├── .clangd ├── .gitattributes ├── .github └── ISSUE_TEMPLATE │ └── standard-template.md ├── .gitignore ├── CHANGELOG.md ├── CODEOWNERS ├── LICENSE ├── LICENSE_ASSETS ├── MANIFEST.in ├── README.md ├── benchmark ├── README.md ├── curobo_benchmark.py ├── curobo_nvblox_benchmark.py ├── curobo_nvblox_profile.py ├── curobo_profile.py ├── curobo_python_profile.py ├── curobo_voxel_benchmark.py ├── curobo_voxel_profile.py ├── generate_nvblox_images.py ├── ik_benchmark.py ├── kinematics_benchmark.py ├── metrics.py └── robometrics_benchmark.py ├── docker ├── .dockerignore ├── README.md ├── aarch64.dockerfile ├── base.dockerfile ├── build_dev_docker.sh ├── build_docker.sh ├── isaac_sim.dockerfile ├── start_dev_docker.sh ├── start_docker.sh ├── start_docker_aarch64.sh ├── start_docker_isaac_sim.sh ├── start_docker_isaac_sim_headless.sh ├── start_docker_x86.sh ├── start_user_docker.sh ├── user.dockerfile ├── user_isaac_sim.dockerfile └── x86.dockerfile ├── example_grasp ├── multi_gpu.py ├── plan_batch_env.py ├── plan_mogen_batch.py └── visualize_npy.py ├── examples ├── collision_check_example.py ├── ik_example.py ├── isaac_sim │ ├── batch_collision_checker.py │ ├── batch_motion_gen_reacher.py │ ├── collision_checker.py │ ├── constrained_reacher.py │ ├── helper.py │ ├── ik_reachability.py │ ├── load_all_robots.py │ ├── motion_gen_reacher.py │ ├── motion_gen_reacher_nvblox.py │ ├── mpc_example.py │ ├── mpc_nvblox_example.py │ ├── multi_arm_reacher.py │ ├── realsense_collision.py │ ├── realsense_mpc.py │ ├── realsense_reacher.py │ ├── realsense_viewer.py │ ├── simple_stacking.py │ └── util │ │ ├── convert_urdf_to_usd.py │ │ └── dowload_assets.py ├── kinematics_example.py ├── motion_gen_api_example.py ├── motion_gen_example.py ├── motion_gen_profile.py ├── mpc_example.py ├── nvblox_example.py ├── pose_sequence_example.py ├── robot_image_segmentation_example.py ├── torch_layers_example.py ├── trajopt_example.py ├── usd_example.py └── world_representation_example.py ├── images ├── robot_demo.gif └── rrt_compare.gif ├── pyproject.toml ├── setup.cfg ├── setup.py ├── src └── curobo │ ├── __init__.py │ ├── content │ ├── assets │ │ ├── robot │ │ │ ├── allegro_biotac_description │ │ │ │ ├── allegro_biotac.urdf │ │ │ │ └── meshes │ │ │ │ │ ├── allegro │ │ │ │ │ └── biotac │ │ │ ├── allegro_description │ │ │ │ ├── allegro_hand_config.rviz │ │ │ │ ├── allegro_hand_config.vcg │ │ │ │ ├── allegro_hand_description_left.urdf │ │ │ │ ├── allegro_hand_description_left.xacro │ │ │ │ ├── allegro_hand_description_right.urdf │ │ │ │ ├── allegro_hand_description_right.xacro │ │ │ │ ├── allegro_hand_springgrasp_right.urdf │ │ │ │ ├── build_desc.sh │ │ │ │ ├── manifest.xml │ │ │ │ └── meshes │ │ │ │ │ ├── base_link.STL │ │ │ │ │ ├── base_link.obj │ │ │ │ │ ├── base_link_left.STL │ │ │ │ │ ├── base_link_left.obj │ │ │ │ │ ├── box.ply │ │ │ │ │ ├── link_0.0.STL │ │ │ │ │ ├── link_0.0.obj │ │ │ │ │ ├── link_1.0.STL │ │ │ │ │ ├── link_1.0.obj │ │ │ │ │ ├── link_12.0_left.STL │ │ │ │ │ ├── link_12.0_left.obj │ │ │ │ │ ├── link_12.0_right.STL │ │ │ │ │ ├── link_12.0_right.obj │ │ │ │ │ ├── link_13.0.STL │ │ │ │ │ ├── link_13.0.obj │ │ │ │ │ ├── link_14.0.STL │ │ │ │ │ ├── link_14.0.obj │ │ │ │ │ ├── link_15.0.STL │ │ │ │ │ ├── link_15.0.obj │ │ │ │ │ ├── link_15.0_tip.STL │ │ │ │ │ ├── link_15.0_tip.obj │ │ │ │ │ ├── link_2.0.STL │ │ │ │ │ ├── link_2.0.obj │ │ │ │ │ ├── link_3.0.STL │ │ │ │ │ ├── link_3.0.obj │ │ │ │ │ ├── link_3.0_tip.STL │ │ │ │ │ ├── link_3.0_tip.obj │ │ │ │ │ ├── link_4.0.STL │ │ │ │ │ ├── link_4.0.obj │ │ │ │ │ └── sphere.ply │ │ │ ├── franka_description │ │ │ │ ├── franka_panda.urdf │ │ │ │ ├── franka_panda_mobile.urdf │ │ │ │ ├── franka_panda_mobile_base.urdf │ │ │ │ ├── franka_panda_mobile_x.urdf │ │ │ │ ├── franka_panda_mobile_xy.urdf │ │ │ │ ├── franka_panda_mobile_xy_tz.urdf │ │ │ │ ├── franka_panda_no_gripper.urdf │ │ │ │ ├── franka_test.urdf │ │ │ │ ├── meshes │ │ │ │ │ ├── collision │ │ │ │ │ │ ├── finger.obj │ │ │ │ │ │ ├── finger.stl │ │ │ │ │ │ ├── hand.obj │ │ │ │ │ │ ├── hand.stl │ │ │ │ │ │ ├── hand_flipped.obj │ │ │ │ │ │ ├── hand_gripper.obj │ │ │ │ │ │ ├── hand_gripper.stl │ │ │ │ │ │ ├── hand_gripper_flipped.obj │ │ │ │ │ │ ├── link0.obj │ │ │ │ │ │ ├── link0.stl │ │ │ │ │ │ ├── link1.obj │ │ │ │ │ │ ├── link1.stl │ │ │ │ │ │ ├── link2.obj │ │ │ │ │ │ ├── link2.stl │ │ │ │ │ │ ├── link3.obj │ │ │ │ │ │ ├── link3.stl │ │ │ │ │ │ ├── link4.obj │ │ │ │ │ │ ├── link4.stl │ │ │ │ │ │ ├── link5.obj │ │ │ │ │ │ ├── link5.stl │ │ │ │ │ │ ├── link6.obj │ │ │ │ │ │ ├── link6.stl │ │ │ │ │ │ ├── link7.obj │ │ │ │ │ │ └── link7.stl │ │ │ │ │ └── visual │ │ │ │ │ │ ├── finger.dae │ │ │ │ │ │ ├── finger.mtl │ │ │ │ │ │ ├── finger.obj │ │ │ │ │ │ ├── graspnet_panda_mesh.obj │ │ │ │ │ │ ├── hand.dae │ │ │ │ │ │ ├── hand.mtl │ │ │ │ │ │ ├── hand.obj │ │ │ │ │ │ ├── hand_ee_link.dae │ │ │ │ │ │ ├── hand_gripper.obj │ │ │ │ │ │ ├── hand_gripper.stl │ │ │ │ │ │ ├── link0.dae │ │ │ │ │ │ ├── link0.mtl │ │ │ │ │ │ ├── link0.obj │ │ │ │ │ │ ├── link0.obj.mtl │ │ │ │ │ │ ├── link1.dae │ │ │ │ │ │ ├── link1.mtl │ │ │ │ │ │ ├── link1.obj │ │ │ │ │ │ ├── link1.obj.mtl │ │ │ │ │ │ ├── link2.dae │ │ │ │ │ │ ├── link2.mtl │ │ │ │ │ │ ├── link2.obj │ │ │ │ │ │ ├── link2.obj.mtl │ │ │ │ │ │ ├── link3.dae │ │ │ │ │ │ ├── link3.mtl │ │ │ │ │ │ ├── link3.obj │ │ │ │ │ │ ├── link3.obj.mtl │ │ │ │ │ │ ├── link4.dae │ │ │ │ │ │ ├── link4.mtl │ │ │ │ │ │ ├── link4.obj │ │ │ │ │ │ ├── link4.obj.mtl │ │ │ │ │ │ ├── link5.dae │ │ │ │ │ │ ├── link5.mtl │ │ │ │ │ │ ├── link5.obj │ │ │ │ │ │ ├── link5.obj.mtl │ │ │ │ │ │ ├── link6.dae │ │ │ │ │ │ ├── link6.mtl │ │ │ │ │ │ ├── link6.obj │ │ │ │ │ │ ├── link6.obj.mtl │ │ │ │ │ │ ├── link7.dae │ │ │ │ │ │ ├── link7.mtl │ │ │ │ │ │ ├── link7.obj │ │ │ │ │ │ ├── link7.obj.mtl │ │ │ │ │ │ └── train_gripper.obj │ │ │ │ ├── moving_gripper.urdf │ │ │ │ ├── panda.urdf │ │ │ │ ├── panda_grasp_gripper.urdf │ │ │ │ └── panda_gripper.urdf │ │ │ ├── iiwa_allegro_description │ │ │ │ ├── allegro.urdf │ │ │ │ ├── iiwa.urdf │ │ │ │ ├── iiwa_allegro.urdf │ │ │ │ └── meshes │ │ │ │ │ ├── allegro │ │ │ │ │ ├── base_link.STL │ │ │ │ │ ├── base_link.obj │ │ │ │ │ ├── primary_base.obj │ │ │ │ │ ├── primary_base.stl │ │ │ │ │ ├── primary_medial.obj │ │ │ │ │ ├── primary_medial.stl │ │ │ │ │ ├── primary_proximal.obj │ │ │ │ │ ├── primary_proximal.stl │ │ │ │ │ ├── thumb_base.obj │ │ │ │ │ ├── thumb_base.stl │ │ │ │ │ ├── thumb_medial.obj │ │ │ │ │ ├── thumb_medial.stl │ │ │ │ │ ├── thumb_proximal.obj │ │ │ │ │ └── thumb_proximal.stl │ │ │ │ │ ├── biotac │ │ │ │ │ ├── biotac_sensor.obj │ │ │ │ │ ├── biotac_sensor.stl │ │ │ │ │ ├── biotac_sensor_thumb.obj │ │ │ │ │ └── biotac_sensor_thumb.stl │ │ │ │ │ ├── iiwa7 │ │ │ │ │ ├── collision │ │ │ │ │ │ ├── link_0.obj │ │ │ │ │ │ ├── link_1.obj │ │ │ │ │ │ ├── link_2.obj │ │ │ │ │ │ ├── link_3.obj │ │ │ │ │ │ ├── link_4.obj │ │ │ │ │ │ ├── link_5.obj │ │ │ │ │ │ ├── link_6.obj │ │ │ │ │ │ └── link_7.obj │ │ │ │ │ └── visual │ │ │ │ │ │ ├── link_0.obj │ │ │ │ │ │ ├── link_1.obj │ │ │ │ │ │ ├── link_2.obj │ │ │ │ │ │ ├── link_3.obj │ │ │ │ │ │ ├── link_4.obj │ │ │ │ │ │ ├── link_5.obj │ │ │ │ │ │ ├── link_6.obj │ │ │ │ │ │ └── link_7.obj │ │ │ │ │ └── mounts │ │ │ │ │ ├── allegro_mount.obj │ │ │ │ │ └── allegro_mount.stl │ │ │ ├── jaco │ │ │ │ ├── jaco_7n.urdf │ │ │ │ ├── jaco_7s.urdf │ │ │ │ └── meshes │ │ │ │ │ ├── arm.dae │ │ │ │ │ ├── arm_half_1.dae │ │ │ │ │ ├── arm_half_2.dae │ │ │ │ │ ├── arm_mico.dae │ │ │ │ │ ├── base.dae │ │ │ │ │ ├── finger_distal.dae │ │ │ │ │ ├── finger_proximal.dae │ │ │ │ │ ├── forearm.dae │ │ │ │ │ ├── forearm_mico.dae │ │ │ │ │ ├── hand_2finger.dae │ │ │ │ │ ├── hand_3finger.dae │ │ │ │ │ ├── ring_big.dae │ │ │ │ │ ├── ring_small.dae │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ ├── wrist.dae │ │ │ │ │ ├── wrist_spherical_1.dae │ │ │ │ │ └── wrist_spherical_2.dae │ │ │ ├── kinova │ │ │ │ ├── README.md │ │ │ │ ├── kinova_gen3_7dof.urdf │ │ │ │ └── kortex_description │ │ │ │ │ ├── arms │ │ │ │ │ └── gen3 │ │ │ │ │ │ └── 7dof │ │ │ │ │ │ └── meshes │ │ │ │ │ │ ├── base_link.STL │ │ │ │ │ │ ├── bracelet_no_vision_link.STL │ │ │ │ │ │ ├── bracelet_with_vision_link.STL │ │ │ │ │ │ ├── end_effector_link.STL │ │ │ │ │ │ ├── forearm_link.STL │ │ │ │ │ │ ├── half_arm_1_link.STL │ │ │ │ │ │ ├── half_arm_2_link.STL │ │ │ │ │ │ ├── shoulder_link.STL │ │ │ │ │ │ ├── spherical_wrist_1_link.STL │ │ │ │ │ │ └── spherical_wrist_2_link.STL │ │ │ │ │ └── grippers │ │ │ │ │ ├── robotiq_2f_140 │ │ │ │ │ ├── LICENSE │ │ │ │ │ ├── README.md │ │ │ │ │ └── meshes │ │ │ │ │ │ ├── collision │ │ │ │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ │ │ │ └── robotiq_arg2f_coupling.stl │ │ │ │ │ │ └── visual │ │ │ │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ │ │ │ └── robotiq_arg2f_coupling.stl │ │ │ │ │ └── robotiq_2f_85 │ │ │ │ │ ├── LICENSE │ │ │ │ │ ├── README.md │ │ │ │ │ └── meshes │ │ │ │ │ ├── collision │ │ │ │ │ ├── robotiq_arg2f_85_base_link.stl │ │ │ │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ │ │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ │ │ │ └── robotiq_arg2f_base_link.stl │ │ │ │ │ └── visual │ │ │ │ │ ├── robotiq_arg2f_85_base_link.dae │ │ │ │ │ ├── robotiq_arg2f_85_inner_finger.dae │ │ │ │ │ ├── robotiq_arg2f_85_inner_knuckle.dae │ │ │ │ │ ├── robotiq_arg2f_85_outer_finger.dae │ │ │ │ │ ├── robotiq_arg2f_85_outer_knuckle.dae │ │ │ │ │ ├── robotiq_arg2f_85_pad.dae │ │ │ │ │ └── robotiq_gripper_coupling.stl │ │ │ ├── leap_description │ │ │ │ ├── .DS_Store │ │ │ │ ├── meshes │ │ │ │ │ ├── leap │ │ │ │ │ │ ├── dip.stl │ │ │ │ │ │ ├── fingertip.stl │ │ │ │ │ │ ├── mcp_joint.stl │ │ │ │ │ │ ├── palm_lower.stl │ │ │ │ │ │ ├── pip.stl │ │ │ │ │ │ ├── thumb_dip.stl │ │ │ │ │ │ ├── thumb_fingertip.stl │ │ │ │ │ │ └── thumb_pip.stl │ │ │ │ │ ├── leap_simplified │ │ │ │ │ │ ├── convex_tip.obj │ │ │ │ │ │ ├── convex_tip_thumb.obj │ │ │ │ │ │ ├── dip.stl │ │ │ │ │ │ ├── fingertip.stl │ │ │ │ │ │ ├── mcp_joint.stl │ │ │ │ │ │ ├── palm_lower.stl │ │ │ │ │ │ ├── pip.stl │ │ │ │ │ │ ├── thumb_dip.stl │ │ │ │ │ │ ├── thumb_fingertip.stl │ │ │ │ │ │ └── thumb_pip.stl │ │ │ │ │ ├── ur10e │ │ │ │ │ ├── ur5 │ │ │ │ │ │ ├── collision │ │ │ │ │ │ │ ├── base.stl │ │ │ │ │ │ │ ├── forearm.stl │ │ │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ │ │ └── wrist3.stl │ │ │ │ │ │ ├── visual │ │ │ │ │ │ │ ├── base.dae │ │ │ │ │ │ │ ├── forearm.dae │ │ │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ │ │ ├── upperarm.dae │ │ │ │ │ │ │ ├── wrist1.dae │ │ │ │ │ │ │ ├── wrist2.dae │ │ │ │ │ │ │ └── wrist3.dae │ │ │ │ │ │ └── visual_simplified │ │ │ │ │ │ │ ├── base.dae │ │ │ │ │ │ │ ├── forearm.dae │ │ │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ │ │ ├── upperarm.dae │ │ │ │ │ │ │ ├── wrist1.dae │ │ │ │ │ │ │ ├── wrist2.dae │ │ │ │ │ │ │ └── wrist3.dae │ │ │ │ │ └── ur5e │ │ │ │ └── urdf │ │ │ │ │ ├── leap_hand.urdf │ │ │ │ │ ├── leap_hand_simplified.urdf │ │ │ │ │ ├── ur5_leap.urdf │ │ │ │ │ └── ur5_leap_simplified.urdf │ │ │ ├── shadow_hand │ │ │ │ ├── left.urdf │ │ │ │ ├── meshes │ │ │ │ ├── right_sim.urdf │ │ │ │ ├── stl │ │ │ │ │ ├── .DS_Store │ │ │ │ │ ├── f_distal_pst.stl │ │ │ │ │ ├── f_knuckle.stl │ │ │ │ │ ├── f_middle.stl │ │ │ │ │ ├── f_proximal.stl │ │ │ │ │ ├── forearm_0.stl │ │ │ │ │ ├── forearm_1.stl │ │ │ │ │ ├── forearm_collision.stl │ │ │ │ │ ├── left_lf_metacarpal.stl │ │ │ │ │ ├── left_palm.stl │ │ │ │ │ ├── left_wrist.stl │ │ │ │ │ ├── right_lf_metacarpal.stl │ │ │ │ │ ├── right_palm.stl │ │ │ │ │ ├── right_wrist.stl │ │ │ │ │ ├── th_distal_pst.stl │ │ │ │ │ ├── th_middle.stl │ │ │ │ │ └── th_proximal.stl │ │ │ │ └── ur10e_shadow_sim.urdf │ │ │ ├── simple │ │ │ │ └── simple_mimic_robot.urdf │ │ │ ├── techman │ │ │ │ └── tm_description │ │ │ │ │ ├── meshes │ │ │ │ │ ├── tm12 │ │ │ │ │ │ ├── collision │ │ │ │ │ │ │ ├── tm12-arm1_c.stl │ │ │ │ │ │ │ ├── tm12-arm2_c.stl │ │ │ │ │ │ │ ├── tm12-base_c.stl │ │ │ │ │ │ │ └── tmr_750w_01_c.stl │ │ │ │ │ │ └── visual │ │ │ │ │ │ │ ├── tm12-arm1.mtl │ │ │ │ │ │ │ ├── tm12-arm1.obj │ │ │ │ │ │ │ ├── tm12-arm1.stl │ │ │ │ │ │ │ ├── tm12-arm2.mtl │ │ │ │ │ │ │ ├── tm12-arm2.obj │ │ │ │ │ │ │ ├── tm12-arm2.stl │ │ │ │ │ │ │ ├── tm12-base.mtl │ │ │ │ │ │ │ ├── tm12-base.obj │ │ │ │ │ │ │ ├── tm12-base.stl │ │ │ │ │ │ │ ├── tmr_750w_01.mtl │ │ │ │ │ │ │ ├── tmr_750w_01.obj │ │ │ │ │ │ │ └── tmr_750w_01.stl │ │ │ │ │ └── tm5-900 │ │ │ │ │ │ ├── collision │ │ │ │ │ │ ├── tm5-900_arm1_c.stl │ │ │ │ │ │ ├── tm5-900_arm2_c.stl │ │ │ │ │ │ ├── tm5-base_c.stl │ │ │ │ │ │ ├── tmr_100w_01_c.stl │ │ │ │ │ │ ├── tmr_100w_02_c.stl │ │ │ │ │ │ ├── tmr_400w_01_c.stl │ │ │ │ │ │ ├── tmr_ee_c.stl │ │ │ │ │ │ └── tmr_iox_c.stl │ │ │ │ │ │ └── visual │ │ │ │ │ │ ├── tm5-900_arm1.mtl │ │ │ │ │ │ ├── tm5-900_arm1.obj │ │ │ │ │ │ ├── tm5-900_arm1.stl │ │ │ │ │ │ ├── tm5-900_arm2.mtl │ │ │ │ │ │ ├── tm5-900_arm2.obj │ │ │ │ │ │ ├── tm5-900_arm2.stl │ │ │ │ │ │ ├── tm5-base.mtl │ │ │ │ │ │ ├── tm5-base.obj │ │ │ │ │ │ ├── tm5-base.stl │ │ │ │ │ │ ├── tmr_100w_01.mtl │ │ │ │ │ │ ├── tmr_100w_01.obj │ │ │ │ │ │ ├── tmr_100w_01.stl │ │ │ │ │ │ ├── tmr_100w_02.mtl │ │ │ │ │ │ ├── tmr_100w_02.obj │ │ │ │ │ │ ├── tmr_100w_02.stl │ │ │ │ │ │ ├── tmr_400w_01.mtl │ │ │ │ │ │ ├── tmr_400w_01.obj │ │ │ │ │ │ ├── tmr_400w_01.stl │ │ │ │ │ │ ├── tmr_ee.mtl │ │ │ │ │ │ ├── tmr_ee.obj │ │ │ │ │ │ ├── tmr_ee.stl │ │ │ │ │ │ ├── tmr_iox.mtl │ │ │ │ │ │ ├── tmr_iox.obj │ │ │ │ │ │ └── tmr_iox.stl │ │ │ │ │ └── urdf │ │ │ │ │ ├── tm12-nominal.urdf │ │ │ │ │ └── tm12x-nominal.urdf │ │ │ └── ur_description │ │ │ │ ├── dual_ur10e.urdf │ │ │ │ ├── meshes │ │ │ │ ├── ur10e │ │ │ │ │ ├── collision │ │ │ │ │ │ ├── base.stl │ │ │ │ │ │ ├── forearm.stl │ │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ │ └── wrist3.stl │ │ │ │ │ ├── visual │ │ │ │ │ │ ├── base.dae │ │ │ │ │ │ ├── forearm.dae │ │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ │ ├── upperarm.dae │ │ │ │ │ │ ├── wrist1.dae │ │ │ │ │ │ ├── wrist2.dae │ │ │ │ │ │ └── wrist3.dae │ │ │ │ │ └── visual_simplified │ │ │ │ │ │ ├── base.dae │ │ │ │ │ │ ├── forearm.dae │ │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ │ ├── upperarm.dae │ │ │ │ │ │ ├── wrist1.dae │ │ │ │ │ │ ├── wrist2.dae │ │ │ │ │ │ └── wrist3.dae │ │ │ │ └── ur5e │ │ │ │ │ ├── collision │ │ │ │ │ ├── base.stl │ │ │ │ │ ├── forearm.stl │ │ │ │ │ ├── shoulder.stl │ │ │ │ │ ├── upperarm.stl │ │ │ │ │ ├── wrist1.stl │ │ │ │ │ ├── wrist2.stl │ │ │ │ │ └── wrist3.stl │ │ │ │ │ └── visual │ │ │ │ │ ├── base.dae │ │ │ │ │ ├── forearm.dae │ │ │ │ │ ├── shoulder.dae │ │ │ │ │ ├── upperarm.dae │ │ │ │ │ ├── wrist1.dae │ │ │ │ │ ├── wrist2.dae │ │ │ │ │ └── wrist3.dae │ │ │ │ ├── quad_ur10e.urdf │ │ │ │ ├── tri_ur10e.urdf │ │ │ │ ├── ur10e.urdf │ │ │ │ ├── ur5e.urdf │ │ │ │ └── ur5e_robotiq_2f_140.urdf │ │ └── scene │ │ │ └── nvblox │ │ │ ├── srl_ur10_bins.mtl │ │ │ ├── srl_ur10_bins.nvblx │ │ │ ├── srl_ur10_bins.obj │ │ │ └── srl_ur10_bins_color.png │ └── configs │ │ ├── manip │ │ ├── sim_allegro │ │ │ └── fc.yml │ │ ├── sim_leap │ │ │ └── fc.yml │ │ └── sim_shadow │ │ │ ├── fc.yml │ │ │ └── tabletop.yml │ │ ├── robot │ │ ├── allegro.yml │ │ ├── allegro_biotac.yml │ │ ├── dual_ur10e.yml │ │ ├── franka.yml │ │ ├── franka_mobile.yml │ │ ├── hand_pose_transfer │ │ │ ├── allegro.yml │ │ │ ├── allegro_biotac.yml │ │ │ ├── leap.yml │ │ │ └── right_shadow_hand.yml │ │ ├── iiwa.yml │ │ ├── iiwa_allegro.yml │ │ ├── isaac_sim_description │ │ │ ├── jaco_7s.yaml │ │ │ ├── tm12.yaml │ │ │ └── ur5e.yaml │ │ ├── jaco7.yml │ │ ├── kinova_gen3.yml │ │ ├── leap.yml │ │ ├── left_shadow_hand.yml │ │ ├── quad_ur10e.yml │ │ ├── right_shadow_hand_sim.yml │ │ ├── simple_mimic_robot.yml │ │ ├── spheres │ │ │ ├── allegro.yml │ │ │ ├── allegro_biotac.yml │ │ │ ├── dual_ur10e.yml │ │ │ ├── franka.yml │ │ │ ├── franka_collision_mesh.yml │ │ │ ├── franka_mesh.yml │ │ │ ├── franka_mesh_inside.yml │ │ │ ├── franka_mesh_mb.yml │ │ │ ├── franka_real_robot.yml │ │ │ ├── iiwa_allegro.yml │ │ │ ├── kinova_gen3.yml │ │ │ ├── left_shadow_hand.yml │ │ │ ├── quad_ur10e.yml │ │ │ ├── right_shadow_hand.yml │ │ │ ├── single.yml │ │ │ ├── ur10e.yml │ │ │ └── ur10e_shadow.yml │ │ ├── template.yml │ │ ├── tm12.yml │ │ ├── tri_ur10e.yml │ │ ├── ur10e.xrdf │ │ ├── ur10e.yml │ │ ├── ur10e_shadow_sim.yml │ │ ├── ur5e.yml │ │ └── ur5e_robotiq_2f_140.yml │ │ ├── task │ │ ├── base_cfg.yml │ │ ├── base_grasp.yml │ │ ├── finetune_trajopt.yml │ │ ├── finetune_trajopt_slow.yml │ │ ├── gradient_grasp_fc.yml │ │ ├── gradient_grasp_parallel.yml │ │ ├── gradient_ik.yml │ │ ├── gradient_ik_autotune.yml │ │ ├── gradient_mpc.yml │ │ ├── gradient_trajopt.yml │ │ ├── graph.yml │ │ ├── particle_grasp_debug.yml │ │ ├── particle_ik.yml │ │ ├── particle_mpc.yml │ │ └── particle_trajopt.yml │ │ └── world │ │ ├── collision_base.yml │ │ ├── collision_cage.yml │ │ ├── collision_cubby.yml │ │ ├── collision_floor_plan.yml │ │ ├── collision_handover.yml │ │ ├── collision_mesh_scene.yml │ │ ├── collision_mesh_table.yml │ │ ├── collision_nvblox.yml │ │ ├── collision_nvblox_online.yml │ │ ├── collision_nvblox_ur10.yml │ │ ├── collision_pillar_wall.yml │ │ ├── collision_primitives_3d.yml │ │ ├── collision_table.yml │ │ ├── collision_test.yml │ │ ├── collision_thin_walls.yml │ │ └── collision_wall.yml │ ├── cuda_robot_model │ ├── __init__.py │ ├── cuda_robot_generator.py │ ├── cuda_robot_model.py │ ├── kinematics_parser.py │ ├── types.py │ ├── urdf_kinematics_parser.py │ ├── usd_kinematics_parser.py │ └── util.py │ ├── curobolib │ ├── __init__.py │ ├── cpp │ │ ├── check_cuda.h │ │ ├── cuda_precisions.h │ │ ├── geom_cuda.cpp │ │ ├── helper_math.h │ │ ├── kinematics_fused_cuda.cpp │ │ ├── kinematics_fused_kernel.cu │ │ ├── lbfgs_step_cuda.cpp │ │ ├── lbfgs_step_kernel.cu │ │ ├── line_search_cuda.cpp │ │ ├── line_search_kernel.cu │ │ ├── pose_distance_kernel.cu │ │ ├── self_collision_kernel.cu │ │ ├── sphere_obb_kernel.cu │ │ ├── tensor_step_cuda.cpp │ │ ├── tensor_step_kernel.cu │ │ └── update_best_kernel.cu │ ├── geom.py │ ├── kinematics.py │ ├── ls.py │ ├── opt.py │ ├── tensor_step.py │ └── util_file.py │ ├── geom │ ├── __init__.py │ ├── basic_transform.py │ ├── cpp │ │ ├── coal_parallel.cpp │ │ ├── setup.py │ │ └── test │ │ │ └── test.py │ ├── cv.py │ ├── sdf │ │ ├── __init__.py │ │ ├── gjk_coal.py │ │ ├── sdf_grid.py │ │ ├── utils.py │ │ ├── warp_primitives.py │ │ ├── warp_sdf_fns.py │ │ ├── warp_sdf_fns_deprecated.py │ │ ├── world.py │ │ ├── world_blox.py │ │ ├── world_mesh.py │ │ └── world_voxel.py │ ├── sphere_fit.py │ ├── transform.py │ └── types.py │ ├── graph │ ├── __init__.py │ ├── graph_base.py │ ├── graph_nx.py │ └── prm.py │ ├── opt │ ├── __init__.py │ ├── newton │ │ ├── __init__.py │ │ ├── lbfgs.py │ │ └── newton_base.py │ ├── opt_base.py │ ├── particle │ │ ├── __init__.py │ │ ├── parallel_es.py │ │ ├── parallel_mppi.py │ │ ├── particle_opt_base.py │ │ └── particle_opt_utils.py │ └── qp │ │ ├── __init__.py │ │ ├── base.py │ │ ├── official_reluqp.py │ │ ├── osqp.py │ │ ├── proxqp.py │ │ └── reluqp.py │ ├── py.typed │ ├── rollout │ ├── __init__.py │ ├── arm_base.py │ ├── arm_reacher.py │ ├── cost │ │ ├── __init__.py │ │ ├── bound_cost.py │ │ ├── cost_base.py │ │ ├── dist_cost.py │ │ ├── grasp_cost.py │ │ ├── grasp_energy │ │ │ ├── __init__.py │ │ │ ├── base.py │ │ │ ├── chq1.py │ │ │ ├── dfc.py │ │ │ ├── qp.py │ │ │ └── tdg.py │ │ ├── manipulability_cost.py │ │ ├── pose_cost.py │ │ ├── primitive_collision_cost.py │ │ ├── projected_dist_cost.py │ │ ├── self_collision_cost.py │ │ ├── stop_cost.py │ │ ├── straight_line_cost.py │ │ └── zero_cost.py │ ├── dynamics_model │ │ ├── __init__.py │ │ ├── integration_utils.py │ │ ├── kinematic_model.py │ │ ├── model_base.py │ │ └── tensor_step.py │ └── rollout_base.py │ ├── types │ ├── __init__.py │ ├── base.py │ ├── camera.py │ ├── enum.py │ ├── file_path.py │ ├── math.py │ ├── robot.py │ ├── state.py │ └── tensor.py │ ├── util │ ├── __init__.py │ ├── error_metrics.py │ ├── helpers.py │ ├── logger.py │ ├── metrics.py │ ├── sample_grasp.py │ ├── sample_lib.py │ ├── save_helper.py │ ├── state_filter.py │ ├── tensor_util.py │ ├── torch_utils.py │ ├── trajectory.py │ ├── usd_helper.py │ ├── warp_init.py │ ├── warp_interpolation.py │ ├── world_cfg_generator.py │ └── xrdf_utils.py │ ├── util_file.py │ └── wrap │ ├── __init__.py │ ├── model │ ├── __init__.py │ ├── curobo_robot_world.py │ ├── robot_segmenter.py │ └── robot_world.py │ ├── reacher │ ├── __init__.py │ ├── evaluator.py │ ├── grasp_solver.py │ ├── ik_solver.py │ ├── motion_gen.py │ ├── mpc.py │ ├── trajopt.py │ └── types.py │ ├── wrap_base.py │ └── wrap_mpc.py └── tests ├── __init__.py ├── conftest.py ├── cost_test.py ├── cuda_graph_test.py ├── cuda_robot_generator_test.py ├── curobo_robot_world_model_test.py ├── curobo_version_test.py ├── geom_test.py ├── geom_types_test.py ├── goal_test.py ├── ik_config_test.py ├── ik_module_test.py ├── ik_test.py ├── interpolation_test.py ├── kinematics_parser_test.py ├── kinematics_test.py ├── mimic_joint_test.py ├── motion_gen_api_test.py ├── motion_gen_constrained_test.py ├── motion_gen_cuda_graph_test.py ├── motion_gen_eval_test.py ├── motion_gen_goalset_test.py ├── motion_gen_js_test.py ├── motion_gen_module_test.py ├── motion_gen_speed_test.py ├── motion_gen_test.py ├── mpc_test.py ├── multi_pose_test.py ├── nvblox_test.py ├── pose_reaching_test.py ├── pose_test.py ├── robot_assets_test.py ├── robot_config_test.py ├── robot_segmentation_test.py ├── robot_world_model_test.py ├── self_collision_test.py ├── trajopt_config_test.py ├── trajopt_test.py ├── usd_export_test.py ├── voxel_collision_test.py ├── voxelization_test.py ├── warp_mesh_test.py ├── world_config_test.py └── xrdf_test.py /.clangd: -------------------------------------------------------------------------------- 1 | --- 2 | Language: Cpp 3 | BasedOnStyle: Google 4 | ColumnLimit: 100 5 | IncludeBlocks: Preserve 6 | DerivePointerAlignment: false 7 | PointerAlignment: Right 8 | --- 9 | Language: Proto 10 | BasedOnStyle: Google 11 | ... 12 | -------------------------------------------------------------------------------- /.gitattributes: -------------------------------------------------------------------------------- 1 | src/curobo/content/assets/debug** filter=lfs diff=lfs merge=lfs -text 2 | *.obj filter=lfs diff=lfs merge=lfs -text 3 | *.stl filter=lfs diff=lfs merge=lfs -text 4 | *.dae filter=lfs diff=lfs merge=lfs -text 5 | *.pt filter=lfs diff=lfs merge=lfs -text 6 | *.mtl filter=lfs diff=lfs merge=lfs -text 7 | *.nvblx filter=lfs diff=lfs merge=lfs -text 8 | *.ply filter=lfs diff=lfs merge=lfs -text 9 | *.png filter=lfs diff=lfs merge=lfs -text 10 | *.gif filter=lfs diff=lfs merge=lfs -text 11 | *.svg filter=lfs diff=lfs merge=lfs -text 12 | *.usd filter=lfs diff=lfs merge=lfs -text 13 | *.usda filter=lfs diff=lfs merge=lfs -text 14 | *.mp4 filter=lfs diff=lfs merge=lfs -text 15 | *.webm filter=lfs diff=lfs merge=lfs -text 16 | docs/_static/nvidia_logo.png filter=lfs diff=lfs merge=lfs -text 17 | docs/images/motion_opt.png filter=lfs diff=lfs merge=lfs -text 18 | src/curobo/content/assets/urdf/nvblox/out4_color.png filter=lfs diff=lfs merge=lfs -text 19 | docs/_html_extra/* filter=lfs diff=lfs merge=lfs -text -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/standard-template.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Standard Template 3 | about: standard issue template 4 | title: '' 5 | labels: '' 6 | assignees: balakumar-s 7 | 8 | --- 9 | 10 | If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions 11 | 12 | Please provide the below information in addition to your issue: 13 | 14 | 1. cuRobo installation mode (choose from [python, isaac sim, docker python, docker isaac sim]): 15 | 2. python version: 16 | 3. Isaac Sim version (if using): 17 | 18 | 19 | ------ 20 | Issue Details 21 | -------------------------------------------------------------------------------- /CODEOWNERS: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2023, NVIDIA CORPORATION & AFFILIATES. All rights reserved. 