Isaac Sim 4.0 support, Kinematics API doc, Windows support

src/curobo/geom/sdf/world.py

@@ -493,6 +493,18 @@ class WorldCollision(WorldCollisionConfig):
         )
         return mesh
 
+    def get_obstacle_names(self, env_idx: int = 0):
+        return []
+
+    def check_obstacle_exists(self, name: str, env_idx: int = 0) -> bool:
+
+        obstacle_names = self.get_obstacle_names(env_idx)
+
+        if name in obstacle_names:
+            return True
+
+        return False
+
 
 class WorldPrimitiveCollision(WorldCollision):
     """World Oriented Bounding Box representation object
@@ -527,6 +539,10 @@ class WorldPrimitiveCollision(WorldCollision):
             world_config, env_idx, fix_cache_reference=fix_cache_reference
         )
 
+    def get_obstacle_names(self, env_idx: int = 0):
+        base_obstacles = super().get_obstacle_names(env_idx)
+        return self._env_obbs_names[env_idx] + base_obstacles
+
     def load_batch_collision_model(self, world_config_list: List[WorldConfig]):
         """Load a batch of collision environments from a list of world configs.
 

src/curobo/geom/sdf/world_blox.py

@@ -511,3 +511,7 @@ class WorldBloxCollision(WorldVoxelCollision):
     def decay_layer(self, layer_name: str):
         index = self._blox_names.index(layer_name)
         self._blox_mapper.decay_occupancy(mapper_id=index)
+
+    def get_obstacle_names(self, env_idx: int = 0):
+        base_obstacles = super().get_obstacle_names(env_idx)
+        return self._blox_names + base_obstacles

src/curobo/geom/sdf/world_mesh.py

@@ -327,6 +327,10 @@ class WorldMeshCollision(WorldPrimitiveCollision):
             log_error("Obstacle not found in world model: " + name)
         self.world_model.objects
 
+    def get_obstacle_names(self, env_idx: int = 0):
+        base_obstacles = super().get_obstacle_names(env_idx)
+        return self._env_mesh_names[env_idx] + base_obstacles
+
     def enable_mesh(
         self,
         enable: bool = True,

src/curobo/geom/sdf/world_voxel.py

@@ -257,6 +257,10 @@ class WorldVoxelCollision(WorldMeshCollision):
         else:
             return super().enable_obstacle(name, enable, env_idx)
 
+    def get_obstacle_names(self, env_idx: int = 0):
+        base_obstacles = super().get_obstacle_names(env_idx)
+        return self._env_voxel_names[env_idx] + base_obstacles
+
     def enable_voxel(
         self,
         enable: bool = True,

src/curobo/geom/types.py

@@ -8,6 +8,8 @@
 # without an express license agreement from NVIDIA CORPORATION or
 # its affiliates is strictly prohibited.
 #
+"""Geometry types are defined in this module. See :ref:`world_collision` for more information."""
+
 from __future__ import annotations
 
 # Standard Library
@@ -31,6 +33,8 @@ from curobo.util_file import get_assets_path, join_path
 
 @dataclass
 class Material:
+    """Material properties of an obstacle, useful for rendering."""
+
     metallic: float = 0.0
     roughness: float = 0.4
 
@@ -45,21 +49,23 @@ class Obstacle:
     #: Pose of obstacle as a list with format [x y z qw qx qy qz]
     pose: Optional[List[float]] = None
 
-    #: NOTE: implement scaling for all obstacle types.
+    #: Scale obsctacle. This is only implemented for :class:`Mesh` and :class:`PointCloud`
+    #: obstacles.
     scale: Optional[List[float]] = None
 
     #: Color of obstacle to use in visualization.
     color: Optional[List[float]] = None
 
-    #: texture to apply to obstacle in visualization.
+    #: Texture name for the obstacle.
     texture_id: Optional[str] = None
 
-    #: texture to apply to obstacle in visualization.
+    #: Texture to apply to obstacle in visualization.
     texture: Optional[str] = None
 
-    #: material properties to apply in visualization.
+    #: Material properties to apply in visualization.
     material: Material = field(default_factory=Material)
 
+    #: Device and floating point precision to use for tensors.
     tensor_args: TensorDeviceType = field(default_factory=TensorDeviceType)
 
     def get_trimesh_mesh(self, process: bool = True, process_color: bool = True) -> trimesh.Trimesh:
@@ -387,7 +393,13 @@ class Mesh(Obstacle):
             if isinstance(m, trimesh.Scene):
                 m = m.dump(concatenate=True)
             if process_color and isinstance(m.visual, trimesh.visual.texture.TextureVisuals):
-                m.visual = m.visual.to_color()
+                try:
+                    m.visual = m.visual.to_color()
+                except Exception as e:
+                    log_warn("Could not convert texture to color: " + str(e))
+            if self.scale is not None:
+                m.vertices = np.ravel(self.scale) * m.vertices
+                # self.scale = None
         else:
             m = trimesh.Trimesh(
                 self.vertices,
@@ -396,9 +408,7 @@ class Mesh(Obstacle):
                 vertex_normals=self.vertex_normals,
                 face_colors=self.face_colors,
             )
-        if self.scale is not None:
-            m.vertices = np.ravel(self.scale) * m.vertices
-            self.scale = None
+
         return m
 
     def update_material(self):