concepts.simulator.urdf_utils.scene_builder.SceneBuilder#

class SceneBuilder[source]#

Methods

`add_mesh_open3d`(name, mesh[, pointcloud, ...])
`add_pointcloud_open3d`(name, pointcloud[, ...])
`add_robot`(identifier, name, pos, quat_xyzw)
`add_table`(identifier, name, size, ...)
`export_metadata`([filename])
`load_metadata`(dirname_or_filename)

Attributes

`robots`
`objects`

__init__(output_dir)[source]#

add_mesh_open3d(name, mesh, pointcloud=None, pos=None, quat_xyzw=None, identifier=None, tags=tuple(), verbose=False)[source]#

Parameters:

name (str)
mesh (open3d.geometry.TriangleMesh)
pointcloud (open3d.geometry.PointCloud | None)
pos (Tuple[float, float, float] | List[float] | ndarray | None)
quat_xyzw (Tuple[float, float, float, float] | List[float] | ndarray | None)
identifier (str | None)
tags (tuple[str, ...])
verbose (bool)

add_pointcloud_open3d(name, pointcloud, pos=None, quat_xyzw=None, identifier=None, tags=tuple())[source]#

Parameters:

name (str)
pointcloud (open3d.geometry.PointCloud)
pos (Tuple[float, float, float] | List[float] | ndarray | None)
quat_xyzw (Tuple[float, float, float, float] | List[float] | ndarray | None)
identifier (str | None)
tags (tuple[str, ...])

add_robot(identifier, name, pos, quat_xyzw)[source]#

Parameters:

identifier (str)
name (str)
pos (Tuple[float, float, float] | List[float] | ndarray)
quat_xyzw (Tuple[float, float, float, float] | List[float] | ndarray)

add_table(identifier, name, size, surface_center_pos, surface_center_quat_xyzw)[source]#

Parameters:

identifier (str)
name (str)
size (Tuple[float, float, float] | List[float] | ndarray)
surface_center_pos (Tuple[float, float, float] | List[float] | ndarray)
surface_center_quat_xyzw (Tuple[float, float, float, float] | List[float] | ndarray)

export_metadata(filename=None)[source]#

static load_metadata(dirname_or_filename)[source]#