2 | # 3 | # NVIDIA CORPORATION and its licensors retain all intellectual property 4 | # and proprietary rights in and to this software, related documentation 5 | # and any modifications thereto. Any use, reproduction, disclosure or 6 | # distribution of this software and related documentation without an express 7 | # license agreement from NVIDIA CORPORATION is strictly prohibited. 8 | 9 | ####################################################### 10 | # KEEP ITEMS IN ALPHABETICAL ORDER WITHIN THEIR GROUP # 11 | ####################################################### 12 | # See this page for information about this file 13 | # https://docs.gitlab.com/ee/user/project/code_owners.html 14 | 15 | # Default 16 | NVIDIA -------------------------------------------------------------------------------- /MANIFEST.in: -------------------------------------------------------------------------------- 1 | # Copyright (c) 2023, NVIDIA CORPORATION & AFFILIATES. All rights reserved. 2 | # 3 | # NVIDIA CORPORATION and its licensors retain all intellectual property 4 | # and proprietary rights in and to this software, related documentation 5 | # and any modifications thereto. Any use, reproduction, disclosure or 6 | # distribution of this software and related documentation without an express 7 | # license agreement from NVIDIA CORPORATION is strictly prohibited. 8 | 9 | # This file list the additional files that should be include in the package distribution. 10 | # 11 | # References: 12 | # * https://packaging.python.org/guides/using-manifest-in/ 13 | # * https://setuptools.readthedocs.io/en/latest/userguide/datafiles.html 14 | # * https://stackoverflow.com/questions/6028000/how-to-read-a-static-file-from-inside-a-python-package 15 | 16 | # graft 17 | graft src/curobo/content 18 | global-include py.typed 19 | graft src/curobo/curobolib/*.so -------------------------------------------------------------------------------- /benchmark/README.md: -------------------------------------------------------------------------------- 1 | 11 | This folder contains scripts to run the motion planning benchmarks. 12 | 13 | Refer to Benchmarks & Profiling page for latest resutls: https://curobo.org/source/getting_started/4_benchmarks.html. -------------------------------------------------------------------------------- /docker/.dockerignore: -------------------------------------------------------------------------------- 1 | *.git 2 | *_build 3 | *build -------------------------------------------------------------------------------- /docker/README.md: -------------------------------------------------------------------------------- 1 | 11 | # Docker Instructions 12 | 13 | Check [Docker Development](https://curobo.org/source/getting_started/5_docker_development.html) for 14 | instructions. -------------------------------------------------------------------------------- /docker/base.dockerfile: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | 12 | FROM nvcr.io/nvidia/pytorch:23.08-py3 AS torch_cuda_base 13 | 14 | RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections 15 | 16 | RUN apt-get update && apt-get install -y \ 17 | tzdata \ 18 | && rm -rf /var/lib/apt/lists/* \ 19 | && ln -fs /usr/share/zoneinfo/America/Los_Angeles /etc/localtime \ 20 | && echo "America/Los_Angeles" > /etc/timezone \ 21 | && dpkg-reconfigure -f noninteractive tzdata 22 | 23 | RUN apt-get update &&\ 24 | apt-get install -y sudo git bash software-properties-common graphviz &&\ 25 | rm -rf /var/lib/apt/lists/* 26 | 27 | 28 | 29 | RUN python -m pip install --upgrade pip && python3 -m pip install graphviz 30 | -------------------------------------------------------------------------------- /docker/build_dev_docker.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | ## 3 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 4 | ## 5 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 6 | ## property and proprietary rights in and to this material, related 7 | ## documentation and any modifications thereto. Any use, reproduction, 8 | ## disclosure or distribution of this material and related documentation 9 | ## without an express license agreement from NVIDIA CORPORATION or 10 | ## its affiliates is strictly prohibited. 11 | ## 12 | 13 | input_arg=$1 14 | USER_ID=$(id -g "$USER") 15 | 16 | 17 | if [ -z "$input_arg" ]; then 18 | arch=$(uname -m) 19 | echo "Argument empty, trying to build based on architecture" 20 | if [ "$arch" == "x86_64" ]; then 21 | input_arg="x86" 22 | elif [ "$arch" == "arm64" ]; then 23 | input_arg="aarch64" 24 | elif [ "$arch" == "aarch64" ]; then 25 | input_arg="aarch64" 26 | fi 27 | fi 28 | 29 | user_dockerfile=user.dockerfile 30 | 31 | if [[ $input_arg == *isaac_sim* ]] ; then 32 | user_dockerfile=user_isaac_sim.dockerfile 33 | fi 34 | 35 | echo $input_arg 36 | echo $USER_ID 37 | 38 | docker build --build-arg USERNAME=$USER --build-arg USER_ID=${USER_ID} --build-arg IMAGE_TAG=$input_arg -f $user_dockerfile --tag curobo_docker:user_$input_arg . -------------------------------------------------------------------------------- /docker/start_docker_aarch64.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | ## 3 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 4 | ## 5 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 6 | ## property and proprietary rights in and to this material, related 7 | ## documentation and any modifications thereto. Any use, reproduction, 8 | ## disclosure or distribution of this material and related documentation 9 | ## without an express license agreement from NVIDIA CORPORATION or 10 | ## its affiliates is strictly prohibited. 11 | ## 12 | docker run --rm -it \ 13 | --runtime nvidia \ 14 | --mount type=bind,src=/home/$USER/code,target=/home/$USER/code \ 15 | --hostname ros1-docker \ 16 | --add-host ros1-docker:127.0.0.1 \ 17 | --network host \ 18 | --gpus all \ 19 | --env ROS_HOSTNAME=localhost \ 20 | --env DISPLAY=$DISPLAY \ 21 | --volume /tmp/.X11-unix:/tmp/.X11-unix \ 22 | --volume /dev/input:/dev/input \ 23 | curobo_docker:aarch64 24 | -------------------------------------------------------------------------------- /docker/start_docker_isaac_sim.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | ## 3 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 4 | ## 5 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 6 | ## property and proprietary rights in and to this material, related 7 | ## documentation and any modifications thereto. Any use, reproduction, 8 | ## disclosure or distribution of this material and related documentation 9 | ## without an express license agreement from NVIDIA CORPORATION or 10 | ## its affiliates is strictly prohibited. 11 | ## 12 | 13 | 14 | docker run --name container_$1 --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \ 15 | --privileged \ 16 | -e "PRIVACY_CONSENT=Y" \ 17 | -v $HOME/.Xauthority:/root/.Xauthority \ 18 | -e DISPLAY \ 19 | -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \ 20 | -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \ 21 | -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \ 22 | -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \ 23 | -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \ 24 | -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \ 25 | -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \ 26 | -v ~/docker/isaac-sim/documents:/root/Documents:rw \ 27 | --volume /dev:/dev \ 28 | curobo_docker:$1 29 | -------------------------------------------------------------------------------- /docker/start_docker_isaac_sim_headless.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | ## 3 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 4 | ## 5 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 6 | ## property and proprietary rights in and to this material, related 7 | ## documentation and any modifications thereto. Any use, reproduction, 8 | ## disclosure or distribution of this material and related documentation 9 | ## without an express license agreement from NVIDIA CORPORATION or 10 | ## its affiliates is strictly prohibited. 11 | ## 12 | 13 | docker run --name container_$1 --entrypoint bash -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \ 14 | -e "PRIVACY_CONSENT=Y" \ 15 | -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \ 16 | -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \ 17 | -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \ 18 | -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \ 19 | -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \ 20 | -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \ 21 | -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \ 22 | -v ~/docker/isaac-sim/documents:/root/Documents:rw \ 23 | curobo_docker:$1 24 | -------------------------------------------------------------------------------- /docker/start_docker_x86.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | ## 3 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 4 | ## 5 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 6 | ## property and proprietary rights in and to this material, related 7 | ## documentation and any modifications thereto. Any use, reproduction, 8 | ## disclosure or distribution of this material and related documentation 9 | ## without an express license agreement from NVIDIA CORPORATION or 10 | ## its affiliates is strictly prohibited. 11 | ## 12 | 13 | docker run --rm -it \ 14 | --privileged \ 15 | -e NVIDIA_DISABLE_REQUIRE=1 \ 16 | -e NVIDIA_DRIVER_CAPABILITIES=all --device /dev/dri \ 17 | --hostname ros1-docker \ 18 | --add-host ros1-docker:127.0.0.1 \ 19 | --gpus all \ 20 | --network host \ 21 | --env DISPLAY=unix$DISPLAY \ 22 | --volume /tmp/.X11-unix:/tmp/.X11-unix \ 23 | --volume /dev:/dev \ 24 | curobo_docker:x86 25 | -------------------------------------------------------------------------------- /docker/user.dockerfile: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | 12 | # Check architecture and load: 13 | ARG IMAGE_TAG 14 | FROM curobo_docker:${IMAGE_TAG} 15 | # Set variables 16 | ARG USERNAME 17 | ARG USER_ID 18 | ARG CACHE_DATE=2024-07-19 19 | 20 | # Set environment variables 21 | 22 | # Set up sudo user 23 | #RUN /sbin/adduser --disabled-password --gecos '' --uid $USER_ID $USERNAME 24 | # RUN useradd -l -u 1000 $USERNAME 25 | RUN useradd -l -u $USER_ID -g users $USERNAME 26 | 27 | RUN /sbin/adduser $USERNAME sudo 28 | RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers 29 | 30 | 31 | # Set user 32 | # RUN mkdir /home/$USERNAME && chown $USERNAME:$USERNAME /home/$USERNAME 33 | USER $USERNAME 34 | WORKDIR /home/$USERNAME 35 | ENV USER=$USERNAME 36 | ENV PATH="${PATH}:/home/${USER}/.local/bin" 37 | 38 | 39 | RUN echo 'completed' 40 | 41 | -------------------------------------------------------------------------------- /examples/isaac_sim/realsense_viewer.