curobo.geom.types module¶

Geometry types are defined in this module. See Collision World Representation for more information.

class Material( metallic: float = 0.0, roughness: float = 0.4, )¶

Bases: object

Material properties of an obstacle, useful for rendering.

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¶: Scale obsctacle. This is only implemented for Mesh and PointCloud obstacles.

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

texture_id: str | None = None¶: Texture name for the obstacle.

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

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

tensor_args: TensorDeviceType¶: Device and floating point precision to use for tensors.

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, )¶

Save obstacle as a mesh file.

Parameters:

file_path – Path to save mesh file.
transform_with_pose – Transform obstacle with pose before saving.

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, ) → Trimesh¶

Create a trimesh instance from the obstacle representation. :param process: Flag is not used. :param process_color: Flag is not used.

Returns:: Instance of obstacle as a trimesh.
Return type:: trimesh.Trimesh

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

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, )¶

Save obstacle as a mesh file.

Parameters:

file_path – Path to save mesh file.
transform_with_pose – Transform obstacle with pose before saving.

scale: List[float] | None = None¶: Scale obsctacle. This is only implemented for Mesh and PointCloud obstacles.

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

texture_id: str | None = None¶: Texture name for the obstacle.

name: str¶: Unique name of obstacle.

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

tensor_args: TensorDeviceType¶: Device and floating point precision to use for tensors.

class Capsule( 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>, radius: float = 0.0, base: ~typing.List[float] = <factory>, tip: ~typing.List[float] = <factory>, )¶

Bases: Obstacle

Represent obstacle as a capsule.

radius: float = 0.0¶: Radius of capsule in meters.

base: List[float]¶: Base of capsule in meters [x, y, z].

tip: List[float]¶: Tip of capsule in meters [x, y, z].

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

Create a trimesh instance from the obstacle representation.

Parameters:

process – Flag is not used.
process_color – Flag is not used.

Returns:

Instance of obstacle as a trimesh.

Return type:

trimesh.Trimesh

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

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, )¶

Save obstacle as a mesh file.

Parameters:

file_path – Path to save mesh file.
transform_with_pose – Transform obstacle with pose before saving.

scale: List[float] | None = None¶: Scale obsctacle. This is only implemented for Mesh and PointCloud obstacles.

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

texture_id: str | None = None¶: Texture name for the obstacle.

name: str¶: Unique name of obstacle.

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

tensor_args: TensorDeviceType¶: Device and floating point precision to use for tensors.

class Cylinder( 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>, radius: float = 0.0, height: float = 0.0, )¶

Bases: Obstacle

Obstacle represented as a cylinder.

radius: float = 0.0¶: Radius of cylinder in meters.

height: float = 0.0¶: Height of cylinder in meters.

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

Create a trimesh instance from the obstacle representation.

Parameters:

process – Flag is not used.
process_color – Flag is not used.

Returns:

Instance of obstacle as a trimesh.

Return type:

trimesh.Trimesh

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

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, )¶

Save obstacle as a mesh file.

Parameters:

file_path – Path to save mesh file.
transform_with_pose – Transform obstacle with pose before saving.

scale: List[float] | None = None¶: Scale obsctacle. This is only implemented for Mesh and PointCloud obstacles.

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

texture_id: str | None = None¶: Texture name for the obstacle.

name: str¶: Unique name of obstacle.

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

tensor_args: TensorDeviceType¶: Device and floating point precision to use for tensors.

class Sphere( 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>, radius: float = 0.0, position: ~typing.List[float] | None = None, )¶

Bases: Obstacle

Obstacle represented as a sphere.

radius: float = 0.0¶: Radius of sphere in meters.

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

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

Create a trimesh instance from the obstacle representation.

Parameters:

process – Flag is not used.
process_color – Flag is not used.

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.

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, )¶

Save obstacle as a mesh file.

Parameters:

file_path – Path to save mesh file.
transform_with_pose – Transform obstacle with pose before saving.

scale: List[float] | None = None¶: Scale obsctacle. This is only implemented for Mesh and PointCloud obstacles.

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

texture_id: str | None = None¶: Texture name for the obstacle.

name: str¶: Unique name of obstacle.

