curobo.cuda_robot_model.cuda_robot_generator module
- class CudaRobotGeneratorConfig(
- base_link: str,
- ee_link: str,
- tensor_args: TensorDeviceType = TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32),
- link_names: List[str] | None = None,
- collision_link_names: List[str] | None = None,
- collision_spheres: None | str | Dict[str, Any] = None,
- collision_sphere_buffer: float | Dict[str, float] = 0.0,
- compute_jacobian: bool = False,
- self_collision_buffer: Dict[str, float] | None = None,
- self_collision_ignore: Dict[str, List[str]] | None = None,
- debug: Dict[str, Any] | None = None,
- use_global_cumul: bool = True,
- asset_root_path: str = '',
- mesh_link_names: List[str] | None = None,
- load_link_names_with_mesh: bool = False,
- urdf_path: str | None = None,
- usd_path: str | None = None,
- usd_robot_root: str | None = None,
- isaac_usd_path: str | None = None,
- use_usd_kinematics: bool = False,
- usd_flip_joints: List[str] | None = None,
- usd_flip_joint_limits: List[str] | None = None,
- lock_joints: Dict[str, float] | None = None,
- extra_links: Dict[str, LinkParams] | None = None,
- add_object_link: bool = False,
- use_external_assets: bool = False,
- external_asset_path: str | None = None,
- external_robot_configs_path: str | None = None,
- extra_collision_spheres: Dict[str, int] | None = None,
- cspace: None | CSpaceConfig | Dict[str, List[Any]] = None,
- load_meshes: bool = False,
Bases:
objectCreate Cuda Robot Model Configuration.
- tensor_args: TensorDeviceType = TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32)
Device to load cuda robot model.
- collision_link_names: List[str] | None = None
Name of links to compute sphere positions for use in collision checking.
- collision_spheres: None | str | Dict[str, Any] = None
Collision spheres that fill the volume occupied by the links of the robot. Collision spheres can be generated for robot using https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/advanced_tutorials/tutorial_motion_generation_robot_description_editor.html#collision-spheres
- collision_sphere_buffer: float | Dict[str, float] = 0.0
Radius buffer to add to collision spheres as padding.
- self_collision_buffer: Dict[str, float] | None = None
Padding to add for self collision between links. Some robots use a large padding for self collision avoidance (https://github.com/ros-planning/panda_moveit_config/pull/35#issuecomment-671333863)
- use_global_cumul: bool = True
Enabling this flag writes out the cumulative transformation matrix to global memory. This allows for reusing the cumulative matrix during backward of kinematics (15% speedup over recomputing cumul in backward).
- asset_root_path: str = ''
Path of meshes of robot links. Currently not used as we represent robot link geometry with collision spheres.
- mesh_link_names: List[str] | None = None
Names of links to load meshes for visualization. This is only used for exporting visualizations.
- load_link_names_with_mesh: bool = False
Set this to true to add mesh_link_names to link_names when computing kinematics.
- lock_joints: Dict[str, float] | None = None
Lock active joints in the kinematic tree. This will convert the joint to a fixed joint with joint angle given from this dictionary.
- extra_links: Dict[str, LinkParams] | None = None
- class CudaRobotGenerator(
- config: CudaRobotGeneratorConfig,
Bases:
CudaRobotGeneratorConfig- property kinematics_config
- property self_collision_config
- property kinematics_parser
- initialize_tensors()
- add_link(
- link_params: LinkParams,
- add_fixed_link(
- link_name: str,
- parent_link_name: str,
- joint_name: str | None = None,
- transform: Pose | None = None,
- _build_chain(
- base_link,
- ee_link,
- other_links,
- link_names,
- _get_mimic_joint_data()
- _build_kinematics_tensors(
- base_link,
- ee_link,
- link_names,
- chain_link_names,
- _build_kinematics(
- base_link,
- ee_link,
- other_links,
- link_names,
- _build_kinematics_with_lock_joints( )
- _build_collision_model(
- collision_spheres: Dict,
- collision_link_names: List[str],
- collision_sphere_buffer: float | Dict[str, float] = 0.0,
- Parameters:
collision_spheres (_type_) – _description_
collision_link_names (_type_) – _description_
collision_sphere_buffer (float, optional) – _description_. Defaults to 0.0.
- _create_self_collision_thread_data(
- collision_threshold,
- _add_body_to_tree(
- link_name,
- base=False,
- _get_link_poses(
- q: Tensor,
- link_names: List[str],
- kinematics_config: KinematicsTensorConfig,
- property get_joint_limits
- _get_joint_position_velocity_limits()
- _update_joint_limits()
- asset_root_path: str = ''
Path of meshes of robot links. Currently not used as we represent robot link geometry with collision spheres.
- collision_link_names: List[str] | None = None
Name of links to compute sphere positions for use in collision checking.
- collision_sphere_buffer: float | Dict[str, float] = 0.0
Radius buffer to add to collision spheres as padding.
- collision_spheres: None | str | Dict[str, Any] = None
Collision spheres that fill the volume occupied by the links of the robot. Collision spheres can be generated for robot using https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/advanced_tutorials/tutorial_motion_generation_robot_description_editor.html#collision-spheres
- extra_collision_spheres: Dict[str, int] | None = None
Create n collision spheres for links with name
- extra_links: Dict[str, LinkParams] | None = None
- load_link_names_with_mesh: bool = False
Set this to true to add mesh_link_names to link_names when computing kinematics.
- lock_joints: Dict[str, float] | None = None
Lock active joints in the kinematic tree. This will convert the joint to a fixed joint with joint angle given from this dictionary.
- mesh_link_names: List[str] | None = None
Names of links to load meshes for visualization. This is only used for exporting visualizations.
- self_collision_buffer: Dict[str, float] | None = None
Padding to add for self collision between links. Some robots use a large padding for self collision avoidance (https://github.com/ros-planning/panda_moveit_config/pull/35#issuecomment-671333863)
- tensor_args: TensorDeviceType = TensorDeviceType(device=device(type='cuda', index=0), dtype=torch.float32, collision_geometry_dtype=torch.float32, collision_gradient_dtype=torch.float32, collision_distance_dtype=torch.float32)
Device to load cuda robot model.