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | 12 | # Third Party 13 | import cv2 14 | import numpy as np 15 | from nvblox_torch.datasets.realsense_dataset import RealsenseDataloader 16 | 17 | 18 | def view_realsense(): 19 | realsense_data = RealsenseDataloader(clipping_distance_m=1.0) 20 | # Streaming loop 21 | try: 22 | while True: 23 | data = realsense_data.get_raw_data() 24 | depth_image = data[0] 25 | color_image = data[1] 26 | # Render images: 27 | # depth align to color on left 28 | # depth on right 29 | depth_colormap = cv2.applyColorMap( 30 | cv2.convertScaleAbs(depth_image, alpha=100), cv2.COLORMAP_JET 31 | ) 32 | images = np.hstack((color_image, depth_colormap)) 33 | 34 | cv2.namedWindow("Align Example", cv2.WINDOW_NORMAL) 35 | cv2.imshow("Align Example", images) 36 | key = cv2.waitKey(1) 37 | # Press esc or 'q' to close the image window 38 | if key & 0xFF == ord("q") or key == 27: 39 | cv2.destroyAllWindows() 40 | break 41 | finally: 42 | realsense_data.stop_device() 43 | 44 | 45 | if __name__ == "__main__": 46 | view_realsense() 47 | -------------------------------------------------------------------------------- /images/robot_demo.gif: -------------------------------------------------------------------------------- 1 | version https://git-lfs.github.com/spec/v1 2 | oid sha256:8496a75cf043db596aa194894c8f8c8038fdc6fc46f3c15f0cc64acf5eb1c05e 3 | size 4026516 4 | -------------------------------------------------------------------------------- /images/rrt_compare.gif: -------------------------------------------------------------------------------- 1 | version https://git-lfs.github.com/spec/v1 2 | oid sha256:df0dbe0775664436989433c5e785878733520d38c4116a863f601f34dc4788c5 3 | size 2181094 4 | -------------------------------------------------------------------------------- /src/curobo/content/assets/robot/allegro_biotac_description/meshes/allegro: -------------------------------------------------------------------------------- 1 | ../../iiwa_allegro_description/meshes/allegro -------------------------------------------------------------------------------- /src/curobo/content/assets/robot/allegro_biotac_description/meshes/biotac: -------------------------------------------------------------------------------- 1 | ../../iiwa_allegro_description/meshes/biotac -------------------------------------------------------------------------------- /src/curobo/content/assets/robot/allegro_description/manifest.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | AllegroHand_urdf 5 | 6 | 7 | Alex 8 | BSD 9 | 10 | http://ros.org/wiki/AllegroHand_urdf 11 | 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- 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/src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_140/LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2013, ROS-Industrial 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without modification, 5 | are permitted provided that the following conditions are met: 6 | 7 | Redistributions of source code must retain the above copyright notice, this 8 | list of conditions and the following disclaimer. 9 | 10 | Redistributions in binary form must reproduce the above copyright notice, this 11 | list of conditions and the following disclaimer in the documentation and/or 12 | other materials provided with the distribution. 13 | 14 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 15 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 16 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 17 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR 18 | ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 19 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 20 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON 21 | ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 22 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 23 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -------------------------------------------------------------------------------- /src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_140/README.md: -------------------------------------------------------------------------------- 1 | This is the README file from Robotiq's package for the 2F-140 gripper. The package's license file can also be found in this folder. 2 | We used commit `4e3196c1c6a83f54acfa3dd8cf02b575ebba3e53` from [Robotiq's ROS Industrial Github repository](https://github.com/ros-industrial/robotiq) 3 | 4 | # Robotiq 140mm 2-Finger-Adaptive-Gripper 5 | 6 | This package contains the URDF files describing the 140mm stroke gripper from robotiq, also known as series **C3**. 7 | 8 | ## Robot Visual 9 | ![140](https://user-images.githubusercontent.com/8356912/49428409-463f8580-f7a6-11e8-8278-5246acdc5c14.png) 10 | 11 | ## Robot Collision 12 | ![1402](https://user-images.githubusercontent.com/8356912/49428407-463f8580-f7a6-11e8-9c4e-df69e478f107.png) 13 | -------------------------------------------------------------------------------- /src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_finger.stl: -------------------------------------------------------------------------------- 1 | version 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/src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_coupling.stl: -------------------------------------------------------------------------------- 1 | version https://git-lfs.github.com/spec/v1 2 | oid sha256:4281e83002a25c20dc07c68b8d77da30a13e9a8401f157f6848ed8287d7cce44 3 | size 160684 4 | -------------------------------------------------------------------------------- /src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/LICENSE: -------------------------------------------------------------------------------- 1 | Copyright (c) 2013, ROS-Industrial 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without modification, 5 | are permitted provided that the following conditions are met: 6 | 7 | Redistributions of source code must retain the above copyright notice, this 8 | list of conditions and the following disclaimer. 9 | 10 | Redistributions in binary form must reproduce the above copyright notice, this 11 | list of conditions and the following disclaimer in the documentation and/or 12 | other materials provided with the distribution. 13 | 14 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 15 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 16 | WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 17 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR 18 | ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 19 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 20 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON 21 | ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 22 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 23 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -------------------------------------------------------------------------------- /src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/README.md: -------------------------------------------------------------------------------- 1 | This is the README file from Robotiq's package for the 2F-85 gripper. The package's license file can also be found in this folder. 2 | We used commit `4e3196c1c6a83f54acfa3dd8cf02b575ebba3e53` from [Robotiq's ROS Industrial Github repository](https://github.com/ros-industrial/robotiq) 3 | 4 | # Robotiq 85mm 2-Finger-Adaptive-Gripper 5 | 6 | This package contains the URDF files describing the 85mm stroke gripper from robotiq, also known as series **C3**. 7 | 8 | ## Robot Visual 9 | ![85](https://user-images.githubusercontent.com/8356912/49428405-45a6ef00-f7a6-11e8-822b-c6870c39d445.png) 10 | 11 | ## Robot Collision 12 | ![852](https://user-images.githubusercontent.com/8356912/49428404-450e5880-f7a6-11e8-82a8-564247ebe7fc.png) 13 | 14 | -------------------------------------------------------------------------------- /src/curobo/content/assets/robot/kinova/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_base_link.stl: -------------------------------------------------------------------------------- 1 | version 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-------------------------------------------------------------------------------- /src/curobo/content/configs/manip/sim_allegro/fc.yml: -------------------------------------------------------------------------------- 1 | world: 2 | type: scene_cfg 3 | template_path: object/DGN_2k/scene_cfg/**/floating/**.npy 4 | start: 5 | end: 6 | 7 | robot_file: "allegro.yml" 8 | robot_file_with_arm: 9 | base_cfg_file: "base_grasp.yml" 10 | particle_file: "particle_grasp_debug.yml" 11 | gradient_file: "gradient_grasp_fc.yml" 12 | 13 | exp_name: 'debug' 14 | seed_num: 20 15 | seeder_cfg: 16 | obj_sample: 17 | num: 128 18 | inflate: 0.1 19 | convex_hull: True 20 | collision_free: True 21 | ik_init_q: 22 | load_path: 23 | skip_transfer: False 24 | t: 25 | r: 26 | q: [0., 0.6, 0., 0., 0., 0.6, 0., 0., 0., 0.6, 0., 0., 1.2, 0., 0., 0.,] 27 | jitter_angle: [[-180, -15, -15], [180, 15, 15]] 28 | jitter_dist: [[0.0, -0.03, -0.03], [0.03, 0.03, 0.03]] 29 | 30 | grasp_contact_strategy: 31 | contact_points_name: ['link_3.0_tip/0', 'link_7.0_tip/0', 'link_11.0_tip/0', 'link_15.0_tip/0'] 32 | opt_progress: [0.0, 0.6, 0.8] 33 | distance: [0.01, 0.01, 0.0] 34 | contact_query_mode: [-1, 0, 0] 35 | save_qpos: [False, True] 36 | max_ge_stage: 0 37 | 38 | grasp_cfg: 39 | task_dict: 40 | f: [0, 0, 1] 41 | p: [0, 0, 0] 42 | t: [0, 0, 0] 43 | gamma: 180 44 | ge_param: 45 | type: 'qp' 46 | miu_coef: [0.1, 0] 47 | solver_type: 'batch_reluqp' 48 | k_lower: 0.2 49 | pressure_constraints: # [contact_id_list, lower] 50 | [[[0, 1, 2, 3], 1.0], 51 | [[0, 1], 0.4], 52 | [[3], 0.5], 53 | ] 54 | enable_density: False 55 | solve_interval: 5 56 | 57 | mogen_init: [0.4227, -1.5991, -1.8872, -3.0432, -0.9848, 3.2433, 0.1738, -0.2078, 0,0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,0,0] -------------------------------------------------------------------------------- /src/curobo/content/configs/manip/sim_leap/fc.yml: -------------------------------------------------------------------------------- 1 | world: 2 | type: scene_cfg 3 | template_path: object/DGN_2k/scene_cfg/**/floating/**.npy 4 | start: 5 | end: 6 | 7 | robot_file: "leap.yml" 8 | robot_file_with_arm: 9 | base_cfg_file: "base_grasp.yml" 10 | particle_file: "particle_grasp_debug.yml" 11 | gradient_file: "gradient_grasp_fc.yml" 12 | 13 | exp_name: debug 14 | seed_num: 20 15 | seeder_cfg: 16 | obj_sample: 17 | num: 128 18 | inflate: 0.1 19 | convex_hull: True 20 | collision_free: True 21 | ik_init_q: 22 | load_path: 23 | skip_transfer: False 24 | t: 25 | r: 26 | q: [ 0.5, 0, 0.5, 0., 0.5, 0, 0.5, 0, 0.5, 0, 0.5, 0, 1.58, 0, -0.5, -0.5] 27 | jitter_angle: [[-180, -15, -15], [180, 15, 15]] 28 | jitter_dist: [[0.0, -0.03, -0.03], [0.03, 0.03, 0.03]] 29 | 30 | grasp_contact_strategy: 31 | contact_points_name: ['fingertip/1', 'fingertip_2/1', 'fingertip_3/1', 'thumb_fingertip/3'] 32 | opt_progress: [0.0, 0.6, 0.8] 33 | distance: [0.01, 0.01, 0.0] 34 | contact_query_mode: [-1, 0, 0] 35 | save_qpos: [False, True] 36 | max_ge_stage: 0 37 | 38 | grasp_cfg: 39 | task_dict: 40 | f: [0, 0, 1] 41 | p: [0, 0, 0] 42 | t: [0, 0, 0] 43 | gamma: 180 44 | ge_param: 45 | type: 'qp' 46 | miu_coef: [0.1, 0] 47 | solver_type: 'batch_reluqp' 48 | k_lower: 0.2 49 | pressure_constraints: # [contact_id_list, lower] 50 | [[[0, 1, 2, 3], 1.0], 51 | [[0, 1], 0.4], 52 | [[3], 0.5], 53 | ] 54 | enable_density: False 55 | solve_interval: 5 56 | 57 | mogen_init: [0.4227, -1.5991, -1.8872, -3.0432, -0.9848, 3.2433, 0.1738, -0.2078, 0,0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,0,0] -------------------------------------------------------------------------------- /src/curobo/content/configs/manip/sim_shadow/fc.yml: -------------------------------------------------------------------------------- 1 | world: 2 | type: scene_cfg 3 | template_path: object/DGN_2k/scene_cfg/**/floating/**.npy 4 | start: 0 5 | end: 100 6 | 7 | 8 | robot_file: "right_shadow_hand_sim.yml" 9 | robot_file_with_arm: "ur10e_shadow_sim.yml" 10 | base_cfg_file: "base_grasp.yml" 11 | particle_file: "particle_grasp_debug.yml" 12 | gradient_file: "gradient_grasp_fc.yml" 13 | 14 | exp_name: 'debug' 15 | seed_num: 20 16 | seeder_cfg: 17 | obj_sample: 18 | num: 128 19 | inflate: 0.1 20 | convex_hull: True 21 | collision_free: True 22 | ik_init_q: 23 | load_path: 24 | skip_transfer: False 25 | t: 26 | r: 27 | q: [ 0, 1.2, 0, -0.2, 0, -0.1, 0.3, 0., 0., 0, 0.3, 0., 0., -0.1, 0.3, 0., 0., 0, -0.2, 0.3, 0., 0.] # qpose: TH, FF, MF, RF, LF 28 | jitter_angle: [[-180, -15, -15], [180, 15, 15]] 29 | jitter_dist: [[0.0, -0.03, -0.03], [0.03, 0.03, 0.03]] 30 | 31 | grasp_contact_strategy: 32 | contact_points_name: ['rh_ffdistal/2', 'rh_mfdistal/2', 'rh_rfdistal/2', 'rh_lfdistal/2', 'rh_thdistal/1'] 33 | opt_progress: [0.0, 0.6, 0.8] 34 | distance: [0.01, 0.01, 0.0] 35 | contact_query_mode: [-1, 0, 0] 36 | save_qpos: [False, True] 37 | max_ge_stage: 0 38 | 39 | grasp_cfg: 40 | task_dict: 41 | f: [0, 0, 1] 42 | p: [0, 0, 0] 43 | t: [0, 0, 0] 44 | gamma: 180 45 | ge_param: 46 | type: 'qp' 47 | miu_coef: [0.1, 0] 48 | solver_type: 'batch_reluqp' 49 | k_lower: 0.2 50 | pressure_constraints: # [contact_id_list, lower] 51 | [[[0, 1, 2, 3, 4], 1.0], 52 | [[0, 1, 2], 0.4], 53 | [[4], 0.5], 54 | ] 55 | enable_density: False 56 | solve_interval: 5 57 | 58 | mogen_init: [0.4227, -1.5991, -1.8872, -3.0432, -0.9848, 3.2433, 0.1738, -0.2078, 0,0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,0,0] -------------------------------------------------------------------------------- /src/curobo/content/configs/manip/sim_shadow/tabletop.yml: -------------------------------------------------------------------------------- 1 | world: 2 | type: scene_cfg 3 | template_path: object/DGN_2k/scene_cfg/**/tabletop_ur10e/**.npy 4 | start: 5 | end: 6 | 7 | robot_file: "right_shadow_hand_sim.yml" 8 | robot_file_with_arm: "ur10e_shadow_sim.yml" 9 | base_cfg_file: "base_grasp.yml" 10 | particle_file: "particle_grasp_debug.yml" 11 | gradient_file: "gradient_grasp_fc.yml" 12 | 13 | exp_name: 'debug' 14 | seed_num: 20 15 | seeder_cfg: 16 | obj_sample: 17 | num: 128 18 | inflate: 0.1 19 | convex_hull: True 20 | collision_free: True 21 | ik_init_q: 22 | load_path: 23 | skip_transfer: False 24 | t: 25 | r: 26 | q: [ 0, 1., 0, -0.2, 0, -0.1, 0.3, 0., 0., 0, 0.3, 0., 0., -0.1, 0.3, 0., 0., 0, -0.2, 0.3, 0., 0.] # qpose: TH, FF, MF, RF, LF 27 | jitter_angle: [[-180, -15, -15], [180, 15, 15]] 28 | jitter_dist: [[0.0, -0.03, -0.03], [0.03, 0.03, 0.03]] 29 | 30 | grasp_contact_strategy: 31 | contact_points_name: ['rh_ffdistal/2', 'rh_mfdistal/2', 'rh_rfdistal/2', 'rh_lfdistal/2', 'rh_thdistal/1'] 32 | opt_progress: [0.0, 0.6, 0.8] 33 | distance: [0.01, 0.01, 0.0] 34 | contact_query_mode: [-1, 0, 0] 35 | save_qpos: [False, True] 36 | max_ge_stage: 0 37 | 38 | grasp_cfg: 39 | task_dict: 40 | f: [0, 0, 1] 41 | p: [0, 0, 0] 42 | t: [0, 0, 0] 43 | gamma: 180 44 | ge_param: 45 | type: 'qp' 46 | miu_coef: [0.1, 0] 47 | solver_type: 'batch_reluqp' 48 | k_lower: 0.2 49 | pressure_constraints: # [contact_id_list, lower] 50 | [[[0, 1, 2, 3, 4], 1.0], 51 | [[0, 1, 2], 0.4], 52 | [[4], 0.5], 53 | ] 54 | enable_density: False 55 | solve_interval: 5 56 | 57 | mogen_init: [0.4227, -1.5991, -1.8872, -3.0432, -0.9848, 3.2433, 0.1738, -0.2078, 0,0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,0,0] -------------------------------------------------------------------------------- /src/curobo/content/configs/robot/hand_pose_transfer/allegro.yml: -------------------------------------------------------------------------------- 1 | base_link: 2 | r: [[1.0, 0, 0],[0, 1, 0],[0, 0, 1]] 3 | t: [0.0, 0.0, 0.0] -------------------------------------------------------------------------------- /src/curobo/content/configs/robot/hand_pose_transfer/allegro_biotac.yml: -------------------------------------------------------------------------------- 1 | t_root2center: [0, 0, 0.] 2 | r_order: ['finger', 'thumb', 'palm'] 3 | r_sign: [1, -1, 1] -------------------------------------------------------------------------------- /src/curobo/content/configs/robot/hand_pose_transfer/leap.yml: -------------------------------------------------------------------------------- 1 | # axis: [palm, thumb, finger] 2 | # center: root of the middle finger 3 | 4 | hand_base_link: 5 | r: [[0.0, 0, -1],[0, 1, 0],[1, 0, 0]] 6 | t: [0.0, 0.0, 0.0] -------------------------------------------------------------------------------- /src/curobo/content/configs/robot/hand_pose_transfer/right_shadow_hand.yml: -------------------------------------------------------------------------------- 1 | # axis: [palm, thumb, finger] 2 | # center: root of the middle finger 3 | 4 | rh_palm: 5 | r: [[0.0, -1, 0],[1, 0, 0],[0, 0, 1]] 6 | t: [0.0, 0.0, -0.08] -------------------------------------------------------------------------------- /src/curobo/content/configs/robot/simple_mimic_robot.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | 12 | robot_cfg: 13 | kinematics: 14 | use_usd_kinematics: False 15 | isaac_usd_path: null 16 | usd_path: "robot/simple/three_link_mimic.usda" 17 | usd_robot_root: "/base_link" 18 | urdf_path: "robot/simple/simple_mimic_robot.urdf" 19 | asset_root_path: "robot/simple" 20 | base_link: "base_link" 21 | ee_link: "ee_link" 22 | collision_link_names: null 23 | collision_spheres: null 24 | collision_sphere_buffer: 0.004 # 0.0025 25 | extra_collision_spheres: null 26 | use_global_cumul: True 27 | self_collision_ignore: null 28 | 29 | 30 | self_collision_buffer: null 31 | mesh_link_names: 32 | [ 33 | "base_link", 34 | "chain_1_link_1", 35 | "chain_1_link_2", 36 | "ee_link", 37 | 38 | ] 39 | lock_joints: {"chain_1_active_joint_1": 0.2} 40 | extra_links: null 41 | cspace: 42 | joint_names: ["chain_1_active_joint_1", "active_joint_2"] 43 | retract_config: [0.3, 0.0] 44 | null_space_weight: [1,1] 45 | cspace_distance_weight: [1,1] 46 | max_acceleration: 15.0 47 | max_jerk: 500.0 -------------------------------------------------------------------------------- /src/curobo/content/configs/robot/spheres/single.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | robot: 'single' 12 | collision_spheres: 13 | base: 14 | - "center": [-0.08, 0.0, 0.05] 15 | "radius": 0.06 16 | 17 | -------------------------------------------------------------------------------- /src/curobo/content/configs/robot/spheres/ur10e.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | robot: 'UR10' 12 | collision_spheres: 13 | shoulder_link: 14 | - center: [0, 0, 0] 15 | radius: 0.05 16 | upper_arm_link: 17 | - center: [-0, -0, 0.18] 18 | radius: 0.1 19 | - center: [-0.102167, 0, 0.18] 20 | radius: 0.06 21 | - center: [-0.204333, 0, 0.18] 22 | radius: 0.06 23 | - center: [-0.3065, 0, 0.18] 24 | radius: 0.06 25 | - center: [-0.408667, 0, 0.18] 26 | radius: 0.06 27 | - center: [-0.510833, 0, 0.18] 28 | radius: 0.06 29 | - center: [ -0.613, 0,0.18] 30 | radius: 0.08 31 | forearm_link: 32 | - center: [-0, 0, 0.03] 33 | radius: 0.06 34 | - center: [-0.0951667, 0, 0.03] 35 | radius: 0.06 36 | - center: [-0.190333, 0, 0.03] 37 | radius: 0.06 38 | - center: [-0.2855, 0, 0.03] 39 | radius: 0.06 40 | - center: [-0.380667, 0,0.03] 41 | radius: 0.06 42 | - center: [-0.475833, 0,0.03] 43 | radius: 0.06 44 | - center: [-0.571, -1.19904e-17, 0.03] 45 | radius: 0.06 46 | wrist_1_link: 47 | - center: [0, 0, 0] 48 | radius: 0.06 49 | wrist_2_link: 50 | - center: [0, 0, 0] 51 | radius: 0.06 52 | wrist_3_link: 53 | - center: [0, 0, 0] 54 | radius: 0.06 55 | - center: [0, 0, 0.06] 56 | radius: 0.08 57 | tool0: 58 | - center: [0, 0, 0.12] 59 | radius: -0.01 60 | camera_mount: 61 | - center: [0, 0.11, -0.01] 62 | radius: 0.06 -------------------------------------------------------------------------------- /src/curobo/content/configs/robot/template.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | 12 | robot_cfg: 13 | kinematics: 14 | usd_path: "FILL_THIS" 15 | usd_robot_root: "/robot" 16 | isaac_usd_path: "" 17 | usd_flip_joints: {} 18 | usd_flip_joint_limits: [] 19 | 20 | urdf_path: "FILL_THIS" 21 | asset_root_path: "" 22 | 23 | base_link: "FILL_THIS" 24 | ee_link: "FILL_THIS" 25 | link_names: null 26 | lock_joints: null 27 | extra_links: null 28 | 29 | 30 | collision_link_names: null # List[str] 31 | collision_spheres: null # 32 | collision_sphere_buffer: 0.005 # float or Dict[str, float] 33 | extra_collision_spheres: {} 34 | self_collision_ignore: {} # Dict[str, List[str]] 35 | self_collision_buffer: {} # Dict[str, float] 36 | 37 | use_global_cumul: True 38 | mesh_link_names: null # List[str] 39 | external_asset_path: null # Use this to add path for externally located assets/robot folder. 40 | 41 | cspace: 42 | joint_names: [] # List[str] 43 | retract_config: null # List[float] 44 | null_space_weight: null # List[str] 45 | cspace_distance_weight: null # List[str] 46 | max_jerk: 500.0 47 | max_acceleration: 15.0 48 | -------------------------------------------------------------------------------- /src/curobo/content/configs/task/base_grasp.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | 12 | 13 | world_collision_checker_cfg: 14 | cache: null #{"cube": 41, "capsule": 0, "sphere": 0} 15 | checker_type: "MESH" # ["PRIMITIVE", "BLOX", "MESH"] 16 | max_distance: 0.1 17 | 18 | 19 | constraint: 20 | primitive_collision_cfg: 21 | weight: 1.0 22 | use_sweep: False 23 | classify: False 24 | sum_distance: False 25 | compute_esdf: True 26 | activation_distance: 0.0 27 | self_collision_cfg: 28 | weight: 1.0 29 | classify: False 30 | activation_distance: 0.0 31 | bound_cfg: 32 | weight: [5000.0, 5000.0, 5000.0,5000.0] 33 | activation_distance: [0.0,0.0,0.0,0.0] # for position, velocity, acceleration and jerk 34 | 35 | 36 | convergence: 37 | grasp_cfg: 38 | weight: [1.0, 1.0, 0.0] # angle, dist, regu 39 | perturb_strength_bound: [0.01, 0.02] 40 | cspace_cfg: 41 | weight: 1.0 42 | terminal: True 43 | run_weight: 1.0 44 | null_space_cfg: 45 | weight: 1.0 46 | terminal: True 47 | run_weight: 1.0 48 | 49 | -------------------------------------------------------------------------------- /src/curobo/content/configs/task/graph.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | model: 12 | horizon: 1 13 | state_filter_cfg: 14 | filter_coeff: 15 | position: 1.0 16 | velocity: 1.0 17 | acceleration: 0.0 18 | enable: True 19 | dt_traj_params: 20 | base_dt: 0.02 21 | base_ratio: 1.0 22 | max_dt: 0.02 23 | vel_scale: 1.0 24 | control_space: 'POSITION' 25 | teleport_mode: True 26 | state_finite_difference_mode: "CENTRAL" 27 | 28 | 29 | 30 | graph: 31 | max_nodes: 5000 # node list 32 | steer_delta_buffer: 500 # for steering 33 | sample_pts: 1500 34 | node_similarity_distance: 0.1 35 | 36 | rejection_ratio: 10 37 | k_nn: 15 38 | max_buffer: 10000 39 | max_cg_buffer: 1000 40 | vertex_n : 30 41 | 42 | graph_max_attempts: 10 43 | graph_min_attempts: 1 44 | init_nodes: 30 45 | 46 | c_max: 1.25 47 | use_bias_node: True 48 | compute_metrics: False 49 | interpolation_steps: 1000 50 | interpolation_type: "linear" 51 | seed: 0 52 | interpolation_deviation: 0.05 53 | interpolation_acceleration_scale: 0.25 -------------------------------------------------------------------------------- /src/curobo/content/configs/world/collision_base.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | cuboid: 12 | table: 13 | dims: [0.1, 0.1, 0.8] # x, y, z 14 | pose: [0.0, 0.0, -0.45, 1, 0, 0, 0.0] # x, y, z, qw, qx, qy, qz 15 | -------------------------------------------------------------------------------- /src/curobo/content/configs/world/collision_cubby.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | cuboid: 12 | table: 13 | dims: [5.2, 5.2, 0.2] # x, y, z 14 | pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw 15 | 16 | 17 | 18 | 19 | cube4: 20 | dims: 21 | - 1.5 22 | - 0.1 23 | - 0.9 24 | pose: 25 | - -0.65 26 | - -0.7248229665483708 27 | - 0.552010009365394 28 | - 0.9982952839725183 29 | - 0.0 30 | - 0.0 31 | - 0.05836545209478731 32 | 33 | cube51: 34 | dims: 35 | - 0.10037689095815354 36 | - 0.2 37 | - 0.9 38 | pose: 39 | - -0.33 40 | - 0.3 41 | - 0.53552010009365394 42 | - 0.9982952839725183 43 | - 0.0 44 | - 0.0 45 | - 0.05836545209478731 46 | cube6: 47 | dims: 48 | - 0.1 49 | - 0.8 50 | - 1.6 51 | pose: 52 | - 0.4 53 | - -0.1 54 | - 0.3 55 | - 0.9982952839725183 56 | - 0.0 57 | - 0.0 58 | - 0.05836545209478731 59 | -------------------------------------------------------------------------------- /src/curobo/content/configs/world/collision_floor_plan.