curobo.geom.types module

class Material(

metallic: 'float' = 0.0,

roughness: 'float' = 0.4,

)

Bases: object

metallic: float = 0.0

roughness: float = 0.4

class Obstacle(

name: str,

pose: ~typing.List[float] | None = None,

scale: ~typing.List[float] | None = None,

color: ~typing.List[float] | None = None,

texture_id: str | None = None,

texture: str | None = None,

material: ~curobo.geom.types.Material = <factory>,

tensor_args: ~curobo.types.base.TensorDeviceType = <factory>,

)

Bases: object

Base class for all obstacles.

name: str: Unique name of obstacle.

pose: List[float] | None = None: Pose of obstacle as a list with format [x y z qw qx qy qz]

scale: List[float] | None = None

implement scaling for all obstacle types.

Type:: NOTE

color: List[float] | None = None: Color of obstacle to use in visualization.

texture_id: str | None = None: texture to apply to obstacle in visualization.

texture: str | None = None: texture to apply to obstacle in visualization.

material: Material: material properties to apply in visualization.

tensor_args: TensorDeviceType

get_trimesh_mesh( process: bool = True, process_color: bool = True, ) → Trimesh

Create a trimesh instance from the obstacle representation.

Parameters:: process (bool, optional) – process when loading from file. Defaults to True.
Raises:: NotImplementedError – requires implementation in derived class.
Returns:: instance of obstacle as a trimesh.
Return type:: trimesh.Trimesh

save_as_mesh( file_path: str, transform_with_pose: bool = False, )

get_cuboid() → Cuboid

Get oriented bounding box of obstacle (OBB).

Returns:: returns obstacle as a cuboid.
Return type:: Cuboid

get_mesh( process: bool = True, ) → Mesh

Get obstacle as a mesh.

Parameters:: process (bool, optional) – process mesh from file. Defaults to True.
Returns:: obstacle as a mesh.
Return type:: Mesh

get_transform_matrix() → ndarray

Get homogenous transformation matrix from pose.

Returns:: transformation matrix.
Return type:: np.ndarray

get_sphere( n: int = 1, ) → Sphere

Compute a sphere that fits in the volume of the object.

Parameters:: n – number of spheres
Returns:: spheres

get_bounding_spheres( n_spheres: int = 1, surface_sphere_radius: float = 0.002, fit_type: SphereFitType = SphereFitType.VOXEL_VOLUME_SAMPLE_SURFACE, voxelize_method: str = 'ray', pre_transform_pose: Pose | None = None, 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), ) → List[Sphere]

Compute n spheres that fits in the volume of the object.

Parameters:: n – number of spheres
Returns:: spheres

class Cuboid(

name: str,

pose: ~typing.List[float] | None = None,

scale: ~typing.List[float] | None = None,

color: ~typing.List[float] | None = None,

texture_id: str | None = None,

texture: str | None = None,

material: ~curobo.geom.types.Material = <factory>,

tensor_args: ~curobo.types.base.TensorDeviceType = <factory>,

dims: ~typing.List[float] = <factory>,

)

Bases: Obstacle

Represent obstacle as a cuboid.

dims: List[float]: Dimensions of cuboid in meters [x_length, y_length, z_length].

get_trimesh_mesh( process: bool = True, process_color: bool = True, )

Create a trimesh instance from the obstacle representation.

Parameters:: process (bool, optional) – process when loading from file. Defaults to True.
Raises:: NotImplementedError – requires implementation in derived class.
Returns:: instance of obstacle as a trimesh.
Return type:: trimesh.Trimesh

color: List[float] | None = None: Color of obstacle to use in visualization.

get_bounding_spheres( n_spheres: int = 1, surface_sphere_radius: float = 0.002, fit_type: SphereFitType = SphereFitType.VOXEL_VOLUME_SAMPLE_SURFACE, voxelize_method: str = 'ray', pre_transform_pose: Pose | None = None, 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), ) → List[Sphere]

Compute n spheres that fits in the volume of the object.

Parameters:: n – number of spheres
Returns:: spheres

get_cuboid() → Cuboid

Get oriented bounding box of obstacle (OBB).

