curobo.cuda_robot_model.usd_kinematics_parser module

class UsdKinematicsParser( usd_path: str, flip_joints: List[str] = [], flip_joint_limits: List[str] = [], usd_robot_root: str = 'robot', 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), extra_links: Dict[str, LinkParams] | None = None, )

Bases: KinematicsParser

An experimental kinematics parser from USD. NOTE: A more complete solution will be available in a future release. Current implementation does not account for link geometry transformations after a joints.

property robot_prim_root

build_link_parent()

Build a map of parent links to each link in the kinematic tree.

NOTE: Use this function to fill self._parent_map.

get_link_parameters( link_name: str, base: bool = False, ) → LinkParams

Get Link parameters from usd stage.

NOTE: USD kinematics “X” axis joints map to “Z” in URDF. Specifically, uniform token physics:axis = “X” value only matches “Z” in URDF. This is because of usd files assuming Y axis as up while urdf files assume Z axis as up.

Parameters:

link_name (str) – Name of link.
base (bool, optional) – flag to specify base link. Defaults to False.

Returns:

obtained link parameters.

Return type:

LinkParams

_get_joint_transform( prim: Prim, )

_get_from_extra_links( link_name: str, ) → LinkParams

add_absolute_path_to_link_meshes( mesh_dir: str = '', )

get_chain( base_link: str, ee_link: str, ) → List[str]

Get list of links attaching ee_link to base_link.

Parameters:

base_link (str) – Name of base link.
ee_link (str) – Name of end-effector link.

Returns:

List of link names starting from base_link to ee_link.

Return type:

List[str]

get_link_mesh( link_name: str, ) → Mesh

get_links_for_joint( prim: Prim, ) → Tuple[Prim | None, Prim | None]: Get all link prims from the given joint prim.

Note

This assumes that the body0_rel_targets and body1_rel_targets are configured such that the parent link is specified in body0_rel_targets and the child links is specified in body1_rel_targets.