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

tensor_args: TensorDeviceType¶: Device and floating point precision to use for tensors.

class Mesh( 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>, file_path: str | None = None, file_string: str | None = None, urdf_path: str | None = None, vertices: ~typing.List[~typing.List[float]] | None = None, faces: ~typing.List[int] | None = None, vertex_colors: ~typing.List[~typing.List[float]] | None = None, vertex_normals: ~typing.List[~typing.List[float]] | None = None, face_colors: ~typing.List[~typing.List[float]] | None = None, )¶

Bases: Obstacle

Obstacle represented as mesh.

file_path: str | None = None¶: Path to mesh file.

file_string: str | None = None¶: Full mesh as a string, loading from this is not implemented yet.

urdf_path: str | None = None¶: Path to urdf file, does not support loading from this yet.

vertices: List[List[float]] | None = None¶: Vertices of mesh.

faces: List[int] | None = None¶: Faces of mesh.

vertex_colors: List[List[float]] | None = None¶: Vertex colors of mesh.

vertex_normals: List[List[float]] | None = None¶: Vertex normals of mesh.

face_colors: List[List[float]] | None = None¶: Face colors of mesh.

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

Create a trimesh instance from the obstacle representation.

Parameters:

process – process flag passed to trimesh.load.
process_color – if True, load mesh visual from texture.

Returns:

Instance of obstacle as a trimesh.

Return type:

trimesh.Trimesh

update_material()¶: Load material into vertex_colors and face_colors.

get_mesh_data( process: bool = True, ) → Tuple[List[List[float]], List[int]]¶

Get vertices and faces of mesh.

Parameters:: process – process flag passed to trimesh.load.
Returns:: vertices and faces of mesh.
Return type:: Tuple[List[List[float]], List[int]]

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, )¶

Create a mesh from a pointcloud using marching cubes.

Parameters:

pointcloud – Input pointcloud of shape [n_pts, 3].
pitch – Pitch of marching cubes.
name – Name to asiign to created mesh.
pose – Pose to assign to created mesh.
filter_close_points – filter points that are closer than this threshold. Threshold is in meters and should be positive.

Returns:

Mesh created from pointcloud.

Return type:

Mesh

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

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, )¶

Save obstacle as a mesh file.

Parameters:

file_path – Path to save mesh file.
transform_with_pose – Transform obstacle with pose before saving.

scale: List[float] | None = None¶: Scale obsctacle. This is only implemented for Mesh and PointCloud obstacles.

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

texture_id: str | None = None¶: Texture name for the obstacle.

name: str¶: Unique name of obstacle.

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

tensor_args: TensorDeviceType¶: Device and floating point precision to use for tensors.

class BloxMap( name: str, pose: ~typing.List[float] | None = None, scale: ~typing.List[float] = <factory>, 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>, map_path: str | None = None, voxel_size: float = 0.02, integrator_type: str = 'tsdf', mesh_file_path: str | None = None, mapper_instance: ~typing.Any | None = None, mesh: ~curobo.geom.types.Mesh | None = None, )¶

Bases: Obstacle

Obstacle represented as a nvblox ESDF layer.

map_path: str | None = None¶: Path to nvblox map file.

scale: List[float] = None¶: Scale of the map.

voxel_size: float = 0.02¶: Voxel size of the map.

integrator_type: str = 'tsdf'¶

[“tsdf”, “occupancy”]

Type:: Integrator type to use in nvblox. Options

mesh_file_path: str | None = None¶: File path to mesh file if available, useful for rendering.

mapper_instance: Any = None¶: Instance of nvblox mapper. Useful for passing a pre-initialized mapper.

mesh: Mesh | None = None¶: Mesh representation of the map. Useful for rendering. Not used in collision checking.

get_trimesh_mesh( process: bool = True, process_color: bool = True, ) → Trimesh | None¶

Get trimesh mesh representation of the map. Only available if mesh_file_path is set.

Parameters:

process – Process flag passed to trimesh.load.
process_color – Load mesh visual from texture.

Returns:

Trimesh mesh representation of the map.

Return type:

Union[trimesh.Trimesh, None]

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

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, )¶

Save obstacle as a mesh file.

Parameters:

file_path – Path to save mesh file.
transform_with_pose – Transform obstacle with pose before saving.