Returns:: returns obstacle as a cuboid.
Return type:: Cuboid

get_mesh( process: bool = True, ) → Mesh

Get obstacle as a mesh.

Parameters:: process (bool, optional) – process mesh from file. Defaults to True.
Returns:: obstacle as a mesh.
Return type:: Mesh

get_sphere( n: int = 1, ) → Sphere

Compute a sphere that fits in the volume of the object.

Parameters:: n – number of spheres
Returns:: spheres

get_transform_matrix() → ndarray

Get homogenous transformation matrix from pose.

Returns:: transformation matrix.
Return type:: np.ndarray

pose: List[float] | None = None: Pose of obstacle as a list with format [x y z qw qx qy qz]

save_as_mesh( file_path: str, transform_with_pose: bool = False, )

scale: List[float] | None = None

implement scaling for all obstacle types.

Type:: NOTE

texture: str | None = None: texture to apply to obstacle in visualization.

texture_id: str | None = None: texture to apply to obstacle in visualization.

name: str: Unique name of obstacle.

material: Material: material properties to apply in visualization.

tensor_args: TensorDeviceType

class Capsule(

name: 'str',

pose: 'Optional[List[float]]' = None,

scale: 'Optional[List[float]]' = None,

color: 'Optional[List[float]]' = None,

texture_id: 'Optional[str]' = None,

texture: 'Optional[str]' = None,

material: 'Material' = <factory>,

tensor_args: 'TensorDeviceType' = <factory>,

radius: 'float' = 0.0,

base: 'List[float]' = <factory>,

tip: 'List[float]' = <factory>,

)

Bases: Obstacle

radius: float = 0.0

base: List[float]

tip: List[float]

get_trimesh_mesh( process: bool = True, process_color: bool = True, )

Create a trimesh instance from the obstacle representation.

Parameters:: process (bool, optional) – process when loading from file. Defaults to True.
Raises:: NotImplementedError – requires implementation in derived class.
Returns:: instance of obstacle as a trimesh.
Return type:: trimesh.Trimesh

color: List[float] | None = None: Color of obstacle to use in visualization.

get_bounding_spheres( n_spheres: int = 1, surface_sphere_radius: float = 0.002, fit_type: SphereFitType = SphereFitType.VOXEL_VOLUME_SAMPLE_SURFACE, voxelize_method: str = 'ray', pre_transform_pose: Pose | None = None, 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), ) → List[Sphere]

Compute n spheres that fits in the volume of the object.

Parameters:: n – number of spheres
Returns:: spheres

get_cuboid() → Cuboid

Get oriented bounding box of obstacle (OBB).

Returns:: returns obstacle as a cuboid.
Return type:: Cuboid

get_mesh( process: bool = True, ) → Mesh

Get obstacle as a mesh.

Parameters:: process (bool, optional) – process mesh from file. Defaults to True.
Returns:: obstacle as a mesh.
Return type:: Mesh

get_sphere( n: int = 1, ) → Sphere

Compute a sphere that fits in the volume of the object.

Parameters:: n – number of spheres
Returns:: spheres

get_transform_matrix() → ndarray

Get homogenous transformation matrix from pose.

Returns:: transformation matrix.
Return type:: np.ndarray

pose: List[float] | None = None: Pose of obstacle as a list with format [x y z qw qx qy qz]

save_as_mesh( file_path: str, transform_with_pose: bool = False, )

scale: List[float] | None = None

implement scaling for all obstacle types.

Type:: NOTE

texture: str | None = None: texture to apply to obstacle in visualization.

texture_id: str | None = None: texture to apply to obstacle in visualization.

name: str: Unique name of obstacle.

material: Material: material properties to apply in visualization.

tensor_args: TensorDeviceType

class Cylinder(

name: 'str',

pose: 'Optional[List[float]]' = None,

scale: 'Optional[List[float]]' = None,

color: 'Optional[List[float]]' = None,

texture_id: 'Optional[str]' = None,

texture: 'Optional[str]' = None,

material: 'Material' = <factory>,

tensor_args: 'TensorDeviceType' = <factory>,

radius: 'float' = 0.0,

height: 'float' = 0.0,

)

Bases: Obstacle

radius: float = 0.0

height: float = 0.0

get_trimesh_mesh( process: bool = True, process_color: bool = True, )

Create a trimesh instance from the obstacle representation.

