scene_synthesizer.utils

Classes

PositionIterator2D([seed])
PositionIterator3D([seed])
PositionIteratorDisk(r, center[, seed])	Sample positions on a 2D plane uniformly within a disk of radius r and center
PositionIteratorFarthestPoint([sample_count])
PositionIteratorGaussian(params[, seed])	Gaussian 2D position sampler
PositionIteratorGrid(step_x, step_y[, ...])
PositionIteratorList(positions)
PositionIteratorPoissonDisk([k, r, seed])
PositionIteratorUniform([seed])
PositionIteratorUniform3D([seed])

Functions

above_and_aligned_right_back()	Helper function that returns arguments for add_object(..).
add_extents_to_trimesh_metadata(mesh_or_scene)	Add extents to trimesh scene or individual mesh.
add_filename_to_trimesh_metadata(...[, ...])	Add file_path and file_name properties to trimesh scene or individual mesh.
add_node_to_scene(scene, **kwargs)	Add a new node (and edge) to the scene graph.
adjust_color([color, brightness, ...])	Adjust the brightness and transparency of a color.
append_scenes(iterable[, common, ...])	Concatenate multiple scene objects into one scene.
center_mass(trimesh_scene, node_names)	Return the center of mass of a selection of nodes in a scene.
collision_manager_get_transforms(...)	Helper function to get a dictionary of all object transformations in a collision manager.
collision_manager_set_transforms(...)	Helper function to set all transformations in a collision manager.
collision_manager_transform(...[, premultiply])	Helper function to transform all objects of a collision manager.
construct_obj_collision_manager(scene, transform)	Return a trimesh collision manager for a trimesh scene, with a pre-multiplied transform for all objects.
cq_to_trimesh(cq_object[, tolerance])	Convert cadquery object into Trimesh.
create_torus(major_radius, minor_radius[, ...])	Create torus mesh.
create_yourdfpy_scene(yourdfpy_model, ...[, ...])	This function builds a trimesh scene from a yourdfpy model.
cycle_list(l, perm)	Generator function to cycle infinitely through a fixed order of elements.
distribute_center_mass(center_mass, geoms)	Return center-of-masses for each geom_type_etry based on a single desired joint CoM.
forward_kinematics(scene[, joint_names, ...])	Helper function to update the scene graph by running forward kinematics on all edges specified through joint_names.
get_mass_properties(trimesh_geometry[, ...])	Calculate mass properties of trimesh geometry; even if not watertight.
get_random_filename(suffix[, prefix, dir])	Generate a random 8-character file name that won't exist in the provided directory.
get_reference_frame(bounds, center_mass, ...)
get_transform(trimesh_scene, frame_to[, ...])
get_watertight_trimesh_geometry(trimesh_geometry)	Returns a watertight version of a trimesh geometry.
hash_trimesh_geometry_metadata(geom)	Return a hash value for the metadata of trimesh.Geometry
homogeneous_inv(matrix)	Inverse homogeneous matrix.
invalidate_scenegraph_cache(scene)	Invalidate cache of scene's graph.
is_regex(string)	Unofficial check whether a string is a regular expression, based on special characters (except '/' which is used for namespacing in scene_synthesizer).
late_bind_exception(exc)	Helper to bind exceptions to function calls, e.g. when an import fails but import is only used for specific functionality.
left_and_aligned_back_bottom()	Helper function that returns arguments for add_object(..).
max_support_area_generator(support_data)
normalize_and_bake_scale(trimesh_scene)	Takes a trimesh scene and bakes all scale information contained in the transform tree into the vertices of all meshes.
object_id_generator(base_name)
orientation_generator_const(orientation)
orientation_generator_stable_poses(asset[, seed])	Generator that yields random homogeneous transformations that represent stable poses of an asset.
orientation_generator_uniform_around_z([...])	Generator that yields homogeneous transformations that are randomly rotated around the z axis.
random_color([dtype, seed])	Return a random RGB color using datatype specified.
random_id_generator([base_name])
right_and_aligned_back_bottom()	Helper function that returns arguments for add_object(..).
sample_polygon(polygon, count[, factor, ...])	Use rejection sampling to generate random points inside a polygon.
sample_random_direction_R3(number_of_directions)	Uniformly distributed directions on S2.
sample_volume_mesh(mesh, count[, seed])	Use rejection sampling to produce points randomly distributed in the volume of a mesh.
scaled_trimesh_scene(scene, scale)	Return a copy of the trimesh scene, with meshes and scene transforms scaled to the requested factor.
select_sublist(query, all_items)	Select a sublist of a given list, using a query.
snake_case(s)	Return string s in snake_case.
support_area_generator(support_data[, seed])	A generator that randomly returns supports.