synthesizers.synth_workers.ground_synthesizer module

Defines Ground Synthesizer class which is responsible for ground plane synthesis.

class synthesizers.synth_workers.ground_synthesizer.GroundSynthesizer(class_name: str, scenario_owner: str, position: List[int], semantics: str, materials: Dict[str, List[str]], scale: List[float])

Bases: BaseSynthesizer

Defines Ground Synthesizer class which is responsible for ground plane synthesis.

_stage

Current Isaac Sim stage.

Type:

Any

_stage_plane_path

Prim path of the created ground.

Type:

str

_plane_node

Plane primitive as a OmniGraph Node representation.

Type:

og.Node

materials_list

List of material Nucelus paths.

Type:

List[str]

__call__(camera_setup: List[str]) → None

With this magic function, a command is executed.

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, position: List[int], semantics: str, materials: Dict[str, List[str]], scale: List[float]) → None

Parameters:

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

• scenario_owner (str) – Name of owning Scenario.

• position (List[int]) – Location of the ground - X, Y, Z coordinates.

• semantics (str) – Semantic class for the Synthesizer’s primitives.

• materials (Dict[str, List[str]]) – Dictionary of materials pool, from which a ramdom selection is taken.

• scale (List[float]) – X, Y, Z ground scale.

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):