Parameters:: process (bool, optional) – process when loading from file. Defaults to True.
Raises:: NotImplementedError – requires implementation in derived class.
Returns:: instance of obstacle as a trimesh.
Return type:: trimesh.Trimesh

color: List[float] | None = None: Color of obstacle to use in visualization.

get_bounding_spheres( n_spheres: int = 1, surface_sphere_radius: float = 0.002, fit_type: SphereFitType = SphereFitType.VOXEL_VOLUME_SAMPLE_SURFACE, voxelize_method: str = 'ray', pre_transform_pose: Pose | None = None, 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), ) → List[Sphere]

Compute n spheres that fits in the volume of the object.

Parameters:: n – number of spheres
Returns:: spheres

get_cuboid() → Cuboid

Get oriented bounding box of obstacle (OBB).

Returns:: returns obstacle as a cuboid.
Return type:: Cuboid

get_mesh( process: bool = True, ) → Mesh

Get obstacle as a mesh.

Parameters:: process (bool, optional) – process mesh from file. Defaults to True.
Returns:: obstacle as a mesh.
Return type:: Mesh

get_sphere( n: int = 1, ) → Sphere

Compute a sphere that fits in the volume of the object.

Parameters:: n – number of spheres
Returns:: spheres

get_transform_matrix() → ndarray

Get homogenous transformation matrix from pose.

Returns:: transformation matrix.
Return type:: np.ndarray

pose: List[float] | None = None: Pose of obstacle as a list with format [x y z qw qx qy qz]

save_as_mesh( file_path: str, transform_with_pose: bool = False, )

scale: List[float] | None = None

implement scaling for all obstacle types.

Type:: NOTE

texture: str | None = None: texture to apply to obstacle in visualization.

texture_id: str | None = None: texture to apply to obstacle in visualization.

name: str: Unique name of obstacle.

material: Material: material properties to apply in visualization.

tensor_args: TensorDeviceType

class Sphere(

name: 'str',

pose: 'Optional[List[float]]' = None,

scale: 'Optional[List[float]]' = None,

color: 'Optional[List[float]]' = None,

texture_id: 'Optional[str]' = None,

texture: 'Optional[str]' = None,

material: 'Material' = <factory>,

tensor_args: 'TensorDeviceType' = <factory>,

radius: 'float' = 0.0,

position: 'Optional[List[float]]' = None,

)

Bases: Obstacle

radius: float = 0.0

position: List[float] | None = None: position is deprecated, use pose instead

get_trimesh_mesh( process: bool = True, process_color: bool = True, )

Create a trimesh instance from the obstacle representation.

Parameters:: process (bool, optional) – process when loading from file. Defaults to True.
Raises:: NotImplementedError – requires implementation in derived class.
Returns:: instance of obstacle as a trimesh.
Return type:: trimesh.Trimesh

get_cuboid() → Cuboid

Get oriented bounding box of obstacle (OBB).

Returns:: returns obstacle as a cuboid.
Return type:: Cuboid

color: List[float] | None = None: Color of obstacle to use in visualization.

get_bounding_spheres( n_spheres: int = 1, surface_sphere_radius: float = 0.002, fit_type: SphereFitType = SphereFitType.VOXEL_VOLUME_SAMPLE_SURFACE, voxelize_method: str = 'ray', pre_transform_pose: Pose | None = None, 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), ) → List[Sphere]

Compute n spheres that fits in the volume of the object.

Parameters:: n – number of spheres
Returns:: spheres

get_mesh( process: bool = True, ) → Mesh

Get obstacle as a mesh.

Parameters:: process (bool, optional) – process mesh from file. Defaults to True.
Returns:: obstacle as a mesh.
Return type:: Mesh

get_sphere( n: int = 1, ) → Sphere

Compute a sphere that fits in the volume of the object.

Parameters:: n – number of spheres
Returns:: spheres

get_transform_matrix() → ndarray

Get homogenous transformation matrix from pose.

