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Public API for module isaacsim.asset.importer.utils:#

Classes#

  • class PhysxAttr(Enum)

    • JOINT_ARMATURE: Tuple

    • JOINT_FRICTION: Tuple

    • JOINT_MAX_VELOCITY: Tuple

    • ARTICULATION_SELF_COLLISION: Tuple

    • [property] def name(self) -> str

    • [property] def type(self) -> Sdf.ValueTypeName

  • class PhysxMimicAttr(Enum)

    • GEARING: Tuple

    • OFFSET: Tuple

    • REFERENCE_JOINT_AXIS: Tuple

    • [property] def type(self) -> Sdf.ValueTypeName

    • def format(self, axis: str) -> str

  • class PhysxMimicRel(Enum)

    • REFERENCE_JOINT: str

    • def format(self, axis: str) -> str

  • class PhysxSchema(str, Enum)

    • JOINT_API: str

    • ARTICULATION_API: str

    • MIMIC_JOINT_API: str

    • JOINT_STATE_API: str

Functions#

  • def apply_fix_base(stage: Usd.Stage)

  • def apply_floating_base(stage: Usd.Stage)

  • def fix_articulation_root_for_fixed_base(stage: Usd.Stage) -> int

  • def apply_link_density(stage: Usd.Stage, density: float)

  • def apply_joint_drives(stage: Usd.Stage, drive_type: str | dict[str, str] | None = None, target_type: str | dict[str, str] | None = None, stiffness: float | dict[str, float] | None = None, damping: float | dict[str, float] | None = None)

  • def apply_mjc_actuator_gains(stage: Usd.Stage, gain_type: str | None, bias_type: str | None, gain_prm: list[float] | None, bias_prm: list[float] | None) -> int

  • def collision_from_visuals(stage: Usd.Stage, collision_type: str) -> int

  • def enable_self_collision(usd_stage: Usd.Stage, enabled: bool = True) -> int

  • def run_asset_transformer_profile(input_stage_path: str, output_package_root: str, profile_json_path: str)

  • def delete_scope(stage: Usd.Stage, prim_path: str)

  • def add_joint_schemas(stage: Usd.Stage)

  • def add_rigid_body_schemas(stage: Usd.Stage)

  • def remove_custom_scopes(stage: Usd.Stage)

  • def resolve_unique_path(path: str) -> str

  • def parse_robot_name(path: str) -> str

  • def create_robot_schema(stage: Usd.Stage, robot_type: str = ‘Default’) -> tuple[Usd.Prim | None, Usd.Prim | None]

  • def clean_mesh_operation(stage: Usd.Stage)

  • def generate_mesh_uv_normals_operation(stage: Usd.Stage)

  • def merge_meshes_operation(stage: Usd.Stage) -> int

  • def merge_mesh(stage: Usd.Stage, meshes: list[str])

  • def save_stage(stage: Usd.Stage, usd_path: str) -> bool

  • def open_stage(usd_path: str) -> Usd.Stage

  • def get_stage_id(stage: Usd.Stage) -> int

Variables#

  • USD_GEOMETRY_TYPES: Set

  • MESH_APPROXIMATION_MAP: Dict

  • PHYSICS_AXIS_MAP: Dict

  • ROBOT_TYPE_TOKENS: List

Public API for module isaacsim.asset.importer.utils.impl.asset_utils:#

Functions#

  • def apply_fix_base(stage: Usd.Stage)

  • def apply_floating_base(stage: Usd.Stage)

  • def fix_articulation_root_for_fixed_base(stage: Usd.Stage) -> int

  • def apply_link_density(stage: Usd.Stage, density: float)

  • def apply_joint_drives(stage: Usd.Stage, drive_type: str | dict[str, str] | None = None, target_type: str | dict[str, str] | None = None, stiffness: float | dict[str, float] | None = None, damping: float | dict[str, float] | None = None)

