curobo.geom package¶
This module contains functions for geometric processing such as pointcloud processing, analytic signed distance computation for the environment, and also signed distance computation between robot and the environment. These functions can be used for robot self collision checking and also for robot environment collision checking.
Subpackages¶
- curobo.geom.sdf package
- Submodules
- curobo.geom.sdf.sdf_grid module
- curobo.geom.sdf.utils module
- curobo.geom.sdf.warp_primitives module
- curobo.geom.sdf.warp_sdf_fns module
- curobo.geom.sdf.warp_sdf_fns_deprecated module
- curobo.geom.sdf.world module
- curobo.geom.sdf.world_blox module
- curobo.geom.sdf.world_mesh module
- curobo.geom.sdf.world_voxel module
- Submodules
Submodules¶
- curobo.geom.cv module
- curobo.geom.sphere_fit module
- curobo.geom.transform module
transform_pointsbatch_transform_pointsget_inv_transformtransform_point_inversematrix_to_quaternioncuda_matrix_to_quaternionquaternion_to_matrixtorch_quaternion_to_matrixpose_to_matrixpose_multiplypose_inverseTransformPointTransformPoint.forwardTransformPoint.backwardTransformPoint._backward_clsTransformPoint._compiled_autograd_backward_stateTransformPoint._compiled_autograd_keyTransformPoint._get_compiled_autograd_symintsTransformPoint._input_metadataTransformPoint._is_compiled_autograd_tracingTransformPoint._materialize_non_diff_gradsTransformPoint._raw_saved_tensorsTransformPoint._register_hookTransformPoint._register_hook_dictTransformPoint._sequence_nrTransformPoint._set_sequence_nrTransformPoint.applyTransformPoint.dirty_tensorsTransformPoint.generate_vmap_ruleTransformPoint.jvpTransformPoint.mark_dirtyTransformPoint.mark_non_differentiableTransformPoint.mark_shared_storageTransformPoint.materialize_gradsTransformPoint.maybe_clear_saved_tensorsTransformPoint.metadataTransformPoint.nameTransformPoint.needs_input_gradTransformPoint.next_functionsTransformPoint.non_differentiableTransformPoint.register_hookTransformPoint.register_prehookTransformPoint.requires_gradTransformPoint.save_for_backwardTransformPoint.save_for_forwardTransformPoint.saved_for_forwardTransformPoint.saved_tensorsTransformPoint.saved_variablesTransformPoint.set_materialize_gradsTransformPoint.setup_contextTransformPoint.to_saveTransformPoint.vjpTransformPoint.vmap
BatchTransformPointBatchTransformPoint.forwardBatchTransformPoint.backwardBatchTransformPoint._backward_clsBatchTransformPoint._compiled_autograd_backward_stateBatchTransformPoint._compiled_autograd_keyBatchTransformPoint._get_compiled_autograd_symintsBatchTransformPoint._input_metadataBatchTransformPoint._is_compiled_autograd_tracingBatchTransformPoint._materialize_non_diff_gradsBatchTransformPoint._raw_saved_tensorsBatchTransformPoint._register_hookBatchTransformPoint._register_hook_dictBatchTransformPoint._sequence_nrBatchTransformPoint._set_sequence_nrBatchTransformPoint.applyBatchTransformPoint.dirty_tensorsBatchTransformPoint.generate_vmap_ruleBatchTransformPoint.jvpBatchTransformPoint.mark_dirtyBatchTransformPoint.mark_non_differentiableBatchTransformPoint.mark_shared_storageBatchTransformPoint.materialize_gradsBatchTransformPoint.maybe_clear_saved_tensorsBatchTransformPoint.metadataBatchTransformPoint.nameBatchTransformPoint.needs_input_gradBatchTransformPoint.next_functionsBatchTransformPoint.non_differentiableBatchTransformPoint.register_hookBatchTransformPoint.register_prehookBatchTransformPoint.requires_gradBatchTransformPoint.save_for_backwardBatchTransformPoint.save_for_forwardBatchTransformPoint.saved_for_forwardBatchTransformPoint.saved_tensorsBatchTransformPoint.saved_variablesBatchTransformPoint.set_materialize_gradsBatchTransformPoint.setup_contextBatchTransformPoint.to_saveBatchTransformPoint.vjpBatchTransformPoint.vmap