Returns:: transformation matrix.
Return type:: np.ndarray

pose: List[float] | None = None: Pose of obstacle as a list with format [x y z qw qx qy qz]

save_as_mesh( file_path: str, transform_with_pose: bool = False, )

scale: List[float] | None = None

implement scaling for all obstacle types.

Type:: NOTE

texture: str | None = None: texture to apply to obstacle in visualization.

texture_id: str | None = None: texture to apply to obstacle in visualization.

name: str: Unique name of obstacle.

material: Material: material properties to apply in visualization.

tensor_args: TensorDeviceType

class Mesh(

name: 'str',

pose: 'Optional[List[float]]' = None,

scale: 'Optional[List[float]]' = None,

color: 'Optional[List[float]]' = None,

texture_id: 'Optional[str]' = None,

texture: 'Optional[str]' = None,

material: 'Material' = <factory>,

tensor_args: 'TensorDeviceType' = <factory>,

file_path: 'Optional[str]' = None,

file_string: 'Optional[str]' = None,

urdf_path: 'Optional[str]' = None,

vertices: 'Optional[List[List[float]]]' = None,

faces: 'Optional[List[int]]' = None,

vertex_colors: 'Optional[List[List[float]]]' = None,

vertex_normals: 'Optional[List[List[float]]]' = None,

face_colors: 'Optional[List[List[float]]]' = None,

)

Bases: Obstacle

file_path: str | None = None

file_string: str | None = None

urdf_path: str | None = None

vertices: List[List[float]] | None = None

faces: List[int] | None = None

vertex_colors: List[List[float]] | None = None

vertex_normals: List[List[float]] | None = None

face_colors: List[List[float]] | None = None

get_trimesh_mesh( process: bool = True, process_color: bool = True, )

Create a trimesh instance from the obstacle representation.

Parameters:: process (bool, optional) – process when loading from file. Defaults to True.
Raises:: NotImplementedError – requires implementation in derived class.
Returns:: instance of obstacle as a trimesh.
Return type:: trimesh.Trimesh

update_material()

get_mesh_data(process: bool = True)

static from_pointcloud( pointcloud: ndarray, pitch: float = 0.02, name='world_pc', pose: List[float] = [0, 0, 0, 1, 0, 0, 0], filter_close_points: float = 0.0, )

color: List[float] | None = None: Color of obstacle to use in visualization.

get_bounding_spheres( n_spheres: int = 1, surface_sphere_radius: float = 0.002, fit_type: SphereFitType = SphereFitType.VOXEL_VOLUME_SAMPLE_SURFACE, voxelize_method: str = 'ray', pre_transform_pose: Pose | None = None, 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), ) → List[Sphere]

Compute n spheres that fits in the volume of the object.

Parameters:: n – number of spheres
Returns:: spheres

get_cuboid() → Cuboid

Get oriented bounding box of obstacle (OBB).

Returns:: returns obstacle as a cuboid.
Return type:: Cuboid

get_mesh( process: bool = True, ) → Mesh

Get obstacle as a mesh.

Parameters:: process (bool, optional) – process mesh from file. Defaults to True.
Returns:: obstacle as a mesh.
Return type:: Mesh

get_sphere( n: int = 1, ) → Sphere

Compute a sphere that fits in the volume of the object.

Parameters:: n – number of spheres
Returns:: spheres

get_transform_matrix() → ndarray

Get homogenous transformation matrix from pose.

Returns:: transformation matrix.
Return type:: np.ndarray

pose: List[float] | None = None: Pose of obstacle as a list with format [x y z qw qx qy qz]

save_as_mesh( file_path: str, transform_with_pose: bool = False, )

scale: List[float] | None = None

implement scaling for all obstacle types.