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | cuboid: 12 | table: 13 | dims: [5.2, 5.2, 0.2] # x, y, z 14 | pose: [0.0, 0.0, -0.1, 0, 0, 0, 1.0] # x, y, z, qx, qy, qz, qw 15 | 16 | 17 | 18 | 19 | cube4: 20 | dims: 21 | - 1.5 22 | - 0.1 23 | - 0.9 24 | pose: 25 | - -0.65 26 | - -0.7248229665483708 27 | - 0.552010009365394 28 | - 0.9982952839725183 29 | - 0.0 30 | - 0.0 31 | - 0.05836545209478731 32 | 33 | cube51: 34 | dims: 35 | - 0.10037689095815354 36 | - 0.6 37 | - 0.9 38 | pose: 39 | - -0.5 40 | - 0.3 41 | - 0.53552010009365394 42 | - 0.9982952839725183 43 | - 0.0 44 | - 0.0 45 | - 0.05836545209478731 46 | cube6: 47 | dims: 48 | - 0.1 49 | - 1.8 50 | - 1.6 51 | pose: 52 | - 0.4 53 | - -0.1 54 | - 0.3 55 | - 0.9982952839725183 56 | - 0.0 57 | - 0.0 58 | - 0.05836545209478731 59 | cube61: 60 | dims: 61 | - 1.5 62 | - 0.1 63 | - 1.6 64 | pose: 65 | - -0.4 66 | - 0.25 67 | - 0.3 68 | - 1.0 69 | - 0.0 70 | - 0.0 71 | - 0.0 72 | -------------------------------------------------------------------------------- /src/curobo/content/configs/world/collision_handover.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | cuboid: 12 | table: 13 | dims: [2.0, 2.0, 0.2] # x, y, z 14 | pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw 15 | hand: 16 | dims: [0.05, 0.18, 0.15] # x, y, z 17 | pose: [0.0, 0.0, -0.3, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw 18 | -------------------------------------------------------------------------------- /src/curobo/content/configs/world/collision_mesh_scene.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | mesh: 12 | base_scene: 13 | pose: [1.5, 0.080, 1.6, 0.043, -0.471, 0.284, 0.834] 14 | file_path: "scene/nvblox/srl_ur10_bins.obj" 15 | -------------------------------------------------------------------------------- /src/curobo/content/configs/world/collision_mesh_table.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | 12 | cuboid: 13 | table: 14 | dims: [5.0, 5.0, 0.2] # x, y, z 15 | pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw -------------------------------------------------------------------------------- /src/curobo/content/configs/world/collision_nvblox.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | blox: 12 | world: 13 | pose: [1.5, 0.080, 1.55, 0.043, -0.471, 0.284, 0.834] 14 | map_path: "scene/nvblox/srl_ur10_bins.nvblx" 15 | mesh_file_path: "scene/nvblox/srl_ur10_bins.obj" 16 | integrator_type: "tsdf" 17 | voxel_size: 0.03 18 | 19 | 20 | -------------------------------------------------------------------------------- /src/curobo/content/configs/world/collision_nvblox_online.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | blox: 12 | world: 13 | pose: [0,0,0,1,0,0,0] 14 | integrator_type: "tsdf" 15 | voxel_size: 0.01 16 | 17 | -------------------------------------------------------------------------------- /src/curobo/content/configs/world/collision_nvblox_ur10.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | blox: 12 | world_map: 13 | pose: [-0.38, 0.280, 1.05,0.043, -0.471, 0.284, 0.834] 14 | map_path: "scene/nvblox/srl_ur10_bins.nvblx" 15 | mesh_file_path: "scene/nvblox/srl_ur10_bins.obj" 16 | 17 | cuboid: 18 | case: 19 | dims: [0.9, 0.7, 0.4] # x, y, z 20 | pose: [0.0, 0.0, -0.6, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw 21 | 22 | stand: 23 | dims: [0.3, 0.3, 0.8] # x, y, z 24 | pose: [0.0, 0.0, -0.4, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw 25 | table: 26 | dims: [4.0, 4.0, 0.2] # x, y, z 27 | pose: [0.0, 0.0, -0.85, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw 28 | 29 | safety_wall: 30 | dims: [2.0, 0.2, 2.0] # x, y, z 31 | pose: [0.0, -1.2, 0.0, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw 32 | 33 | 34 | #safety_wall_ceiling: 35 | # dims: [2.0, 2.0, 0.1] # x, y, z 36 | # pose: [0.0, 0.0, 1.4, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw 37 | -------------------------------------------------------------------------------- /src/curobo/content/configs/world/collision_pillar_wall.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | 12 | ## 13 | cuboid: 14 | table: 15 | dims: [2.2, 2.2, 0.2] # x, y, z 16 | pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw 17 | color: 18 | - 0.6 19 | - 0.6 20 | - 0.8 21 | - 1.0 22 | cube6: 23 | dims: 24 | - 0.05 25 | - 0.05 26 | - 0.6 27 | pose: 28 | - 0.4 29 | - 0.0 30 | - 0.3 31 | - 1.0 32 | - 0.0 33 | - 0.0 34 | - 0.0 35 | color: 36 | - 0.8 37 | - 0.0 38 | - 0.0 39 | - 1.0 40 | 41 | cube4: 42 | dims: 43 | - 0.05 44 | - 0.05 45 | - 0.6 46 | pose: 47 | - -0.6 48 | - 0.0 49 | - 0.3 50 | - 1.0 51 | - 0.0 52 | - 0.0 53 | - 0.0 54 | color: 55 | - 0.8 56 | - 0.0 57 | - 0.0 58 | - 1.0 59 | 60 | -------------------------------------------------------------------------------- /src/curobo/content/configs/world/collision_primitives_3d.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | cuboid: 12 | #cube1: 13 | # dims: [0.7, 0.1, 0.4] # x, y, z 14 | # pose: [0.6, 0.2, 0.1, 0, 0, 0, 1.0] # x 15 | cube2: 16 | dims: [0.3, 0.1, 0.5] # x, y, z 17 | pose: [0.4, -0.3, 0.2, 1, 0, 0, 0.0] # x 18 | cube3: 19 | dims: [2.0, 2.0, 0.2] # x, y, z 20 | pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0] # x 21 | sphere: 22 | sphere1: 23 | position: [0.5,0.1,0.1] 24 | radius: 0.1 25 | sphere2: 26 | position: [-0.5,0.1,0.1] 27 | radius: 0.1 28 | 29 | capsule: 30 | capsule1: 31 | radius: 0.1 32 | base: [0.0,0.0,0.1] 33 | tip: [0.0,0.0,0.5] 34 | pose: [0.5,0.0,0.0,1.0,0.0,0.0,0.0] 35 | capsule2: 36 | radius: 0.1 37 | base: [0.0,0.0,0.1] 38 | tip: [0.0,0.0,0.5] 39 | pose: [0.0,0.5,0.0,1.0,0.0,0.0,0.0] -------------------------------------------------------------------------------- /src/curobo/content/configs/world/collision_table.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | cuboid: 12 | table: 13 | dims: [5.0, 5.0, 0.2] # x, y, z 14 | pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw -------------------------------------------------------------------------------- /src/curobo/content/configs/world/collision_test.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | 12 | ## 13 | cuboid: 14 | table: 15 | dims: [2.2, 2.2, 0.2] # x, y, z 16 | pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0] 17 | 18 | cube6: 19 | dims: 20 | - 0.1 21 | - 0.1 22 | - 1.5 23 | pose: 24 | - 0.4 25 | - -0.1 26 | - 0.3 27 | - 1.0 28 | - 0.0 29 | - 0.0 30 | - 0.0 31 | color: 32 | - 1.0 33 | - 0.0 34 | - 0.0 35 | - 1.0 36 | 37 | -------------------------------------------------------------------------------- /src/curobo/content/configs/world/collision_thin_walls.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | 12 | ## 13 | cuboid: 14 | table: 15 | dims: [2.2, 2.2, 0.2] # x, y, z 16 | pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0] # 17 | 18 | cube6: 19 | dims: 20 | - 0.05 21 | - 0.01 22 | - 1.5 23 | pose: 24 | - 0.4 25 | - -0.1 26 | - 0.3 27 | - 1.0 28 | - 0.0 29 | - 0.0 30 | - 0.0 31 | 32 | cube62: 33 | dims: 34 | - 0.05 35 | - 0.01 36 | - 1.5 37 | pose: 38 | - 0.0 39 | - 0.4 40 | - 0.3 41 | - 1.0 42 | - 0.0 43 | - 0.0 44 | - 0.0 45 | cube63: 46 | dims: 47 | - 0.05 48 | - 0.01 49 | - 1.5 50 | pose: 51 | - 0.0 52 | - -0.4 53 | - 0.3 54 | - 1.0 55 | - 0.0 56 | - 0.0 57 | - 0.0 58 | 59 | #cube8: 60 | # dims: 61 | # - 0.9 62 | # - 0.1 63 | # - 0.02 64 | # pose: 65 | # - 0.0 66 | # - 0.0 67 | # - 0.9 68 | # - 1.0 69 | # - 0.0 70 | # - 0.0 71 | # - 0.0 72 | -------------------------------------------------------------------------------- /src/curobo/content/configs/world/collision_wall.yml: -------------------------------------------------------------------------------- 1 | ## 2 | ## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | ## 4 | ## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | ## property and proprietary rights in and to this material, related 6 | ## documentation and any modifications thereto. Any use, reproduction, 7 | ## disclosure or distribution of this material and related documentation 8 | ## without an express license agreement from NVIDIA CORPORATION or 9 | ## its affiliates is strictly prohibited. 10 | ## 11 | 12 | ## 13 | cuboid: 14 | table: 15 | dims: [2.2, 2.2, 0.2] # x, y, z 16 | pose: [0.0, 0.0, -0.1, 1, 0, 0, 0.0] # x, y, z, qx, qy, qz, qw 17 | color: 18 | - 0.6 19 | - 0.6 20 | - 0.8 21 | - 1.0 22 | 23 | cube4: 24 | dims: 25 | - 0.05 26 | - 2.0 27 | - 2.0 28 | pose: 29 | - -0.5 30 | - 0.0 31 | - 0.3 32 | - 1.0 33 | - 0.0 34 | - 0.0 35 | - 0.0 36 | color: 37 | - 0.6 38 | - 0.6 39 | - 0.8 40 | - 1.0 41 | 42 | -------------------------------------------------------------------------------- /src/curobo/curobolib/__init__.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | """ 12 | cuRoboLib module contains CUDA implementations (kernels) of robotics algorithms, wrapped in 13 | C++, and compiled with PyTorch for use in Python. 14 | 15 | All implementations are in ``.cu`` files in ``cpp`` sub-directory. 16 | """ 17 | -------------------------------------------------------------------------------- /src/curobo/curobolib/cpp/check_cuda.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | * 4 | * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | * property and proprietary rights in and to this material, related 6 | * documentation and any modifications thereto. Any use, reproduction, 7 | * disclosure or distribution of this material and related documentation 8 | * without an express license agreement from NVIDIA CORPORATION or 9 | * its affiliates is strictly prohibited. 10 | */ 11 | #include 12 | #include 13 | 14 | 15 | // NOTE: AT_ASSERT has become AT_CHECK on master after 0.4. 16 | #define CHECK_CUDA(x) AT_ASSERTM(x.is_cuda(), # x " must be a CUDA tensor") 17 | #define CHECK_CONTIGUOUS(x) AT_ASSERTM(x.is_contiguous(), # x " must be contiguous") 18 | #define CHECK_INPUT(x) CHECK_CUDA(x); CHECK_CONTIGUOUS(x) 19 | 20 | #define CHECK_FP8 defined(CUDA_VERSION) && CUDA_VERSION >= 11080 && TORCH_VERSION_MAJOR >= 2 && TORCH_VERSION_MINOR >= 2 21 | #define CHECK_INPUT_GUARD(x) CHECK_INPUT(x); const at::cuda::OptionalCUDAGuard guard(x.device()) 22 | 23 | #if CHECK_FP8 24 | #define FP8_TYPE_MACRO torch::kFloat8_e4m3fn 25 | //constexpr const auto fp8_type = torch::kFloat8_e4m3fn; 26 | #else 27 | #define FP8_TYPE_MACRO torch::kHalf 28 | //const constexpr auto fp8_type = torch::kHalf; 29 | #endif -------------------------------------------------------------------------------- /src/curobo/curobolib/cpp/cuda_precisions.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | * 4 | * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | * property and proprietary rights in and to this material, related 6 | * documentation and any modifications thereto. Any use, reproduction, 7 | * disclosure or distribution of this material and related documentation 8 | * without an express license agreement from NVIDIA CORPORATION or 9 | * its affiliates is strictly prohibited. 10 | */ 11 | #include "check_cuda.h" 12 | 13 | #include 14 | #include 15 | #if CHECK_FP8 16 | #include 17 | #endif 18 | -------------------------------------------------------------------------------- /src/curobo/curobolib/util_file.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | """Deprecated, use functions from :mod:`curobo.util_file` instead.""" 12 | # Standard Library 13 | import os 14 | 15 | # CuRobo 16 | from curobo.util_file import add_cpp_path, get_cpp_path, join_path 17 | -------------------------------------------------------------------------------- /src/curobo/geom/__init__.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | 12 | """ 13 | This module contains functions for geometric processing such as pointcloud processing, analytic 14 | signed distance computation for the environment, and also signed distance computation between robot 15 | and the environment. These functions can be used for robot self collision checking and also for 16 | robot environment collision checking. 