BatchTransformPoseBatchTransformPose.forwardBatchTransformPose.backwardBatchTransformPose._backward_clsBatchTransformPose._compiled_autograd_backward_stateBatchTransformPose._compiled_autograd_keyBatchTransformPose._get_compiled_autograd_symintsBatchTransformPose._input_metadataBatchTransformPose._is_compiled_autograd_tracingBatchTransformPose._materialize_non_diff_gradsBatchTransformPose._raw_saved_tensorsBatchTransformPose._register_hookBatchTransformPose._register_hook_dictBatchTransformPose._sequence_nrBatchTransformPose._set_sequence_nrBatchTransformPose.applyBatchTransformPose.dirty_tensorsBatchTransformPose.generate_vmap_ruleBatchTransformPose.jvpBatchTransformPose.mark_dirtyBatchTransformPose.mark_non_differentiableBatchTransformPose.mark_shared_storageBatchTransformPose.materialize_gradsBatchTransformPose.maybe_clear_saved_tensorsBatchTransformPose.metadataBatchTransformPose.nameBatchTransformPose.needs_input_gradBatchTransformPose.next_functionsBatchTransformPose.non_differentiableBatchTransformPose.register_hookBatchTransformPose.register_prehookBatchTransformPose.requires_gradBatchTransformPose.save_for_backwardBatchTransformPose.save_for_forwardBatchTransformPose.saved_for_forwardBatchTransformPose.saved_tensorsBatchTransformPose.saved_variablesBatchTransformPose.set_materialize_gradsBatchTransformPose.setup_contextBatchTransformPose.to_saveBatchTransformPose.vjpBatchTransformPose.vmap
TransformPoseTransformPose.forwardTransformPose.backwardTransformPose._backward_clsTransformPose._compiled_autograd_backward_stateTransformPose._compiled_autograd_keyTransformPose._get_compiled_autograd_symintsTransformPose._input_metadataTransformPose._is_compiled_autograd_tracingTransformPose._materialize_non_diff_gradsTransformPose._raw_saved_tensorsTransformPose._register_hookTransformPose._register_hook_dictTransformPose._sequence_nrTransformPose._set_sequence_nrTransformPose.applyTransformPose.dirty_tensorsTransformPose.generate_vmap_ruleTransformPose.jvpTransformPose.mark_dirtyTransformPose.mark_non_differentiableTransformPose.mark_shared_storageTransformPose.materialize_gradsTransformPose.maybe_clear_saved_tensorsTransformPose.metadataTransformPose.nameTransformPose.needs_input_gradTransformPose.next_functionsTransformPose.non_differentiableTransformPose.register_hookTransformPose.register_prehookTransformPose.requires_gradTransformPose.save_for_backwardTransformPose.save_for_forwardTransformPose.saved_for_forwardTransformPose.saved_tensorsTransformPose.saved_variablesTransformPose.set_materialize_gradsTransformPose.setup_contextTransformPose.to_saveTransformPose.vjpTransformPose.vmap
