curobo.wrap.model.robot_segmenter module
- class RobotSegmenter(
- robot_world: RobotWorld,
- distance_threshold: float = 0.05,
- use_cuda_graph: bool = True,
- ops_dtype: dtype = torch.float32,
- depth_to_meter: float = 0.001,
Bases:
object- static from_robot_file(
- robot_file: str | Dict,
- collision_sphere_buffer: float | None = None,
- distance_threshold: float = 0.05,
- use_cuda_graph: bool = True,
- 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_pointcloud_from_depth(
- camera_obs: CameraObservation,
- update_camera_projection(
- camera_obs: CameraObservation,
- get_robot_mask(
- camera_obs: CameraObservation,
- joint_state: JointState,
Assumes 1 robot and batch of depth images, batch of poses
- get_robot_mask_from_active_js(
- camera_obs: CameraObservation,
- active_joint_state: JointState,
- _create_cg_graph(
- cam_obs,
- q,
- _call_op(cam_obs, q)
- _mask_op(camera_obs, q)
- property kinematics: CudaRobotModel
- property robot_world: RobotWorld