Type:: NOTE

texture: str | None = None: texture to apply to obstacle in visualization.

texture_id: str | None = None: texture to apply to obstacle in visualization.

name: str: Unique name of obstacle.

material: Material: material properties to apply in visualization.

tensor_args: TensorDeviceType

class BloxMap(

name: 'str',

pose: 'Optional[List[float]]' = None,

scale: 'List[float]' = <factory>,

color: 'Optional[List[float]]' = None,

texture_id: 'Optional[str]' = None,

texture: 'Optional[str]' = None,

material: 'Material' = <factory>,

tensor_args: 'TensorDeviceType' = <factory>,

map_path: 'Optional[str]' = None,

voxel_size: 'float' = 0.02,

integrator_type: 'str' = 'tsdf',

mesh_file_path: 'Optional[str]' = None,

mapper_instance: 'Any' = None,

mesh: 'Optional[Mesh]' = None,

)

Bases: Obstacle

map_path: str | None = None

scale: List[float] = None

implement scaling for all obstacle types.

Type:: NOTE

voxel_size: float = 0.02

integrator_type: str = 'tsdf'

[“tsdf”, “occupancy”]

Type:: integrator type to use in nvblox. Options

mesh_file_path: str | None = None

mapper_instance: Any = None

mesh: Mesh | None = None

get_trimesh_mesh( process: bool = True, process_color: bool = True, )

Create a trimesh instance from the obstacle representation.

Parameters:: process (bool, optional) – process when loading from file. Defaults to True.
Raises:: NotImplementedError – requires implementation in derived class.
Returns:: instance of obstacle as a trimesh.
Return type:: trimesh.Trimesh

color: List[float] | None = None: Color of obstacle to use in visualization.

get_bounding_spheres( n_spheres: int = 1, surface_sphere_radius: float = 0.002, fit_type: SphereFitType = SphereFitType.VOXEL_VOLUME_SAMPLE_SURFACE, voxelize_method: str = 'ray', pre_transform_pose: Pose | None = None, 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), ) → List[Sphere]

Compute n spheres that fits in the volume of the object.

Parameters:: n – number of spheres
Returns:: spheres

get_cuboid() → Cuboid

Get oriented bounding box of obstacle (OBB).

Returns:: returns obstacle as a cuboid.
Return type:: Cuboid

get_mesh( process: bool = True, ) → Mesh

Get obstacle as a mesh.

Parameters:: process (bool, optional) – process mesh from file. Defaults to True.
Returns:: obstacle as a mesh.
Return type:: Mesh

get_sphere( n: int = 1, ) → Sphere

Compute a sphere that fits in the volume of the object.

Parameters:: n – number of spheres
Returns:: spheres

get_transform_matrix() → ndarray

Get homogenous transformation matrix from pose.

Returns:: transformation matrix.
Return type:: np.ndarray

pose: List[float] | None = None: Pose of obstacle as a list with format [x y z qw qx qy qz]

save_as_mesh( file_path: str, transform_with_pose: bool = False, )

texture: str | None = None: texture to apply to obstacle in visualization.

texture_id: str | None = None: texture to apply to obstacle in visualization.

name: str: Unique name of obstacle.

material: Material: material properties to apply in visualization.

tensor_args: TensorDeviceType

class PointCloud(name: 'str', pose: 'Optional[List[float]]' = None, scale: 'Optional[List[float]]' = None, color: 'Optional[List[float]]' = None, texture_id: 'Optional[str]' = None, texture: 'Optional[str]' = None, material: 'Material' = <factory>, tensor_args: 'TensorDeviceType' = <factory>, points: 'Union[torch.Tensor, np.ndarray, List[List[float]]]' = None, points_features: 'Union[torch.Tensor, np.ndarray, List[List[float]], None]' = None)

Bases: Obstacle

points: Tensor | ndarray | List[List[float]] = None

points_features: Tensor | ndarray | List[List[float]] | None = None

get_trimesh_mesh( process: bool = True, process_color: bool = True, )

Create a trimesh instance from the obstacle representation.

Parameters:: process (bool, optional) – process when loading from file. Defaults to True.
Raises:: NotImplementedError – requires implementation in derived class.
Returns:: instance of obstacle as a trimesh.
Return type:: trimesh.Trimesh

get_mesh_data( process: bool = True, )

static from_camera_observation( camera_obs: CameraObservation, name: str = 'pc_obstacle', pose: List[float] | None = None, )

get_bounding_spheres( n_spheres: int = 1, surface_sphere_radius: float = 0.002, fit_type: SphereFitType = SphereFitType.VOXEL_VOLUME_SAMPLE_SURFACE, voxelize_method: str = 'ray', pre_transform_pose: Pose | None = None, 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), ) → List[Sphere]

Compute n spheres that fits in the volume of the object.