PoseInversePoseInverse.forwardPoseInverse.backwardPoseInverse._backward_clsPoseInverse._compiled_autograd_backward_statePoseInverse._compiled_autograd_keyPoseInverse._get_compiled_autograd_symintsPoseInverse._input_metadataPoseInverse._is_compiled_autograd_tracingPoseInverse._materialize_non_diff_gradsPoseInverse._raw_saved_tensorsPoseInverse._register_hookPoseInverse._register_hook_dictPoseInverse._sequence_nrPoseInverse._set_sequence_nrPoseInverse.applyPoseInverse.dirty_tensorsPoseInverse.generate_vmap_rulePoseInverse.jvpPoseInverse.mark_dirtyPoseInverse.mark_non_differentiablePoseInverse.mark_shared_storagePoseInverse.materialize_gradsPoseInverse.maybe_clear_saved_tensorsPoseInverse.metadataPoseInverse.namePoseInverse.needs_input_gradPoseInverse.next_functionsPoseInverse.non_differentiablePoseInverse.register_hookPoseInverse.register_prehookPoseInverse.requires_gradPoseInverse.save_for_backwardPoseInverse.save_for_forwardPoseInverse.saved_for_forwardPoseInverse.saved_tensorsPoseInverse.saved_variablesPoseInverse.set_materialize_gradsPoseInverse.setup_contextPoseInverse.to_savePoseInverse.vjpPoseInverse.vmap
QuatToMatrixQuatToMatrix.forwardQuatToMatrix.backwardQuatToMatrix._backward_clsQuatToMatrix._compiled_autograd_backward_stateQuatToMatrix._compiled_autograd_keyQuatToMatrix._get_compiled_autograd_symintsQuatToMatrix._input_metadataQuatToMatrix._is_compiled_autograd_tracingQuatToMatrix._materialize_non_diff_gradsQuatToMatrix._raw_saved_tensorsQuatToMatrix._register_hookQuatToMatrix._register_hook_dictQuatToMatrix._sequence_nrQuatToMatrix._set_sequence_nrQuatToMatrix.applyQuatToMatrix.dirty_tensorsQuatToMatrix.generate_vmap_ruleQuatToMatrix.jvpQuatToMatrix.mark_dirtyQuatToMatrix.mark_non_differentiableQuatToMatrix.mark_shared_storageQuatToMatrix.materialize_gradsQuatToMatrix.maybe_clear_saved_tensorsQuatToMatrix.metadataQuatToMatrix.nameQuatToMatrix.needs_input_gradQuatToMatrix.next_functionsQuatToMatrix.non_differentiableQuatToMatrix.register_hookQuatToMatrix.register_prehookQuatToMatrix.requires_gradQuatToMatrix.save_for_backwardQuatToMatrix.save_for_forwardQuatToMatrix.saved_for_forwardQuatToMatrix.saved_tensorsQuatToMatrix.saved_variablesQuatToMatrix.set_materialize_gradsQuatToMatrix.setup_contextQuatToMatrix.to_saveQuatToMatrix.vjpQuatToMatrix.vmap
MatrixToQuaternionMatrixToQuaternion.forwardMatrixToQuaternion.backwardMatrixToQuaternion._backward_clsMatrixToQuaternion._compiled_autograd_backward_stateMatrixToQuaternion._compiled_autograd_keyMatrixToQuaternion._get_compiled_autograd_symintsMatrixToQuaternion._input_metadataMatrixToQuaternion._is_compiled_autograd_tracingMatrixToQuaternion._materialize_non_diff_gradsMatrixToQuaternion._raw_saved_tensorsMatrixToQuaternion._register_hookMatrixToQuaternion._register_hook_dictMatrixToQuaternion._sequence_nrMatrixToQuaternion._set_sequence_nrMatrixToQuaternion.applyMatrixToQuaternion.dirty_tensorsMatrixToQuaternion.generate_vmap_ruleMatrixToQuaternion.jvpMatrixToQuaternion.mark_dirtyMatrixToQuaternion.mark_non_differentiableMatrixToQuaternion.mark_shared_storageMatrixToQuaternion.materialize_gradsMatrixToQuaternion.maybe_clear_saved_tensorsMatrixToQuaternion.metadataMatrixToQuaternion.nameMatrixToQuaternion.needs_input_gradMatrixToQuaternion.next_functionsMatrixToQuaternion.non_differentiableMatrixToQuaternion.register_hookMatrixToQuaternion.register_prehookMatrixToQuaternion.requires_gradMatrixToQuaternion.save_for_backwardMatrixToQuaternion.save_for_forwardMatrixToQuaternion.saved_for_forwardMatrixToQuaternion.saved_tensorsMatrixToQuaternion.saved_variablesMatrixToQuaternion.set_materialize_gradsMatrixToQuaternion.setup_contextMatrixToQuaternion.to_saveMatrixToQuaternion.vjpMatrixToQuaternion.vmap
