Calculate the position on a room's wall based on a position on a shared wall. Args: shared_wall_info: Information about the shar

Graph-based door and window placement using minimum spanning tree approach. This function: 1. Finds all shared walls (for connected

Call Claude to generate room layout (rooms only) with validation and iterative correction. Args: input_text: Original layout des

Use the unified collision checking for consistency with sampling functions.

Unified door/window integrity checking function. This is now a wrapper around validate_door_window_issues for consistency. Args:

Check if two rooms overlap and return overlap details. Args: room1: First room data room2: Second room data

Unified robot collision checking function used by all sampling and planning functions. Args: pos: Robot position [x, y, z] (only

Unified robot collision checking function used by all sampling and planning functions. Args: pos: Robot position [x, y, z] (only

Unified robot collision checking function used by all sampling and planning functions. Args: pos: Robot position [x, y, z] (only

Unified robot collision checking function used by all sampling and planning functions. Args: pos: Robot position [x, y, z] (only

Unified robot collision checking function used by all sampling and planning functions. Args: pos: Robot position [x, y, z] (only

Unified robot collision checking function used by all sampling and planning functions. Args: pos: Robot position [x, y, z] (only

Unified robot collision checking function used by all sampling and planning functions. Args: pos: Robot position [x, y, z] (only

Unified robot collision checking function used by all sampling and planning functions. Args: pos: Robot position [x, y, z] (only

Unified robot collision checking function used by all sampling and planning functions. Args: pos: Robot position [x, y, z] (only

Unified robot collision checking function used by all sampling and planning functions. Args: pos: Robot position [x, y, z] (only

Unified robot collision checking function used by all sampling and planning functions. Args: pos: Robot position [x, y, z] (only

Unified robot collision checking function used by all sampling and planning functions. Args: pos: Robot position [x, y, z] (only

Unified robot collision checking function used by all sampling and planning functions. Args: pos: Robot position [x, y, z] (only

Clear all constraints.

Convert all arrays or tensors in a dictionary to a given backend. This function iterates over the dictionary, converts all arrays or tensors with

The total number of marker instances.

Generalized function to create a camera or tiled camera sensor.

Create a ceiling mesh for a room.

Create a door frame mesh with left, right, and top edges surrounding the door.

Create a door mesh positioned on the wall.

Create a door mesh positioned on the wall.

Create a floor mesh for a room.

Generate texture coordinates for a floor mesh using xatlas. Args: floor_mesh: Trimesh object representing the floor

Create wall meshes with door and window openings cut out using boolean operations. Returns: Tuple of (wall_meshes, door_meshes,

Create a single room layout scene from a dictionary of mesh information.

Create a unified occupancy grid that will be consistent across all functions. Returns: tuple: (occupancy_grid, grid_x, grid_y, r

Create a unified occupancy grid that will be consistent across all functions. Returns: tuple: (occupancy_grid, grid_x, grid_y, r

Create a unified occupancy grid that will be consistent across all functions. Returns: tuple: (occupancy_grid, grid_x, grid_y, r

Create a unified occupancy grid that will be consistent across all functions. Returns: tuple: (occupancy_grid, grid_x, grid_y, r

Create a unified scene occupancy function that's consistent across all collision checks. Args: occupancy_grid: 2D boolean array

Create a unified scene occupancy function that's consistent across all collision checks. Args: occupancy_grid: 2D boolean array

Create a unified scene occupancy function that's consistent across all collision checks. Args: occupancy_grid: 2D boolean array

Create a unified scene occupancy function that's consistent across all collision checks. Args: occupancy_grid: 2D boolean array

Create a unified scene occupancy function that's consistent across all collision checks. Args: occupancy_grid: 2D boolean array

Create a unified scene occupancy function that's consistent across all collision checks. Args: occupancy_grid: 2D boolean array

Create a unified scene occupancy function that's consistent across all collision checks. Args: occupancy_grid: 2D boolean array

Create a unified scene occupancy function that's consistent across all collision checks. Args: occupancy_grid: 2D boolean array

Create a unified scene occupancy function that's consistent across all collision checks. Args: occupancy_grid: 2D boolean array

Create a unified scene occupancy function that's consistent across all collision checks. Args: occupancy_grid: 2D boolean array

Create a unified scene occupancy function that's consistent across all collision checks. Args: occupancy_grid: 2D boolean array

Create a unified scene occupancy function that's consistent across all collision checks. Args: occupancy_grid: 2D boolean array

Create a unified scene occupancy function that's consistent across all collision checks. Args: occupancy_grid: 2D boolean array

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) return: traj: (num_steps

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) current_ee_quat: (1, 4) - Current

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) return: traj: (num_steps

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) current_ee_quat: (1, 4) - Current

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) current_ee_quat: (1, 4) - Current

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) return: traj: (num_steps

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) current_ee_quat: (1, 4) - Current

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) current_ee_quat: (1, 4) - Current

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) current_ee_quat: (1, 4) - Current

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) current_ee_quat: (1, 4) - Current

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) return: traj: (num_steps

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) return: traj: (num_steps

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) return: traj: (num_steps

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) current_ee_quat: (1, 4) - Current

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) current_ee_quat: (1, 4) - Current

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) current_ee_quat: (1, 4) - Current

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) return: traj: (num_steps

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) return: traj: (num_steps

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) return: traj: (num_steps

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) return: traj: (num_steps

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) current_ee_quat: (1, 4) - Current

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) return: traj: (num_steps

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) return: traj: (num_steps

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) return: traj: (num_steps

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) return: traj: (num_steps

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) return: traj: (num_steps

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) current_ee_quat: (1, 4) - Current

robot_qpos: (1, num_joints) current_ee_pos: (1, 3) target_ee_pos: (1, 3) target_ee_quat: (1, 4) return: traj: (num_steps

Convert a dictionary to a Room object. Args: room_data: Dictionary containing room data Returns: Room objec

Fast distance calculation with approximations.

Fast distance calculation with approximations.

Fast distance calculation with approximations.

Fast distance calculation with approximations.

Fast distance calculation with approximations.

Fast distance calculation with approximations.

Fast distance calculation with approximations.

Fast distance calculation with approximations.

Fast distance calculation with approximations.

Fast distance calculation with approximations.

Fast distance calculation with approximations.

Fast distance calculation with approximations.

Fast distance calculation with approximations.

Fast distance calculation with approximations.

Export a FloorPlan object to a mesh file using trimesh. Creates gray boxes for walls/floors, red boxes for doors, blue boxes for windows,

Export a FloorPlan object to a mesh file using trimesh. Creates gray boxes for walls/floors, red boxes for doors, blue boxes for windows,

Extend tree towards target. Returns (success, new_node_idx, new_pos, new_quat).

Helper function to return a dictionary of key-values that specifically correspond to @cls class's __init__ constructor method, from @dic whic