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Public API for module isaacsim.core.experimental.materials:#

Classes#

  • class PhysicsMaterial(Prim, ABC)

    • def init(self, paths: str | list[str])

    • [property] def materials(self) -> list[UsdShade.Material]

    • static def are_of_type(paths: str | Usd.Prim | list[str | Usd.Prim]) -> wp.array

    • static def fetch_instances(paths: str | Usd.Prim | list[str | Usd.Prim]) -> list[PhysicsMaterial | None]

  • class RigidBodyMaterial(PhysicsMaterial)

    • def init(self, paths: str | list[str])

    • def set_friction_coefficients(self, static_frictions: float | list | np.ndarray | wp.array = None, dynamic_frictions: float | list | np.ndarray | wp.array = None)

    • def get_friction_coefficients(self) -> tuple[wp.array, wp.array]

    • def set_restitution_coefficients(self, restitutions: float | list | np.ndarray | wp.array)

    • def get_restitution_coefficients(self) -> wp.array

    • def set_densities(self, densities: float | list | np.ndarray | wp.array)

    • def get_densities(self) -> wp.array

    • def set_combine_modes(self, frictions: Literal[‘average’, ‘max’, ‘min’, ‘multiply’] | list[Literal[‘average’, ‘max’, ‘min’, ‘multiply’]] | None = None, restitutions: Literal[‘average’, ‘max’, ‘min’, ‘multiply’] | list[Literal[‘average’, ‘max’, ‘min’, ‘multiply’]] | None = None, dampings: Literal[‘average’, ‘max’, ‘min’, ‘multiply’] | list[Literal[‘average’, ‘max’, ‘min’, ‘multiply’]] | None = None)

    • def get_combine_modes(self) -> tuple[list[Literal[average, max, min, multiply]], list[Literal[average, max, min, multiply]], list[Literal[average, max, min, multiply]]]

    • def set_enabled_compliant_contacts(self, enabled: bool | list | np.ndarray | wp.array)

    • def get_enabled_compliant_contacts(self) -> wp.array

    • def set_compliant_contact_gains(self, stiffnesses: float | list | np.ndarray | wp.array | None = None, dampings: float | list | np.ndarray | wp.array | None = None)

    • def get_compliant_contact_gains(self) -> tuple[wp.array, wp.array]

    • static def are_of_type(paths: str | Usd.Prim | list[str | Usd.Prim]) -> wp.array

  • class SurfaceDeformableMaterial(PhysicsMaterial)

    • def init(self, paths: str | list[str])

    • def set_friction_coefficients(self, static_frictions: float | list | np.ndarray | wp.array = None, dynamic_frictions: float | list | np.ndarray | wp.array = None)

    • def get_friction_coefficients(self) -> tuple[wp.array, wp.array]

    • def set_youngs_moduli(self, youngs_moduli: float | list | np.ndarray | wp.array)

    • def get_youngs_moduli(self) -> wp.array

    • def set_poissons_ratios(self, poissons_ratios: float | list | np.ndarray | wp.array)

    • def get_poissons_ratios(self) -> wp.array

    • def set_densities(self, densities: float | list | np.ndarray | wp.array)

    • def get_densities(self) -> wp.array

    • def set_surface_thicknesses(self, surface_thicknesses: float | list | np.ndarray | wp.array)

    • def get_surface_thicknesses(self) -> wp.array

    • def set_surface_stiffnesses(self, stretch_stiffnesses: float | list | np.ndarray | wp.array | None = None, shear_stiffnesses: float | list | np.ndarray | wp.array | None = None, bend_stiffnesses: float | list | np.ndarray | wp.array | None = None)

    • def get_surface_stiffnesses(self) -> tuple[wp.array, wp.array, wp.array]

    • static def are_of_type(paths: str | Usd.Prim | list[str | Usd.Prim]) -> wp.array

  • class VolumeDeformableMaterial(PhysicsMaterial)

    • def init(self, paths: str | list[str])

    • def set_friction_coefficients(self, static_frictions: float | list | np.ndarray | wp.array = None, dynamic_frictions: float | list | np.ndarray | wp.array = None)

    • def get_friction_coefficients(self) -> tuple[wp.array, wp.array]

    • def set_youngs_moduli(self, youngs_moduli: float | list | np.ndarray | wp.array)

    • def get_youngs_moduli(self) -> wp.array

    • def set_poissons_ratios(self, poissons_ratios: float | list | np.ndarray | wp.array)

    • def get_poissons_ratios(self) -> wp.array

    • def set_densities(self, densities: float | list | np.ndarray | wp.array)

    • def get_densities(self) -> wp.array

    • static def are_of_type(paths: str | Usd.Prim | list[str | Usd.Prim]) -> wp.array

  • class OmniGlassMaterial(VisualMaterial)

    • def init(self, paths: str | list[str])

    • static def are_of_type(paths: str | Usd.Prim | list[str | Usd.Prim]) -> wp.array

  • class OmniPbrMaterial(VisualMaterial)

    • def init(self, paths: str | list[str])

    • static def are_of_type(paths: str | Usd.Prim | list[str | Usd.Prim]) -> wp.array

  • class PreviewSurfaceMaterial(VisualMaterial)

    • def init(self, paths: str | list[str])

    • static def are_of_type(paths: str | Usd.Prim | list[str | Usd.Prim]) -> wp.array

  • class VisualMaterial(Prim, ABC)

    • def init(self, paths: str | list[str])

    • [property] def materials(self) -> list[UsdShade.Material]

    • [property] def shaders(self) -> list[UsdShade.Shader]

    • def set_input_values(self, name: str, values: str | bool | int | float | list | np.ndarray | wp.array)

    • def get_input_values(self, name: str) -> wp.array

    • static def are_of_type(paths: str | Usd.Prim | list[str | Usd.Prim]) -> wp.array

    • static def fetch_instances(paths: str | Usd.Prim | list[str | Usd.Prim]) -> list[VisualMaterial | None]

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