release repository

examples/world_representation_example.py

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+#
+# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+# property and proprietary rights in and to this material, related
+# documentation and any modifications thereto. Any use, reproduction,
+# disclosure or distribution of this material and related documentation
+# without an express license agreement from NVIDIA CORPORATION or
+# its affiliates is strictly prohibited.
+#
+
+# CuRobo
+from curobo.geom.types import Capsule, Cuboid, Cylinder, Mesh, Sphere, WorldConfig
+from curobo.util_file import get_assets_path, join_path
+
+
+def approximate_geometry():
+    # CuRobo
+    from curobo.geom.sphere_fit import SphereFitType
+    from curobo.geom.types import Capsule, WorldConfig
+
+    obstacle_capsule = Capsule(
+        name="capsule",
+        radius=0.2,
+        base=[0, 0, 0],
+        tip=[0, 0, 0.5],
+        pose=[0.0, 5, 0.0, 0.043, -0.471, 0.284, 0.834],
+        color=[0, 1.0, 0, 1.0],
+    )
+
+    sph = obstacle_capsule.get_bounding_spheres(
+        500, 0.005, SphereFitType.VOXEL_VOLUME_SAMPLE_SURFACE
+    )
+
+    WorldConfig(sphere=sph).save_world_as_mesh("bounding_spheres.obj")
+
+    WorldConfig(capsule=[obstacle_capsule]).save_world_as_mesh("capsule.obj")
+
+
+def doc_example():
+    # describe a cuboid obstacle
+
+    obstacle_1 = Cuboid(
+        name="cube_1",
+        pose=[0.0, 0.0, 0.0, 0.043, -0.471, 0.284, 0.834],
+        dims=[0.2, 1.0, 0.2],
+        color=[0.8, 0.0, 0.0, 1.0],
+    )
+
+    # describe a mesh obstacle
+    # import a mesh file:
+
+    mesh_file = join_path(get_assets_path(), "scene/nvblox/srl_ur10_bins.obj")
+
+    obstacle_2 = Mesh(
+        name="mesh_1",
+        pose=[0.0, 2, 0.5, 0.043, -0.471, 0.284, 0.834],
+        file_path=mesh_file,
+        scale=[0.5, 0.5, 0.5],
+    )
+
+    obstacle_3 = Capsule(
+        name="capsule",
+        radius=0.2,
+        base=[0, 0, 0],
+        tip=[0, 0, 0.5],
+        pose=[0.0, 5, 0.0, 0.043, -0.471, 0.284, 0.834],
+        color=[0, 1.0, 0, 1.0],
+    )
+
+    obstacle_4 = Cylinder(
+        name="cylinder_1",
+        radius=0.2,
+        height=0.5,
+        pose=[0.0, 6, 0.0, 0.043, -0.471, 0.284, 0.834],
+        color=[0, 1.0, 0, 1.0],
+    )
+
+    obstacle_5 = Sphere(
+        name="sphere_1",
+        radius=0.2,
+        pose=[0.0, 7, 0.0, 0.043, -0.471, 0.284, 0.834],
+        color=[0, 1.0, 0, 1.0],
+    )
+
+    world_model = WorldConfig(
+        mesh=[obstacle_2],
+        cuboid=[obstacle_1],
+        capsule=[obstacle_3],
+        cylinder=[obstacle_4],
+        sphere=[obstacle_5],
+    )
+    world_model.randomize_color(r=[0.2, 0.7], g=[0.4, 0.8], b=[0.0, 0.4])
+    file_path = "debug_mesh.obj"
+    world_model.save_world_as_mesh(file_path)
+
+    cuboid_world = WorldConfig.create_obb_world(world_model)
+    cuboid_world.save_world_as_mesh("debug_cuboid_mesh.obj")
+
+    collision_support_world = WorldConfig.create_collision_support_world(world_model)
+    collision_support_world.save_world_as_mesh("debug_collision_mesh.obj")
+
+
+if __name__ == "__main__":
+    approximate_geometry()