- curobo.geom.types module
MaterialObstacleCuboidCapsuleCapsule.radiusCapsule.baseCapsule.tipCapsule.get_trimesh_meshCapsule.colorCapsule.get_bounding_spheresCapsule.get_cuboidCapsule.get_meshCapsule.get_sphereCapsule.get_transform_matrixCapsule.poseCapsule.save_as_meshCapsule.scaleCapsule.textureCapsule.texture_idCapsule.nameCapsule.materialCapsule.tensor_args
CylinderCylinder.radiusCylinder.heightCylinder.get_trimesh_meshCylinder.colorCylinder.get_bounding_spheresCylinder.get_cuboidCylinder.get_meshCylinder.get_sphereCylinder.get_transform_matrixCylinder.poseCylinder.save_as_meshCylinder.scaleCylinder.textureCylinder.texture_idCylinder.nameCylinder.materialCylinder.tensor_args
SphereMeshMesh.file_pathMesh.file_stringMesh.urdf_pathMesh.verticesMesh.facesMesh.vertex_colorsMesh.vertex_normalsMesh.face_colorsMesh.get_trimesh_meshMesh.update_materialMesh.get_mesh_dataMesh.from_pointcloudMesh.colorMesh.get_bounding_spheresMesh.get_cuboidMesh.get_meshMesh.get_sphereMesh.get_transform_matrixMesh.poseMesh.save_as_meshMesh.scaleMesh.textureMesh.texture_idMesh.nameMesh.materialMesh.tensor_args
BloxMapBloxMap.map_pathBloxMap.scaleBloxMap.voxel_sizeBloxMap.integrator_typeBloxMap.mesh_file_pathBloxMap.mapper_instanceBloxMap.meshBloxMap.get_trimesh_meshBloxMap.colorBloxMap.get_bounding_spheresBloxMap.get_cuboidBloxMap.get_meshBloxMap.get_sphereBloxMap.get_transform_matrixBloxMap.poseBloxMap.save_as_meshBloxMap.textureBloxMap.texture_idBloxMap.nameBloxMap.materialBloxMap.tensor_args
PointCloudPointCloud.pointsPointCloud.points_featuresPointCloud.get_trimesh_meshPointCloud.get_mesh_dataPointCloud.from_camera_observationPointCloud.colorPointCloud.get_bounding_spheresPointCloud.get_cuboidPointCloud.get_meshPointCloud.get_spherePointCloud.get_transform_matrixPointCloud.posePointCloud.save_as_meshPointCloud.scalePointCloud.texturePointCloud.texture_idPointCloud.namePointCloud.materialPointCloud.tensor_args
VoxelGridVoxelGrid.dimsVoxelGrid.voxel_sizeVoxelGrid.feature_tensorVoxelGrid.xyzr_tensorVoxelGrid.feature_dtypeVoxelGrid.get_grid_shapeVoxelGrid.create_xyzr_tensorVoxelGrid.get_occupied_voxelsVoxelGrid.cloneVoxelGrid.colorVoxelGrid.get_bounding_spheresVoxelGrid.get_cuboidVoxelGrid.get_meshVoxelGrid.get_sphereVoxelGrid.get_transform_matrixVoxelGrid.get_trimesh_meshVoxelGrid.poseVoxelGrid.save_as_meshVoxelGrid.scaleVoxelGrid.textureVoxelGrid.texture_idVoxelGrid.nameVoxelGrid.materialVoxelGrid.tensor_args
WorldConfigWorldConfig.sphereWorldConfig.cuboidWorldConfig.capsuleWorldConfig.cylinderWorldConfig.meshWorldConfig.bloxWorldConfig.voxelWorldConfig.objectsWorldConfig.cloneWorldConfig.from_dictWorldConfig.create_obb_worldWorldConfig.create_mesh_worldWorldConfig.create_collision_support_worldWorldConfig.get_scene_graphWorldConfig.create_merged_mesh_worldWorldConfig.get_obb_worldWorldConfig.get_mesh_worldWorldConfig.get_collision_check_worldWorldConfig.save_world_as_meshWorldConfig.get_cache_dictWorldConfig.add_obstacleWorldConfig.randomize_colorWorldConfig.add_colorWorldConfig.add_materialWorldConfig.get_obstacleWorldConfig.remove_obstacleWorldConfig.remove_absolute_pathsWorldConfig._abc_implWorldConfig._is_protocolWorldConfig.countWorldConfig.index
tensor_spheretensor_capsuletensor_cubebatch_tensor_cube