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

texture_id: str | None = None¶: Texture name for the obstacle.

name: str¶: Unique name of obstacle.

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

tensor_args: TensorDeviceType¶: Device and floating point precision to use for tensors.

class PointCloud( 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>, points: ~torch.Tensor | ~numpy.ndarray | ~typing.List[~typing.List[float]] | None = None, points_features: ~torch.Tensor | ~numpy.ndarray | ~typing.List[~typing.List[float]] | None = None, )¶

Bases: Obstacle

Obstacle represented as a pointcloud.

points: Tensor | ndarray | List[List[float]] = None¶: Points of pointcloud.

points_features: Tensor | ndarray | List[List[float]] | None = None¶: Features of pointcloud.

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

Create a trimesh instance from the obstacle representation.

Parameters:

process – Not used.
process_color – Not used.

Returns:

Instance of obstacle as a trimesh.

Return type:

trimesh.Trimesh

get_mesh_data( process: bool = True, ) → Tuple[List[List[float]], List[int]]¶

Get mesh data from pointcloud.

Parameters:: process – process flag passed to trimesh.load.
Returns:: vertices and faces of mesh.
Return type:: verts, faces

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

Create a pointcloud from a camera observation.

Parameters:

camera_obs – Input camera observation.
name – Name to assign to created pointcloud.
pose – Pose to assign to created pointcloud.

Returns:

Pointcloud created from camera observation.

Return type:

PointCloud

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

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, )¶

Save obstacle as a mesh file.

Parameters:

file_path – Path to save mesh file.
transform_with_pose – Transform obstacle with pose before saving.

scale: List[float] | None = None¶: Scale obsctacle. This is only implemented for Mesh and PointCloud obstacles.

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

texture_id: str | None = None¶: Texture name for the obstacle.

name: str¶: Unique name of obstacle.

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

tensor_args: TensorDeviceType¶: Device and floating point precision to use for tensors.

class VoxelGrid( 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>, voxel_size: float = 0.02, feature_tensor: ~torch.Tensor | None = None, xyzr_tensor: ~torch.Tensor | None = None, feature_dtype: ~torch.dtype = torch.float32, )¶

Bases: Obstacle

VoxelGrid representation of an obstacle. Requires voxel to contain ESDF.

dims: List[float]¶: Dimensions of voxel grid in meters [x_length, y_length, z_length].

voxel_size: float = 0.02¶: Voxel size in meters.

feature_tensor: Tensor | None = None¶: Feature tensor of voxel grid, typically ESDF.

xyzr_tensor: Tensor | None = None¶: XYZR tensor of voxel grid.

feature_dtype: dtype = torch.float32¶: Data type of feature tensor.

get_grid_shape() → Tuple[List[int], List[float], List[float]]¶: Get shape of voxel grid.

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), ) → Tensor¶

Create XYZR tensor of voxel grid.

Parameters:

transform_to_origin – Transform points to origin.
tensor_args – Device and floating point precision to use for tensors.

Returns:

XYZR tensor of voxel grid with r referring to voxel size.

Return type:

xyzr_tensor

get_occupied_voxels( feature_threshold: float | None = None, ) → Tensor¶

Get occupied voxels from voxel grid.

Parameters:: feature_threshold – esdf value threshold to consider as occupied.
Returns:: occupied voxels as a tensor of shape [occupied_voxels].

clone() → VoxelGrid¶: Clone data of voxel grid.

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

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, )¶

Save obstacle as a mesh file.

Parameters:

file_path – Path to save mesh file.
transform_with_pose – Transform obstacle with pose before saving.

scale: List[float] | None = None¶: Scale obsctacle. This is only implemented for Mesh and PointCloud obstacles.

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

texture_id: str | None = None¶: Texture name for the obstacle.

name: str¶: Unique name of obstacle.

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

tensor_args: TensorDeviceType¶: Device and floating point precision to use for tensors.

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¶: List of ESDF voxel grid obstacles.

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

clone() → WorldConfig¶: Clone world configuration.

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

Load world configuration from dictionary.

Parameters:: data_dict – World configuration dictionary.
Returns:: Instance of WorldConfig.

static create_obb_world( current_world: WorldConfig, ) → WorldConfig¶: Approximate all obstcales to oriented bounding boxes.

