unregister_physics_replication: bool = False, enable_env_ids: bool = False, clone_in_fabric: bool = False)

    • def filter_collisions(self, physicsscene_path: str, collision_root_path: str, prim_paths: List[str], global_paths: List[str] = [])

  • class GridCloner(Cloner)

    • def init(self, spacing: float, num_per_row: int = -1, stage: Usd.Stage = None)

    • def get_clone_transforms(self, num_clones: int, position_offsets: np.ndarray = None, orientation_offsets: np.ndarray = None)

    • def clone(self, source_prim_path: str, prim_paths: List[str], position_offsets: np.ndarray = None, orientation_offsets: np.ndarray = None, replicate_physics: bool = False, base_env_path: str = None, root_path: str = None, copy_from_source: bool = False, enable_env_ids: bool = False, clone_in_fabric: bool = False)

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