synthesizers.synth_workers.assets_synths.ov_assets_synthesizer module

Defines OV Assets Synthesizer class which is responsible for providing Omniverse 3D assets.

class synthesizers.synth_workers.assets_synths.ov_assets_synthesizer.OVAssetsSynthesizer(class_name: str, scenario_owner: str, usds: List[str], assets_num_to_generate: int)

Bases: BaseSynthesizer

Defines OV Assets Synthesizer class which is responsible for providing Omniverse 3D assets.

!!!!! EACH ASSET SYNTHESIZER HAS TO IMPLEMENT <assets_num_to_generate> INPUT ARGUMENT IN <__init__> interface!!!

assets_num_to_generate

Number of assets to add to be added to the scene.

Type:

int

_stage

Current Isaac Sim stage.

Type:

Any

_created_assets

List of added prims to the scene from the USD paths pool.

Type:

List[og.Node]

_created_assets_paths

List of assets prim paths.

Type:

List[str]

__call__(camera_setup: List[str]) → None

Called by Replicator to make changes in the scene.

Parameters:

camera_setup (List[str]) – List of camera primitive paths in for the camera setup. It can contain more than one camera, e.g. stereo camera or more complicated camera rigs.

__init__(class_name: str, scenario_owner: str, usds: List[str], assets_num_to_generate: int) → None

Parameters:

• class_name (str) – Synthesizer name given by user in the config.

• scenario_owner (str) – Name of owning Scenario.

• usds (List[str]) – List of USD assets pool, from which assets added to the scene are sampled.

• assets_num_to_generate (int) – Number of assets to add to the scene from the pool.

get_prims() → List[str]

Returns paths in stage to Synthesizer’s created prims.

Returns:

List of stage prim paths.

Return type:

List[str]

register_synthesizers_prims(synthesizer_workers: Dict[str, BaseSynthesizer]) → None

Allows an access to other Synthesizer’s prims if needed.

Parameters:

synthesizer_workers (Dict[str, BaseSynthesizer]) – Dict of all Synthesizers.

Returns (None):