robocasa.utils.model_zoo package
Contents
robocasa.utils.model_zoo package¶
Submodules¶
robocasa.utils.model_zoo.file_utils module¶
- robocasa.utils.model_zoo.file_utils.get_ext(path)¶
- robocasa.utils.model_zoo.file_utils.get_name(path)¶
- robocasa.utils.model_zoo.file_utils.get_stem(path)¶
- robocasa.utils.model_zoo.file_utils.make_asset_path(base_asset_path, model_prefix, model_name)¶
robocasa.utils.model_zoo.log_utils module¶
- class robocasa.utils.model_zoo.log_utils.NumpyEncoder(*, skipkeys=False, ensure_ascii=True, check_circular=True, allow_nan=True, sort_keys=False, indent=None, separators=None, default=None)¶
Bases:
JSONEncoder
Special json encoder for numpy types From https://stackoverflow.com/a/49677241
- default(obj)¶
Implement this method in a subclass such that it returns a serializable object for
o
, or calls the base implementation (to raise aTypeError
).For example, to support arbitrary iterators, you could implement default like this:
def default(self, o): try: iterable = iter(o) except TypeError: pass else: return list(iterable) # Let the base class default method raise the TypeError return JSONEncoder.default(self, o)
- robocasa.utils.model_zoo.log_utils.maybe_log_info(message, log=False, color='yellow', indent=False)¶
- robocasa.utils.model_zoo.log_utils.save_meta(args, asset_path)¶
robocasa.utils.model_zoo.mjcf_gen_utils module¶
- robocasa.utils.model_zoo.mjcf_gen_utils.decompose_convex(filename, work_dir, max_output_convex_hulls=32, voxel_resolution=100000, volume_error_percent=1.0, max_hull_vert_count=64)¶
Adapted from https://github.com/kevinzakka/obj2mjcf/blob/main/obj2mjcf/_cli.py
- robocasa.utils.model_zoo.mjcf_gen_utils.generate_mjcf(asset_path, model_name, model_info, sc=1.0, texture_path=None, hide_vis_geoms=False, show_coll_geoms=False, show_sites=False, verbose=False)¶
Generate mjcf model for object
- robocasa.utils.model_zoo.mjcf_gen_utils.get_bb_info(bb_mesh)¶
Extract size, position, and orientation (quat) from bounding box mesh
- robocasa.utils.model_zoo.mjcf_gen_utils.get_file_name_and_type(path)¶
Extract name of object model file and file format
- robocasa.utils.model_zoo.mjcf_gen_utils.get_geom_element(model_name, geom_info, sc=1.0, show_if_coll_geom=False)¶
Generate xml element for mjcf geom
- robocasa.utils.model_zoo.mjcf_gen_utils.get_material_element(material_info)¶
- robocasa.utils.model_zoo.mjcf_gen_utils.get_mesh_element(geom_info, sc=1.0)¶
Generate xml element for mjcf mesh asset
- robocasa.utils.model_zoo.mjcf_gen_utils.get_texture_element(texture_info)¶
- robocasa.utils.model_zoo.mjcf_gen_utils.parse_coll_model(coll_model_path, asset_path, verbose=False, transform=None)¶
Extract list of primitive geoms from collision model file
- robocasa.utils.model_zoo.mjcf_gen_utils.parse_model(model_path, model_name, asset_path, obj_path=None, visual_only=False, center=False, prescale=False, rot=None, transform=None, verbose=False)¶
Extract meshes from main model file
- robocasa.utils.model_zoo.mjcf_gen_utils.parse_model_info(model_path, model_name, coll_model_path, asset_path, obj_path=None, verbose=False, center=False, prescale=False, rot=None, transform=None)¶
Extract visual and collision geoms from main model file and collision model file
robocasa.utils.model_zoo.mjcf_obj module¶
robocasa.utils.model_zoo.mtl_utils module¶
Much of this code is directly copied from obj2mjcf: https://github.com/kevinzakka/obj2mjcf/blob/main/obj2mjcf/_cli.py
Credit: Kevin Zakka
- class robocasa.utils.model_zoo.mtl_utils.Material(name: str, Ka: str | None = None, Kd: str | None = None, Ks: str | None = None, d: str | None = None, Tr: str | None = None, Ns: str | None = None, map_Kd: str | None = None)¶
Bases:
object
- Ka: str | None = None¶
- Kd: str | None = None¶
- Ks: str | None = None¶
- Ns: str | None = None¶
- Tr: str | None = None¶
- d: str | None = None¶
- map_Kd: str | None = None¶
- mjcf_rgba() str ¶
- mjcf_shininess() str ¶
- mjcf_specular() str ¶
- name: str¶
- robocasa.utils.model_zoo.mtl_utils.get_image_paths(mtl_path)¶
- robocasa.utils.model_zoo.mtl_utils.get_mtls(filename, work_dir)¶
- robocasa.utils.model_zoo.mtl_utils.resize_texture(filename: Path, resize_percent) None ¶
Resize a texture to a percentage of its original size.
robocasa.utils.model_zoo.object_play_env module¶
robocasa.utils.model_zoo.parser_utils module¶
- robocasa.utils.model_zoo.parser_utils.get_base_parser()¶