curobo.util.usd_helper module

set_prim_translate(prim, translation)

set_prim_transform( prim, pose: List[float], scale: List[float] = [1, 1, 1], use_float: bool = False, )

get_prim_world_pose( cache: XformCache, prim: Prim, inverse: bool = False, )

get_transform(pose)

get_position_quat( pose, use_float: bool = True, )

set_geom_mesh_attrs( mesh_geom: Mesh, obs: Mesh, timestep=None, )

set_geom_cube_attrs( cube_geom: Cube, dims: List[float], pose: List[float], timestep=None, )

set_geom_cylinder_attrs( cube_geom: Cylinder, radius, height, pose: List[float], timestep=None, )

set_geom_sphere_attrs( sphere_geom: Sphere, radius: float, pose: List[float], timestep=None, )

set_cylinder_attrs( prim: Cylinder, radius: float, height: float, pose, color=[], )

get_cylinder_attrs( prim, cache=None, transform=None, ) → Cylinder

get_capsule_attrs( prim, cache=None, transform=None, ) → Cylinder

get_cube_attrs( prim, cache=None, transform=None, ) → Cuboid

get_sphere_attrs( prim, cache=None, transform=None, ) → Sphere

get_mesh_attrs( prim, cache=None, transform=None, ) → Mesh

create_stage( name: str = 'curobo_stage.usd', base_frame: str = '/world', )

class UsdHelper(use_float=True)

Bases: object

create_stage( name: str = 'curobo_stage.usd', base_frame: str = '/world', timesteps: int | None = None, dt=0.02, interpolation_steps: float = 1, )

add_subroot( root='/world', sub_root='/obstacles', pose: Pose | None = None, )

load_stage_from_file( file_path: str, )

load_stage( stage: Stage, )

get_pose( prim_path: str, timecode: float = 0.0, inverse: bool = False, ) → matrix

get_obstacles_from_stage( only_paths: List[str] | None = None, ignore_paths: List[str] | None = None, only_substring: List[str] | None = None, ignore_substring: List[str] | None = None, reference_prim_path: str | None = None, timecode: float = 0, ) → WorldConfig

add_world_to_stage( obstacles: WorldConfig, base_frame: str = '/world', obstacles_frame: str = 'obstacles', base_t_obstacle_pose: Pose | None = None, timestep: float | None = None, )

get_prim_from_obstacle( obstacle: Obstacle, base_frame: str = '/world/obstacles', timestep=None, )

add_cuboid_to_stage( obstacle: Cuboid, base_frame: str = '/world/obstacles', timestep=None, enable_physics: bool = False, )

add_cylinder_to_stage( obstacle: Cylinder, base_frame: str = '/world/obstacles', timestep=None, enable_physics: bool = False, )

add_sphere_to_stage( obstacle: Sphere, base_frame: str = '/world/obstacles', timestep=None, enable_physics: bool = False, )

add_mesh_to_stage( obstacle: Mesh, base_frame: str = '/world/obstacles', timestep=None, enable_physics: bool = False, )

get_obstacle_from_prim( prim_path: str, ) → Obstacle

write_stage_to_file( file_path: str, flatten: bool = False, )

create_animation( robot_world_cfg: WorldConfig, pose: Pose, base_frame='/world', robot_frame='/robot', dt: float = 0.02, )

Create animation, given meshes and pose

Parameters:

prim_names – _description_
pose – [ timesteps, n_meshes, pose]
dt – _description_. Defaults to 0.02.

create_obstacle_animation( obstacles: List[List[Obstacle]], base_frame: str = '/world', obstacles_frame: str = 'robot_base', )

create_linkpose_robot_animation( robot_usd_path: str, link_names: List[str], joint_names: List[str], pose: Pose, robot_base_frame='/world/robot', local_asset_path='assets/', write_robot_usd_path='assets/', robot_asset_prim_path='/panda', )

Create animation, given meshes and pose

Parameters:

prim_names – _description_
pose – [ timesteps, n_meshes, pose]
dt – _description_. Defaults to 0.02.

add_material( material_name: str, object_path: str, color: List[float], obj_prim: Prim, material: Material = Material(metallic=0.0, roughness=0.4), )

save()

static write_trajectory_animation( robot_model_file: str, world_model: WorldConfig, q_start: JointState, q_traj: JointState, dt: float = 0.02, save_path: str = 'out.usd', 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), interpolation_steps: float = 1.0, robot_base_frame='robot', base_frame='/world', kin_model: CudaRobotModel | None = None, visualize_robot_spheres: bool = True, robot_color: List[float] | None = None, flatten_usd: bool = False, )

static load_robot( robot_model_file: 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), ) → CudaRobotModel

static write_trajectory_animation_with_robot_usd( robot_model_file: str, world_model: WorldConfig | None, q_start: JointState, q_traj: JointState, dt: float = 0.02, save_path: str = 'out.usd', 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), interpolation_steps: float = 1.0, write_robot_usd_path: str = 'assets/', robot_base_frame: str = 'robot', robot_usd_local_reference: str = 'assets/', base_frame='/world', kin_model: CudaRobotModel | None = None, visualize_robot_spheres: bool = True, robot_asset_prim_path=None, robot_color: List[float] | None = None, flatten_usd: bool = False, )

static create_grid_usd( usds_path: str | List[str], save_path: str, base_frame: str, max_envs: int, max_timecode: float, x_space: float, y_space: float, x_per_row: int, local_asset_path: str, dt: float = 0.02, interpolation_steps: int = 1, prefix_string: str | None = None, flatten_usd: bool = False, )

load_robot_usd( robot_usd_path: str, link_names: List[str], joint_names: List[str], robot_base_frame='/world/robot', write_asset_path='assets/', local_asset_path='assets/', robot_asset_prim_path='/panda', )

get_robot_prims( link_names: List[str], joint_names: List[str], robot_base_path: str = '/world/robot', )

update_robot_joint_state( joint_prims: List[Prim], js: JointState, timestep: int, )

static write_motion_gen_log( result: MotionGenResult, robot_file: str | RobotConfig, world_config: None | WorldConfig, start_state: JointState, goal_pose: Pose, save_prefix: str = 'log', write_ik: bool = False, write_trajopt: bool = False, write_graph: bool = False, goal_object: Obstacle | None = None, overlay_ik: bool = False, overlay_trajopt: bool = False, visualize_robot_spheres: bool = True, link_spheres: Tensor | None = None, grid_space: float = 1.0, write_robot_usd_path='assets/', robot_asset_prim_path='/panda', fps: int = 24, link_poses: Dict[str, Pose] | None = None, flatten_usd: bool = False, )