concepts.simulator.urdf_utils.scene_builder

A set of utility classes and functions for saving and loading vision-pipeline outputs into simulators.

Functions

canonize_mesh_center(mesh_)	Canonize the mesh center.
mesh_reconstruction_alpha_shape(pcd[, alpha])	Reconstruct a mesh from a point cloud.

Classes

ObjectItem	ObjectItem(identifier: str, name: str, pos: Union[Tuple[float, float, float], List[float], numpy.ndarray], quat_xyzw: Union[Tuple[float, float, float, float], List[float], numpy.ndarray], tags: tuple[str, ...], pcd_ply_filename: Optional[str], mesh_ply_filename: str, mesh_obj_filename: str, urdf_filename: str)
RobotItem	RobotItem(identifier: str, name: str, pos: Union[Tuple[float, float, float], List[float], numpy.ndarray], quat_xyzw: Union[Tuple[float, float, float, float], List[float], numpy.ndarray])
SceneBuilder
SceneItem
TableItem	TableItem(identifier: str, name: str, size: Union[Tuple[float, float, float], List[float], numpy.ndarray], pos: Union[Tuple[float, float, float], List[float], numpy.ndarray], quat_xyzw: Union[Tuple[float, float, float, float], List[float], numpy.ndarray])