Parameters:: n – number of spheres
Returns:: spheres

color: List[float] | None = None: Color of obstacle to use in visualization.

get_cuboid() → Cuboid

Get oriented bounding box of obstacle (OBB).

Returns:: returns obstacle as a cuboid.
Return type:: Cuboid

get_mesh( process: bool = True, ) → Mesh

Get obstacle as a mesh.

Parameters:: process (bool, optional) – process mesh from file. Defaults to True.
Returns:: obstacle as a mesh.
Return type:: Mesh

get_sphere( n: int = 1, ) → Sphere

Compute a sphere that fits in the volume of the object.

Parameters:: n – number of spheres
Returns:: spheres

get_transform_matrix() → ndarray

Get homogenous transformation matrix from pose.

Returns:: transformation matrix.
Return type:: np.ndarray

pose: List[float] | None = None: Pose of obstacle as a list with format [x y z qw qx qy qz]

save_as_mesh( file_path: str, transform_with_pose: bool = False, )

scale: List[float] | None = None

implement scaling for all obstacle types.

Type:: NOTE

texture: str | None = None: texture to apply to obstacle in visualization.

texture_id: str | None = None: texture to apply to obstacle in visualization.

name: str: Unique name of obstacle.

material: Material: material properties to apply in visualization.

tensor_args: TensorDeviceType

class VoxelGrid(

name: 'str',

pose: 'Optional[List[float]]' = None,

scale: 'Optional[List[float]]' = None,

color: 'Optional[List[float]]' = None,

texture_id: 'Optional[str]' = None,

texture: 'Optional[str]' = None,

material: 'Material' = <factory>,

tensor_args: 'TensorDeviceType' = <factory>,

dims: 'List[float]' = <factory>,

voxel_size: 'float' = 0.02,

feature_tensor: 'Optional[torch.Tensor]' = None,

xyzr_tensor: 'Optional[torch.Tensor]' = None,

feature_dtype: 'torch.dtype' = torch.float32,

)

Bases: Obstacle

dims: List[float]

voxel_size: float = 0.02

feature_tensor: Tensor | None = None

xyzr_tensor: Tensor | None = None

feature_dtype: dtype = torch.float32

get_grid_shape()

create_xyzr_tensor( transform_to_origin: bool = False, 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), )

get_occupied_voxels( feature_threshold: float | None = None, )

clone()

color: List[float] | None = None: Color of obstacle to use in visualization.

get_bounding_spheres( n_spheres: int = 1, surface_sphere_radius: float = 0.002, fit_type: SphereFitType = SphereFitType.VOXEL_VOLUME_SAMPLE_SURFACE, voxelize_method: str = 'ray', pre_transform_pose: Pose | None = None, 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), ) → List[Sphere]

Compute n spheres that fits in the volume of the object.

Parameters:: n – number of spheres
Returns:: spheres

get_cuboid() → Cuboid

Get oriented bounding box of obstacle (OBB).

Returns:: returns obstacle as a cuboid.
Return type:: Cuboid

get_mesh( process: bool = True, ) → Mesh

Get obstacle as a mesh.

Parameters:: process (bool, optional) – process mesh from file. Defaults to True.
Returns:: obstacle as a mesh.
Return type:: Mesh

get_sphere( n: int = 1, ) → Sphere

Compute a sphere that fits in the volume of the object.

Parameters:: n – number of spheres
Returns:: spheres

get_transform_matrix() → ndarray

Get homogenous transformation matrix from pose.

Returns:: transformation matrix.
Return type:: np.ndarray

get_trimesh_mesh( process: bool = True, process_color: bool = True, ) → Trimesh

Create a trimesh instance from the obstacle representation.

