embodichain.lab.sim.utility

embodichain.lab.sim.utility#

Utility Functions#

This module contains utility functions for simulation, mesh processing, and URDF handling.

Submodules

sim_utils

mesh_utils

Simulation Utils#

Functions:

create_cube(envs, size[, uid])

Create cube objects in the specified environments or arenas.

create_sphere(envs, radius[, resolution, uid])

Create sphere objects in the specified environments or arenas.

get_dexsim_arena_num()

Get the number of arenas in the default dexsim world.

get_dexsim_arenas()

Get all arenas in the default dexsim world.

get_dexsim_drive_type(drive_type)

Get the dexsim drive type from a string.

is_rt_enabled()

Check if Ray Tracing rendering backend is enabled in the default dexsim world.

load_mesh_objects_from_cfg(cfg, env_list[, ...])

Load mesh objects from configuration.

set_dexsim_articulation_cfg(arts, cfg)

Set articulation configuration for a list of dexsim articulations.
embodichain.lab.sim.utility.sim_utils.create_cube(envs, size, uid='cube')[source]#

Create cube objects in the specified environments or arenas.

Parameters:

  • envs (List[Union[Env, Arena]]) – List of environments or arenas to create cubes in.

  • size (List[float]) – Size of the cube as [length, width, height] in meters.

  • uid (str, optional) – Unique identifier for the cube objects. Defaults to “cube”.

Returns:

List of created cube mesh objects.

Return type:

List[MeshObject]

embodichain.lab.sim.utility.sim_utils.create_sphere(envs, radius, resolution=20, uid='sphere')[source]#

Create sphere objects in the specified environments or arenas.

Parameters:

  • envs (List[Union[Env, Arena]]) – List of environments or arenas to create spheres in.

  • radius (float) – Radius of the sphere in meters.

  • resolution (int, optional) – Resolution of the sphere mesh. Defaults to 20.

  • uid (str, optional) – Unique identifier for the sphere objects. Defaults to “sphere”.

Returns:

List of created sphere mesh objects.

Return type:

List[MeshObject]

embodichain.lab.sim.utility.sim_utils.get_dexsim_arena_num()[source]#

Get the number of arenas in the default dexsim world.

Returns:

The number of arenas in the default world, or 0 if no world is found.

Return type:

int

embodichain.lab.sim.utility.sim_utils.get_dexsim_arenas()[source]#

Get all arenas in the default dexsim world.

Returns:

A list of arenas in the default world, or an empty list if no world is found.

Return type:

List[dexsim.environment.Arena]

embodichain.lab.sim.utility.sim_utils.get_dexsim_drive_type(drive_type)[source]#

Get the dexsim drive type from a string.

Parameters:

drive_type (str) – The drive type as a string.

Returns:

The corresponding DriveType enum.

Return type:

DriveType

embodichain.lab.sim.utility.sim_utils.is_rt_enabled()[source]#

Check if Ray Tracing rendering backend is enabled in the default dexsim world.

Returns:

True if Ray Tracing rendering is enabled, False otherwise.

Return type:

bool

embodichain.lab.sim.utility.sim_utils.load_mesh_objects_from_cfg(cfg, env_list, cache_dir=None)[source]#

Load mesh objects from configuration.

Parameters:

  • cfg (RigidObjectCfg) – Configuration for the rigid object.

  • env_list (List[Arena]) – List of arenas to load the objects into.

  • cache_dir (Optional[str], optional) – Directory for caching convex decomposition files. Defaults to None

Returns:

List of loaded mesh objects.

Return type:

List[MeshObject]

embodichain.lab.sim.utility.sim_utils.set_dexsim_articulation_cfg(arts, cfg)[source]#

Set articulation configuration for a list of dexsim articulations.

Parameters:

  • arts (List[Articulation]) – List of dexsim articulations to configure.

  • cfg (ArticulationCfg) – Configuration object containing articulation settings.

Return type:

None

Mesh Utils#

Functions:

export_articulation_mesh(articulation[, ...])

Export a combined mesh from all links of one or more articulations to a mesh file format.
embodichain.lab.sim.utility.mesh_utils.export_articulation_mesh(articulation, output_path='./articulation.obj', link_names=None, base_xpos=None, base_link_name=None, **kwargs)[source]#

Export a combined mesh from all links of one or more articulations to a mesh file format.

This function retrieves the link geometries and poses from the given articulation(s), transforms each link mesh to its world pose, merges them into a single mesh, and exports the result to the specified file path. The export format is inferred from the file extension (e.g., .obj, .ply, .stl, .glb, .gltf).

Parameters:

  • articulation (dexsim.engine.Articulation or list) – The articulation object or list of articulations.

  • output_path (str) – The output file path including the file name and extension. Supported extensions: .obj, .ply, .stl, .glb, .gltf.

  • link_names (list[str] or dict[Any, list[str]], optional) – Specify which links to export. If None, export all links.

  • base_xpos (np.ndarray, optional) – 4x4 homogeneous transformation matrix. All meshes will be transformed into this base pose coordinate system.

  • base_link_name (str, optional) – If specified, use the pose of this link as the base pose. The link will be searched from all link_names of all articulations.

Returns:

The combined Open3D mesh object of all articulations.

Return type:

o3d.geometry.TriangleMesh

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