17 | """ 18 | -------------------------------------------------------------------------------- /src/curobo/geom/cpp/setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import setup, Extension 2 | import pybind11 3 | import os 4 | 5 | # Get the paths from the environment 6 | conda_prefix = os.environ['CONDA_PREFIX'] 7 | lib_dir = os.path.join(conda_prefix, 'lib') 8 | include_dir = os.path.join(conda_prefix, 'include') 9 | eigen_include_dir = os.path.join(include_dir, 'eigen3') 10 | 11 | # Define the extension module 12 | extension_mod = Extension( 13 | "coal_openmp_wrapper", 14 | sources=["coal_parallel.cpp"], 15 | library_dirs=[lib_dir], 16 | libraries=[ 17 | 'coal', 'boost_filesystem', 'qhull_r', 'octomap', 'octomath', 'assimp', 'stdc++', 'gcc_s', 'pthread', 'm', 'rt', 'c' 18 | ], 19 | include_dirs=[include_dir, eigen_include_dir, pybind11.get_include()], 20 | extra_compile_args=["-fopenmp", "-std=c++11"], # OpenMP and C++11 support 21 | extra_link_args=[f"-L{lib_dir}", "-lcoal", "-fopenmp"], 22 | language="c++" 23 | ) 24 | 25 | # Setup function 26 | setup( 27 | name="coal_openmp_wrapper", 28 | version="0.1", 29 | ext_modules=[extension_mod], 30 | install_requires=["pybind11"] 31 | ) -------------------------------------------------------------------------------- /src/curobo/geom/sdf/__init__.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | 12 | """ 13 | This module contains code for geometric processing such as pointcloud processing, analytic signed 14 | distance computation for the environment, and also signed distance computation between robot and 15 | the environment. These functions can be used for robot self collision checking and also for robot 16 | environment collision checking. The module also contains neural networks for learned signed distance 17 | fields. 18 | """ 19 | -------------------------------------------------------------------------------- /src/curobo/graph/__init__.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | -------------------------------------------------------------------------------- /src/curobo/opt/__init__.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | 12 | """ Optimization module containing several numerical solvers. 13 | 14 | Base for an opimization solver is at :class:`opt_base.Optimizer`. cuRobo provides two base classes 15 | for implementing two popular ways to optimize, (1) using particles 16 | with :class:`particle.particle_opt_base.ParticleOptBase` and (2) using Newton/Quasi-Newton solvers 17 | with :class:`newton.newton_base.NewtonOptBase`. :class:`newton.newton_base.NewtonOptBase` contains 18 | implementations of several line search schemes. Note that these line search schemes are approximate 19 | as cuRobo tries different line search magnitudes in parallel and chooses the largest that satisfies 20 | line search conditions. 21 | 22 | """ 23 | -------------------------------------------------------------------------------- /src/curobo/opt/newton/__init__.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | 12 | """ 13 | This module contains Newton/Quasi-Newton solvers. 14 | """ 15 | -------------------------------------------------------------------------------- /src/curobo/opt/particle/__init__.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | 12 | """ 13 | This module contains particle-based optimization solvers. 14 | """ 15 | -------------------------------------------------------------------------------- /src/curobo/opt/qp/__init__.py: -------------------------------------------------------------------------------- 1 | from .official_reluqp import OFFICIAL_RELUQP 2 | from .reluqp import BATCHED_RELUQP 3 | 4 | 5 | def init_QP_solver(solver_type = 'batch_reluqp'): 6 | if solver_type == 'batch_reluqp': 7 | return BATCHED_RELUQP() 8 | elif solver_type == 'official_reluqp': 9 | return OFFICIAL_RELUQP() 10 | elif solver_type == 'proxqp': 11 | from .proxqp import PROXQP 12 | return PROXQP() 13 | elif solver_type == 'osqp': 14 | from .osqp import OSQP 15 | return OSQP() 16 | else: 17 | raise NotImplementedError -------------------------------------------------------------------------------- /src/curobo/opt/qp/base.py: -------------------------------------------------------------------------------- 1 | 2 | from abc import abstractmethod 3 | 4 | class QPSolver: 5 | 6 | solver: None 7 | 8 | g_matrix: None 9 | 10 | G_matrix: None 11 | 12 | l_matrix: None 13 | 14 | h_matrix: None 15 | 16 | def init_problem(self, G_matrix, l_matrix, h_matrix): 17 | self.G_matrix = G_matrix 18 | self.l_matrix = l_matrix 19 | self.h_matrix = h_matrix 20 | 21 | @abstractmethod 22 | def solve(self, Q_matrix, semi_Q_matrix, solution=None): 23 | return solution 24 | 25 | 26 | -------------------------------------------------------------------------------- /src/curobo/py.typed: -------------------------------------------------------------------------------- 1 | # Marker file for PEP 561 (https://www.python.org/dev/peps/pep-0561/) stating that this package uses inline types. -------------------------------------------------------------------------------- /src/curobo/rollout/__init__.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | 12 | """ 13 | This module contains rollout classes 14 | """ 15 | -------------------------------------------------------------------------------- /src/curobo/rollout/cost/__init__.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | 12 | """ 13 | """ 14 | -------------------------------------------------------------------------------- /src/curobo/rollout/cost/grasp_energy/__init__.py: -------------------------------------------------------------------------------- 1 | from .qp import QPEnergy, QPBaseEnergy 2 | from .dfc import DFCEnergy 3 | from .tdg import TDGEnergy, TDGQ1Energy 4 | from .base import GraspEnergyBase 5 | 6 | def init_grasp_energy(ge_param, tensor_args): 7 | ge_param['tensor_args'] = tensor_args 8 | if ge_param['type'] == 'qp': 9 | return QPEnergy(**ge_param) 10 | elif ge_param['type'] == 'qpbase': 11 | return QPBaseEnergy(**ge_param) 12 | elif ge_param['type'] == 'dfc' or ge_param['type'] == 'none': 13 | return DFCEnergy(**ge_param) 14 | elif ge_param['type'] == 'tdg': 15 | return TDGEnergy(**ge_param) 16 | elif ge_param['type'] == 'ch_q1': 17 | from .chq1 import CHQ1Energy 18 | return CHQ1Energy(**ge_param) 19 | elif ge_param['type'] == 'tdg_q1': 20 | return TDGQ1Energy(**ge_param) 21 | else: 22 | raise NotImplementedError -------------------------------------------------------------------------------- /src/curobo/rollout/cost/grasp_energy/chq1.py: -------------------------------------------------------------------------------- 1 | from .base import GraspEnergyBase 2 | import torch 3 | import numpy as np 4 | import scipy 5 | 6 | class CHQ1Energy(GraspEnergyBase): 7 | ''' 8 | Non-differentiable! Only used for evaluation! 9 | ''' 10 | 11 | def __init__(self, miu_coef, obj_gravity_center, obj_obb_length, tensor_args, enable_density, **args): 12 | super().__init__(miu_coef, obj_gravity_center, obj_obb_length, tensor_args, enable_density) 13 | self.num_friction_approx = 8 14 | return 15 | 16 | @torch.no_grad() 17 | def forward(self, pos, normal, target_wrenches): 18 | batch = pos.shape[0] 19 | grasp_matrix, contact_frame, contact_force = self.construct_grasp_matrix(pos, normal) 20 | aranged_angles = self.tensor_args.to_device(torch.arange(self.num_friction_approx) * 2 * np.pi / self.num_friction_approx).unsqueeze(-1) 21 | f = torch.cat([aranged_angles*0+1, self.miu_coef[0]*torch.sin(aranged_angles), self.miu_coef[0]*torch.cos(aranged_angles)], dim=-1) 22 | corner_point = (f @ grasp_matrix.transpose(-1,-2)).view(batch, -1, 6) 23 | corner_point_cpu = corner_point.cpu().numpy() 24 | corner_point_cpu = np.concatenate([corner_point_cpu, corner_point_cpu[:,0:1,:]*0.], axis=1) 25 | grasp_error = [] 26 | for i in range(batch): 27 | q1 = np.array([1], dtype=np.float32) 28 | try: 29 | wrench_space = scipy.spatial.ConvexHull(corner_point_cpu[i]) 30 | for equation in wrench_space.equations: 31 | q1 = np.minimum(q1, np.abs(equation[6]) / np.linalg.norm(equation[:6])) 32 | except: 33 | pass 34 | grasp_error.append(q1) 35 | grasp_energy = grasp_error = 2 - self.tensor_args.to_device(grasp_error) 36 | grasp_error = grasp_error.expand(-1, target_wrenches.shape[0]) 37 | return grasp_energy, grasp_error, contact_frame, contact_force 38 | -------------------------------------------------------------------------------- /src/curobo/rollout/cost/grasp_energy/dfc.py: -------------------------------------------------------------------------------- 1 | from .base import GraspEnergyBase 2 | import torch 3 | 4 | class DFCEnergy(GraspEnergyBase): 5 | 6 | def __init__(self, miu_coef, obj_gravity_center, obj_obb_length, tensor_args, enable_density, **args): 7 | super().__init__(miu_coef, obj_gravity_center, obj_obb_length, tensor_args, enable_density) 8 | return 9 | 10 | def forward(self, pos, normal, target_wrenches): 11 | grasp_matrix, contact_frame, contact_force = self.construct_grasp_matrix(pos, normal) 12 | if self.enable_density: 13 | density = self.estimate_density(normal) 14 | grasp_energy = grasp_error = (grasp_matrix[..., 0] * density.unsqueeze(-1)).sum(dim=1).norm(dim=-1, keepdim=True) 15 | else: 16 | grasp_energy = grasp_error = grasp_matrix[..., 0].sum(dim=1).norm(dim=-1, keepdim=True) 17 | grasp_error = grasp_error.expand(-1, target_wrenches.shape[0]) 18 | return grasp_energy, grasp_error, contact_frame, contact_force 19 | -------------------------------------------------------------------------------- /src/curobo/rollout/cost/straight_line_cost.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | 12 | 13 | # Third Party 14 | import torch 15 | 16 | # CuRobo 17 | from curobo.util.torch_utils import get_torch_jit_decorator 18 | 19 | # Local Folder 20 | from .cost_base import CostBase, CostConfig 21 | 22 | 23 | @get_torch_jit_decorator() 24 | def st_cost(ee_pos_batch, vec_weight, weight): 25 | ee_plus_one = torch.roll(ee_pos_batch, 1, dims=1) 26 | 27 | xdot_current = ee_pos_batch - ee_plus_one + 1e-8 28 | 29 | err_vec = vec_weight * xdot_current / 0.02 30 | error = torch.sum(torch.square(err_vec), dim=-1) 31 | 32 | # compute distance vector 33 | cost = weight * error 34 | return cost 35 | 36 | 37 | class StraightLineCost(CostBase): 38 | def __init__(self, config: CostConfig): 39 | CostBase.__init__(self, config) 40 | 41 | self.vel_idxs = torch.arange( 42 | self.dof, 2 * self.dof, dtype=torch.long, device=self.tensor_args.device 43 | ) 44 | self.I = torch.eye(self.dof, device=self.tensor_args.device, dtype=self.tensor_args.dtype) 45 | 46 | def forward(self, ee_pos_batch): 47 | cost = st_cost(ee_pos_batch, self.vec_weight, self.weight) 48 | return cost 49 | -------------------------------------------------------------------------------- /src/curobo/rollout/dynamics_model/__init__.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | -------------------------------------------------------------------------------- /src/curobo/rollout/dynamics_model/model_base.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | # Standard Library 12 | from abc import ABC, abstractmethod 13 | 14 | 15 | class DynamicsModelBase(ABC): 16 | def __init__(self): 17 | pass 18 | 19 | @abstractmethod 20 | def forward(self, start_state, act_seq, *args): 21 | pass 22 | 23 | @abstractmethod 24 | def get_next_state(self, currend_state, act, dt): 25 | pass 26 | 27 | @abstractmethod 28 | def filter_robot_state(self, current_state): 29 | pass 30 | 31 | @abstractmethod 32 | def get_robot_command(self, current_state, act_seq): 33 | pass 34 | -------------------------------------------------------------------------------- /src/curobo/types/__init__.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | -------------------------------------------------------------------------------- /src/curobo/types/base.