Parameters:: process (bool, optional) – process when loading from file. Defaults to True.
Raises:: NotImplementedError – requires implementation in derived class.
Returns:: instance of obstacle as a trimesh.
Return type:: trimesh.Trimesh

pose: List[float] | None = None: Pose of obstacle as a list with format [x y z qw qx qy qz]

save_as_mesh( file_path: str, transform_with_pose: bool = False, )

scale: List[float] | None = None

implement scaling for all obstacle types.

Type:: NOTE

texture: str | None = None: texture to apply to obstacle in visualization.

texture_id: str | None = None: texture to apply to obstacle in visualization.

name: str: Unique name of obstacle.

material: Material: material properties to apply in visualization.

tensor_args: TensorDeviceType

class WorldConfig(

sphere: List[Sphere] | None = None,

cuboid: List[Cuboid] | None = None,

capsule: List[Capsule] | None = None,

cylinder: List[Cylinder] | None = None,

mesh: List[Mesh] | None = None,

blox: List[BloxMap] | None = None,

voxel: List[VoxelGrid] | None = None,

objects: List[Obstacle] | None = None,

)

Bases: Sequence

Representation of World for use in CuRobo.

sphere: List[Sphere] | None = None: List of Sphere obstacles.

cuboid: List[Cuboid] | None = None: List of Cuboid obstacles.

capsule: List[Capsule] | None = None: List of Capsule obstacles.

cylinder: List[Cylinder] | None = None: List of Cylinder obstacles.

mesh: List[Mesh] | None = None: List of Mesh obstacles.

blox: List[BloxMap] | None = None: BloxMap obstacle.

voxel: List[VoxelGrid] | None = None

objects: List[Obstacle] | None = None: List of all obstacles in world.

clone()

static from_dict( data_dict: Dict[str, Any], ) → WorldConfig

static create_obb_world( current_world: WorldConfig, )

static create_mesh_world( current_world: WorldConfig, process: bool = False, )

static create_collision_support_world( current_world: WorldConfig, process: bool = True, )

static get_scene_graph( current_world: WorldConfig, process_color: bool = True, )

static create_merged_mesh_world( current_world: WorldConfig, process: bool = True, process_color: bool = True, )

get_obb_world()

get_mesh_world( merge_meshes: bool = False, process: bool = False, )

get_collision_check_world( mesh_process: bool = False, )

save_world_as_mesh( file_path: str, save_as_scene_graph=False, process_color: bool = True, )

get_cache_dict() → Dict[str, int]

Computes the number of obstacles in each type

Returns:: _description_

add_obstacle( obstacle: Obstacle, )

randomize_color( r=[0, 1], g=[0, 1], b=[0, 1], )

Randomize color of objects within the given range

Parameters:

r – _description_. Defaults to [0,1].
g – _description_. Defaults to [0,1].
b – _description_. Defaults to [0,1].

Returns:

_description_

add_color( rgba=[0.0, 0.0, 0.0, 1.0], )

add_material( material=Material(metallic=0.0, roughness=0.4), )

get_obstacle( name: str, ) → None | Obstacle

remove_obstacle(name: str)

remove_absolute_paths() → WorldConfig

_abc_impl = <_abc._abc_data object>

_is_protocol = False

count( value, ) → integer -- return number of occurrences of value

index( value[, start[, stop,]] ) → integer -- return first index of value.

Raises ValueError if the value is not present.

Supporting start and stop arguments is optional, but recommended.

tensor_sphere(

pt,

radius,

tensor=None,

tensor_args=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),

)

tensor_capsule(

base,

tip,

radius,

tensor=None,

tensor_args=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),

)

tensor_cube(

pose,

dims,

tensor_args=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),

)

Parameters:

pose (_type_) – x,y,z, qw,qx,qy,qz
dims (_type_) – _description_
tensor_args (_type_, optional) – _description_. Defaults to TensorDeviceType().

Returns:

_description_

Return type:

_type_

batch_tensor_cube(

pose,

dims,

tensor_args=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),

)

Parameters:

pose (_type_) – x,y,z, qw,qx,qy,qz
dims (_type_) – _description_
tensor_args (_type_, optional) – _description_. Defaults to TensorDeviceType().

Returns:

_description_

Return type:

_type_

curobo.geom.types module