rofunc.utils.datalab.poselib.object_pose_transfer#

Transferring Optitrack Data of Recorded Object Pose into Isaac gym simulation.

Usage Example 1:

Usage Example 2:

1.  Module Contents#

1.1.  Functions#

env_setup

set up Isaac gym environment for object pose transfer.

data_process

process raw optitrack .csv data and generate rigid body motion data. :param input_dir: csv file path :return: [number of frames, number of rigid bodies, pose dimension = 7]

update_object_pose

object_pose_transfer

1.2.  API#

rofunc.utils.datalab.poselib.object_pose_transfer.env_setup()[source]#

set up Isaac gym environment for object pose transfer.

rofunc.utils.datalab.poselib.object_pose_transfer.data_process(input_dir: str)[source]#

process raw optitrack .csv data and generate rigid body motion data. :param input_dir: csv file path :return: [number of frames, number of rigid bodies, pose dimension = 7]

rofunc.utils.datalab.poselib.object_pose_transfer.update_object_pose(capsule_handle, pose)[source]#
rofunc.utils.datalab.poselib.object_pose_transfer.object_pose_transfer(csv_path, gym, sim, viewer, env, asset_capsule)[source]#