Scene Synthesizer
Getting Started
GitHub Repository
Statement of Need
Installation
FAQ
Concepts
Assets
Scenes
Procedural Assets & Procedural Scenes
Object Arrangement
Articulations
Exporting
API
scene_synthesizer.scene
scene_synthesizer.assets
scene_synthesizer.procedural_assets
scene_synthesizer.procedural_scenes
scene_synthesizer.utils
PositionIterator2D
PositionIterator3D
PositionIteratorDisk
PositionIteratorFarthestPoint
PositionIteratorGaussian
PositionIteratorGrid
PositionIteratorList
PositionIteratorPoissonDisk
PositionIteratorUniform
PositionIteratorUniform3D
above_and_aligned_right_back
add_extents_to_trimesh_metadata
add_filename_to_trimesh_metadata
add_node_to_scene
adjust_color
append_scenes
center_mass
collision_manager_get_transforms
collision_manager_set_transforms
collision_manager_transform
construct_obj_collision_manager
cq_to_trimesh
create_torus
create_yourdfpy_scene
cycle_list
distribute_center_mass
forward_kinematics
get_mass_properties
get_random_filename
get_reference_frame
get_reference_frame()
get_transform
get_watertight_trimesh_geometry
hash_trimesh_geometry_metadata
homogeneous_inv
invalidate_scenegraph_cache
is_regex
late_bind_exception
left_and_aligned_back_bottom
max_support_area_generator
normalize_and_bake_scale
object_id_generator
orientation_generator_const
orientation_generator_stable_poses
orientation_generator_uniform_around_z
random_color
random_id_generator
right_and_aligned_back_bottom
sample_polygon
sample_random_direction_R3
sample_volume_mesh
scaled_trimesh_scene
select_sublist
snake_case
support_area_generator
scene_synthesizer.exchange.export
Examples
Adding MDL Materials
Using Scenes in Isaac Sim
Using Scenes in Isaac Lab for RL
Using Scenes in Isaac Lab for Teleop
Scene Synthesizer
scene_synthesizer.utils
scene_synthesizer.utils.get_reference_frame
View page source
scene_synthesizer.utils.get_reference_frame
scene_synthesizer.utils.
get_reference_frame
(
bounds
,
center_mass
,
centroid
,
x
,
y
,
z
)