Isaac Sim 4.0 support, Kinematics API doc, Windows support

src/curobo/cuda_robot_model/util.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.
+#
+
+""" This module contains a function to load robot representation from a yaml or xrdf file. """
+
+# Standard Library
+from typing import Optional, Union
+
+# CuRobo
+from curobo.types.file_path import ContentPath
+from curobo.util.logger import log_error
+from curobo.util.xrdf_utils import convert_xrdf_to_curobo
+from curobo.util_file import join_path, load_yaml
+
+
+def load_robot_yaml(content_path: ContentPath = ContentPath()) -> dict:
+    """Load robot representation from a yaml or xrdf file.
+
+    Args:
+        content_path: Path to the robot configuration files.
+
+    Returns:
+        dict: Robot representation as a dictionary.
+    """
+    if isinstance(content_path, str):
+        log_error("content_path should be of type ContentPath")
+
+    robot_data = load_yaml(content_path.get_robot_configuration_path())
+
+    if "format" in robot_data and robot_data["format"] == "xrdf":
+        robot_data = convert_xrdf_to_curobo(
+            content_path=content_path,
+        )
+        robot_data["robot_cfg"]["kinematics"][
+            "asset_root_path"
+        ] = content_path.robot_asset_absolute_path
+
+    if "robot_cfg" not in robot_data:
+        robot_data["robot_cfg"] = robot_data
+    if "kinematics" not in robot_data["robot_cfg"]:
+        robot_data["robot_cfg"]["kinematics"] = robot_data
+    if content_path.robot_urdf_absolute_path is not None:
+        robot_data["robot_cfg"]["kinematics"]["urdf_path"] = content_path.robot_urdf_absolute_path
+    if content_path.robot_usd_absolute_path is not None:
+        robot_data["robot_cfg"]["kinematics"]["usd_path"] = content_path.robot_usd_absolute_path
+    if content_path.robot_asset_absolute_path is not None:
+        robot_data["robot_cfg"]["kinematics"][
+            "asset_root_path"
+        ] = content_path.robot_asset_absolute_path
+    if isinstance(robot_data["robot_cfg"]["kinematics"]["collision_spheres"], str):
+        robot_data["robot_cfg"]["kinematics"]["collision_spheres"] = join_path(
+            content_path.robot_config_root_path,
+            robot_data["robot_cfg"]["kinematics"]["collision_spheres"],
+        )
+    return robot_data