  • def apply_mjc_actuator_gains(stage: Usd.Stage, gain_type: str | None, bias_type: str | None, gain_prm: list[float] | None, bias_prm: list[float] | None) -> int

Public API for module isaacsim.asset.importer.utils.impl.importer_utils:#

Classes#

  • class PhysxAttr(Enum)

    • JOINT_ARMATURE: Tuple

    • JOINT_FRICTION: Tuple

    • JOINT_MAX_VELOCITY: Tuple

    • ARTICULATION_SELF_COLLISION: Tuple

    • [property] def name(self) -> str

    • [property] def type(self) -> Sdf.ValueTypeName

  • class PhysxMimicAttr(Enum)

    • GEARING: Tuple

    • OFFSET: Tuple

    • REFERENCE_JOINT_AXIS: Tuple

    • [property] def type(self) -> Sdf.ValueTypeName

    • def format(self, axis: str) -> str

  • class PhysxMimicRel(Enum)

    • REFERENCE_JOINT: str

    • def format(self, axis: str) -> str

  • class PhysxSchema(str, Enum)

    • JOINT_API: str

    • ARTICULATION_API: str

    • MIMIC_JOINT_API: str

    • JOINT_STATE_API: str

Functions#

  • def collision_from_visuals(stage: Usd.Stage, collision_type: str) -> int

  • def enable_self_collision(usd_stage: Usd.Stage, enabled: bool = True) -> int

  • def run_asset_transformer_profile(input_stage_path: str, output_package_root: str, profile_json_path: str)

  • def delete_scope(stage: Usd.Stage, prim_path: str)

  • def add_joint_schemas(stage: Usd.Stage)

  • def add_rigid_body_schemas(stage: Usd.Stage)

  • def remove_custom_scopes(stage: Usd.Stage)

  • def resolve_unique_path(path: str) -> str

  • def parse_robot_name(path: str) -> str

  • def create_robot_schema(stage: Usd.Stage, robot_type: str = ‘Default’) -> tuple[Usd.Prim | None, Usd.Prim | None]

Variables#

  • USD_GEOMETRY_TYPES: Set

  • MESH_APPROXIMATION_MAP: Dict

  • PHYSICS_AXIS_MAP: Dict

  • ROBOT_TYPE_TOKENS: List

Public API for module isaacsim.asset.importer.utils.impl.merge_mesh_utils:#

Functions#

  • def clean_mesh_operation(stage: Usd.Stage)

  • def generate_mesh_uv_normals_operation(stage: Usd.Stage)

  • def merge_meshes_operation(stage: Usd.Stage) -> int

  • def merge_mesh(stage: Usd.Stage, meshes: list[str])

Public API for module isaacsim.asset.importer.utils.impl.physx_types:#

Classes#

  • class PhysxSchema(str, Enum)

    • JOINT_API: str

    • ARTICULATION_API: str

    • MIMIC_JOINT_API: str

    • JOINT_STATE_API: str

  • class PhysxAttr(Enum)

    • JOINT_ARMATURE: Tuple

    • JOINT_FRICTION: Tuple

    • JOINT_MAX_VELOCITY: Tuple

    • ARTICULATION_SELF_COLLISION: Tuple

    • [property] def name(self) -> str

    • [property] def type(self) -> Sdf.ValueTypeName

  • class PhysxMimicAttr(Enum)

    • GEARING: Tuple

    • OFFSET: Tuple

    • REFERENCE_JOINT_AXIS: Tuple

    • [property] def type(self) -> Sdf.ValueTypeName

    • def format(self, axis: str) -> str

  • class PhysxMimicRel(Enum)

    • REFERENCE_JOINT: str

    • def format(self, axis: str) -> str

Public API for module isaacsim.asset.importer.utils.impl.stage_utils:#

Functions#

  • def save_stage(stage: Usd.Stage, usd_path: str) -> bool

  • def open_stage(usd_path: str) -> Usd.Stage

  • def get_stage_id(stage: Usd.Stage) -> int