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

Convert all obstacles to meshes. Does not convert VoxelGrid, BloxMap.

Parameters:

current_world – Current world configuration.
process – process flag passed to trimesh.load.

Returns:

World configuration with all obstacles converted to meshes.

Return type:

WorldConfig

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

Converts all obstacles to only supported collision types.

Parameters:

current_world – Current world configuration.
process – process flag passed to trimesh.load.

Returns:

World configuration with all obstacles converted to supported collision: types.

Return type:

WorldConfig

static get_scene_graph( current_world: WorldConfig, process_color: bool = True, ) → Scene¶

Get trimesh scene graph of world.

Parameters:

current_world – Current world configuration.
process_color – Load color of meshes.

Returns:

Scene graph of world.

Return type:

trimesh.scene.scene.Scene

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

Merge all obstacles in the world to a single mesh.

Parameters:

current_world – Current world configuration.
process – process flag passed to trimesh.load.
process_color – Load color of meshes.

Returns:

World configuration with a single merged mesh as obstacle.

Return type:

WorldConfig

get_obb_world() → WorldConfig¶: Get world with all obstacles as oriented bounding boxes.

get_mesh_world( merge_meshes: bool = False, process: bool = False, ) → WorldConfig¶: Get world with all obstacles as meshes.

get_collision_check_world( mesh_process: bool = False, ) → WorldConfig¶: Get world with all obstacles converted to supported collision types.

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

Save world as a mesh file.

Parameters:

file_path – Path to save mesh file.
save_as_scene_graph – Save as scene graph.
process_color – Load color of meshes.

get_cache_dict() → Dict[str, int]¶: Computes the number of obstacles in each type.

add_obstacle( obstacle: Obstacle, )¶

Add obstacle to world.

Parameters:: obstacle – Obstacle to add to world.

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

Randomize color of objects within the given range

Parameters:

r – range of red color.
g – range of green color.
b – range of blue color.

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

Update color of obstacles.

Parameters:: rgba – red, green, blue, alpha values.

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

Add material to all obstacles.

Parameters:: material – material to add to obstacles.

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

Get obstacle by name.

Parameters:: name – Name of obstacle.
Returns:: Obstacle with given name. If not found, returns None.

remove_obstacle(name: str)¶

Remove obstacle by name.

Parameters:: name – Name of obstacle to remove.

remove_absolute_paths()¶: Remove absolute paths from file paths in obstacles. May not work on Windows.

_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: List[float] | array | Tensor, radius: float, tensor: Tensor | 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), ) → Tensor¶

Tensor representation of a sphere.

Parameters:

pt – Input point.
radius – Radius of sphere.
tensor – Tensor to update. If None, creates a new tensor.
tensor_args – Device and floating point precision to use for tensors.

Returns:

Tensor representation of sphere.

Return type:

tensor

tensor_capsule( base: List[float] | Tensor | array, tip: List[float] | Tensor | array, radius: float, tensor: Tensor | 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), ) → Tensor¶

Tensor representation of a capsule.

Parameters:

base – Base of capsule.
tip – Tip of capsule.
radius – radius of capsule.
tensor – Tensor to update. If None, creates a new tensor.
tensor_args – Device and floating point precision to use for tensors.

Returns:

Tensor representation of capsule.

Return type:

torch.Tensor

tensor_cube( pose: List[float], dims: List[float], 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[torch.Tensor, torch.Tensor]¶

Tensor representation of a cube.

Parameters:

pose – x,y,z, qw, qx, qy, qz.
dims – length, width, height in meters. Frame is at the center of the cube.
tensor_args – Device and floating point precision to use for tensors.

Returns:

Tensor representation of cube, first tensor is: dimensions and second tensor is inverse of pose.

Return type:

List[torch.Tensor, torch.Tensor]

batch_tensor_cube( pose: List[List[float]], dims: List[List[float]], 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[Tensor]¶

Tensor representation of a batch of cubes :param pose: Poses of the cubes in x,y,z, qw,qx,qy,qz. :param dims: Dimensions of the cubes. Frame is at the center of the cube. :param tensor_args: Device and floating point precision to use for tensors.

Returns:

Tensor representation of cubes, first tensor is dimensions and: second tensor is inverse of poses.

Return type:

List[torch.Tensor]