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | # Standard Library 12 | from dataclasses import dataclass 13 | 14 | # Third Party 15 | import numpy as np 16 | import torch 17 | 18 | 19 | @dataclass(frozen=True) 20 | class TensorDeviceType: 21 | device: torch.device = torch.device("cuda", 0) 22 | dtype: torch.dtype = torch.float32 23 | collision_geometry_dtype: torch.dtype = torch.float32 24 | collision_gradient_dtype: torch.dtype = torch.float32 25 | collision_distance_dtype: torch.dtype = torch.float32 26 | 27 | @staticmethod 28 | def from_basic(device: str, dev_id: int): 29 | return TensorDeviceType(torch.device(device, dev_id)) 30 | 31 | def to_device(self, data_tensor): 32 | if isinstance(data_tensor, torch.Tensor): 33 | return data_tensor.to(device=self.device, dtype=self.dtype) 34 | else: 35 | return torch.as_tensor(np.array(data_tensor), device=self.device, dtype=self.dtype) 36 | 37 | def to_int8_device(self, data_tensor): 38 | return data_tensor.to(device=self.device, dtype=torch.int8) 39 | 40 | def cpu(self): 41 | return TensorDeviceType(device=torch.device("cpu"), dtype=self.dtype) 42 | 43 | def as_torch_dict(self): 44 | return {"device": self.device, "dtype": self.dtype} 45 | -------------------------------------------------------------------------------- /src/curobo/types/enum.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | # Standard Library 12 | from enum import Enum 13 | 14 | 15 | class StateType(Enum): 16 | POSITION = 0 17 | VELOCITY = 1 18 | ACCELERATION = 2 19 | JERK = 3 20 | -------------------------------------------------------------------------------- /src/curobo/types/tensor.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | 12 | """ This module contains aliases for structured Tensors, improving readability.""" 13 | 14 | # Third Party 15 | import torch 16 | 17 | # CuRobo 18 | from curobo.util.logger import log_warn 19 | 20 | T_DOF = torch.Tensor #: Tensor of shape [degrees of freedom] 21 | T_BDOF = torch.Tensor #: Tensor of shape [batch, degrees of freedom] 22 | T_BHDOF_float = torch.Tensor #: Tensor of shape [batch, horizon, degrees of freedom] 23 | T_HDOF_float = torch.Tensor #: Tensor of shape [horizon, degrees of freedom] 24 | 25 | T_BValue_float = torch.Tensor #: Float Tensor of shape [batch, 1]. 26 | T_BHValue_float = torch.Tensor #: Float Tensor of shape [batch, horizon, 1]. 27 | T_BValue_bool = torch.Tensor #: Bool Tensor of shape [batch, horizon, 1]. 28 | T_BValue_int = torch.Tensor #: Int Tensor of shape [batch, horizon, 1]. 29 | 30 | T_BPosition = torch.Tensor #: Tensor of shape [batch, 3]. 31 | T_BQuaternion = torch.Tensor #: Tensor of shape [batch, 4]. 32 | T_BRotation = torch.Tensor #: Tensor of shape [batch, 3,3]. 33 | -------------------------------------------------------------------------------- /src/curobo/util/__init__.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | -------------------------------------------------------------------------------- /src/curobo/util/error_metrics.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | # Standard Library 12 | import math 13 | 14 | # Third Party 15 | import numpy as np 16 | import torch 17 | 18 | 19 | def rotation_error_quaternion(q_des, q): 20 | # 21 | sum_q = torch.norm(q_des + q) 22 | diff_q = torch.norm(q_des - q) 23 | # err = torch.minimum(sum_q, diff_q) / math.sqrt(2) 24 | err = np.minimum(sum_q.cpu().numpy(), diff_q.cpu().numpy()) / math.sqrt(2) 25 | return err 26 | 27 | 28 | def rotation_error_matrix(r_des, r): 29 | # 30 | """ 31 | px = torch.tensor([1.0,0.0,0.0],device=r_des.device).T 32 | py = torch.tensor([0.0,1.0,0.0],device=r_des.device).T 33 | pz = torch.tensor([0.0,0.0,1.0],device=r_des.device).T 34 | print(px.shape, r.shape) 35 | 36 | current_px = r * px 37 | current_py = r * py 38 | current_pz = r * pz 39 | 40 | des_px = r_des * px 41 | des_py = r_des * py 42 | des_pz = r_des * pz 43 | 44 | cost = torch.norm(current_px - des_px) + torch.norm(current_py - des_py) + torch.norm(current_pz - des_pz) 45 | return cost 46 | """ 47 | rot_delta = r - r_des 48 | cost = 0.5 * torch.sum(torch.square(rot_delta), dim=-2) 49 | cost = torch.sum(cost, dim=-1) 50 | return cost 51 | -------------------------------------------------------------------------------- /src/curobo/util/helpers.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | # Standard Library 12 | import math 13 | from collections import defaultdict 14 | from typing import List 15 | 16 | 17 | def default_to_regular(d): 18 | if isinstance(d, defaultdict): 19 | d = {k: default_to_regular(v) for k, v in d.items()} 20 | return d 21 | 22 | 23 | def list_idx_if_not_none(d_list: List, idx: int): 24 | idx_list = [] 25 | for x in d_list: 26 | if x is not None: 27 | idx_list.append(x[idx]) 28 | else: 29 | idx_list.append(None) 30 | return idx_list 31 | 32 | 33 | def robust_floor(x: float, threshold: float = 1e-04) -> int: 34 | nearest_int = round(x) 35 | if abs(x - nearest_int) < threshold: 36 | return nearest_int 37 | else: 38 | return int(math.floor(x)) 39 | -------------------------------------------------------------------------------- /src/curobo/wrap/__init__.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | """ Module contains high-level APIs for robotics applications. """ 12 | -------------------------------------------------------------------------------- /src/curobo/wrap/model/__init__.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | -------------------------------------------------------------------------------- /src/curobo/wrap/model/curobo_robot_world.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | """This module has differentiable layers built from CuRobo's core features for use in Pytorch. """ 12 | 13 | # Standard Library 14 | from dataclasses import dataclass 15 | 16 | # CuRobo 17 | from curobo.util.logger import log_warn 18 | from curobo.wrap.model.robot_world import RobotWorld, RobotWorldConfig 19 | 20 | 21 | @dataclass 22 | class CuroboRobotWorldConfig(RobotWorldConfig): 23 | def __post_init__(self): 24 | log_warn("CuroboRobotWorldConfig is deprecated, use RobotWorldConfig instead") 25 | return super().__post_init__() 26 | 27 | 28 | class CuroboRobotWorld(RobotWorld): 29 | def __init__(self, config: CuroboRobotWorldConfig): 30 | log_warn("CuroboRobotWorld is deprecated, use RobotWorld instead") 31 | return super().__init__(config) 32 | -------------------------------------------------------------------------------- /src/curobo/wrap/reacher/__init__.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | """ Module contains commonly used high-level APIs for motion generation. """ 12 | -------------------------------------------------------------------------------- /tests/__init__.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | 12 | """CuRobo test package.""" 13 | -------------------------------------------------------------------------------- /tests/conftest.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | 12 | # Standard Library 13 | import os 14 | 15 | os.environ["CUROBO_TORCH_COMPILE_DISABLE"] = str(1) 16 | os.environ["CUROBO_USE_LRU_CACHE"] = str(1) 17 | os.environ["CUROBO_TORCH_CUDA_GRAPH_RESET"] = str(0) 18 | -------------------------------------------------------------------------------- /tests/cost_test.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | # Third Party 12 | import torch 13 | 14 | # CuRobo 15 | from curobo.geom.sdf.world import WorldCollisionConfig, WorldPrimitiveCollision 16 | from curobo.geom.types import WorldConfig 17 | from curobo.rollout.cost.primitive_collision_cost import ( 18 | PrimitiveCollisionCost, 19 | PrimitiveCollisionCostConfig, 20 | ) 21 | from curobo.types.base import TensorDeviceType 22 | from curobo.util_file import get_world_configs_path, join_path, load_yaml 23 | 24 | 25 | def test_primitive_collision_cost(): 26 | tensor_args = TensorDeviceType() 27 | world_file = "collision_test.yml" 28 | data_dict = load_yaml(join_path(get_world_configs_path(), world_file)) 29 | 30 | world_cfg = WorldConfig.from_dict(data_dict) 31 | coll_cfg = WorldPrimitiveCollision( 32 | WorldCollisionConfig(world_model=world_cfg, tensor_args=TensorDeviceType()) 33 | ) 34 | 35 | cost_cfg = PrimitiveCollisionCostConfig( 36 | weight=1.0, 37 | tensor_args=tensor_args, 38 | world_coll_checker=coll_cfg, 39 | use_sweep=False, 40 | classify=False, 41 | ) 42 | cost = PrimitiveCollisionCost(cost_cfg) 43 | q_spheres = torch.as_tensor( 44 | [[0.1, 0.0, 0.0, 0.2], [10.0, 0.0, 0.0, 0.1]], **(tensor_args.as_torch_dict()) 45 | ).view(-1, 1, 1, 4) 46 | c = cost.forward(q_spheres).flatten() 47 | assert c[0] > 0.0 and c[1] == 0.0 48 | -------------------------------------------------------------------------------- /tests/curobo_version_test.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | 12 | """Unit tests for `curobo` package version.""" 13 | 14 | # CuRobo 15 | import curobo 16 | 17 | 18 | def test_curobo_version(): 19 | """Test `curobo` package version is set.""" 20 | assert curobo.__version__ is not None 21 | assert curobo.__version__ != "" 22 | -------------------------------------------------------------------------------- /tests/geom_types_test.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | 12 | # Third Party 13 | import pytest 14 | 15 | # CuRobo 16 | from curobo.geom.sphere_fit import SphereFitType 17 | from curobo.geom.types import WorldConfig 18 | from curobo.util_file import get_world_configs_path, join_path, load_yaml 19 | 20 | 21 | def test_mesh_world(): 22 | world_file = "collision_test.yml" 23 | data_dict = load_yaml(join_path(get_world_configs_path(), world_file)) 24 | world_cfg = WorldConfig.from_dict(data_dict) 25 | mesh_world_cfg = world_cfg.get_mesh_world() 26 | assert len(mesh_world_cfg.mesh) == len(world_cfg.cuboid) 27 | obb_world_cfg = mesh_world_cfg.get_obb_world() 28 | assert len(obb_world_cfg.cuboid) == len(mesh_world_cfg.mesh) 29 | 30 | 31 | @pytest.mark.parametrize( 32 | "sphere_fit_type", 33 | [e.value for e in SphereFitType], 34 | ) 35 | def test_bounding_volume(sphere_fit_type): 36 | world_file = "collision_test.yml" 37 | data_dict = load_yaml(join_path(get_world_configs_path(), world_file)) 38 | world_cfg = WorldConfig.from_dict(data_dict) 39 | obs = world_cfg.objects[-1] 40 | spheres = obs.get_bounding_spheres(100, 0.01, sphere_fit_type) 41 | assert len(spheres) > 0 42 | -------------------------------------------------------------------------------- /tests/mimic_joint_test.py: -------------------------------------------------------------------------------- 1 | # 2 | # Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved. 3 | # 4 | # NVIDIA CORPORATION, its affiliates and licensors retain all intellectual 5 | # property and proprietary rights in and to this material, related 6 | # documentation and any modifications thereto. Any use, reproduction, 7 | # disclosure or distribution of this material and related documentation 8 | # without an express license agreement from NVIDIA CORPORATION or 9 | # its affiliates is strictly prohibited. 10 | # 11 | 12 | # CuRobo 13 | from curobo.cuda_robot_model.cuda_robot_model import CudaRobotModel, CudaRobotModelConfig 14 | from curobo.types.state import JointState 15 | 16 | 17 | def test_mimic_config(): 18 | cfg = CudaRobotModelConfig.from_robot_yaml_file("simple_mimic_robot.yml", "ee_link") 19 | 20 | # print(cfg.kinematics_config.fixed_transforms) 21 | robot_model = CudaRobotModel(cfg) 22 | q = JointState.from_position(robot_model.retract_config, joint_names=robot_model.joint_names) 23 | q = robot_model.get_full_js(q) 24 | 25 | # print(q) 26 | q_mimic = robot_model.get_mimic_js(q) 27 | assert len(q_mimic) == 3 28 | 29 | 30 | def test_robotiq_mimic_config(): 31 | cfg = CudaRobotModelConfig.from_robot_yaml_file("ur5e_robotiq_2f_140.yml", "grasp_frame") 32 | 33 | robot_model = CudaRobotModel(cfg) 34 | q = JointState.from_position(robot_model.retract_config, joint_names=robot_model.joint_names) 35 | q = robot_model.get_full_js(q) 36 | 37 | q_mimic = robot_model.get_mimic_js(q) 38 | assert len(q_mimic.joint_names) == 12 39 | --------------------------------------------------------------------------------