Dofbot Robot [omni.isaac.dofbot]¶
Dofbot¶
-
class
DofBot
(prim_path: str, name: str = 'dofbot_robot', usd_path: Optional[str] = None, position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, end_effector_prim_name: Optional[str] = None, gripper_dof_names: Optional[List[str]] = None, gripper_open_position: Optional[numpy.ndarray] = None, gripper_closed_position: Optional[numpy.ndarray] = None)¶ [summary]
- Parameters
prim_path (str) – [description]
name (str, optional) – [description]. Defaults to “dofbot_robot”.
usd_path (Optional[str], optional) – [description]. Defaults to None.
position (Optional[np.ndarray], optional) – [description]. Defaults to None.
orientation (Optional[np.ndarray], optional) – [description]. Defaults to None.
end_effector_prim_name (Optional[str], optional) – [description]. Defaults to None.
gripper_dof_names (Optional[List[str]], optional) – [description]. Defaults to None.
gripper_open_position (Optional[np.ndarray], optional) – [description]. Defaults to None.
gripper_closed_position (Optional[np.ndarray], optional) – [description]. Defaults to None.
-
apply_action
(control_actions: omni.isaac.core.utils.types.ArticulationAction, indices: Optional[Union[List, numpy.ndarray]] = None) → None¶ [summary]
- Parameters
control_actions (ArticulationAction) – actions to be applied for next physics step.
indices (Optional[Union[list, np.ndarray]], optional) – degree of freedom indices to apply actions to. Defaults to all degrees of freedom.
- Raises
Exception – [description]
-
apply_visual_material
(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) → None¶ Used to apply visual material to the held prim and optionally its descendants.
- Parameters
visual_material (VisualMaterial) – visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.
weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.
-
property
articulation_handle
¶ [summary]
- Returns
[description]
- Return type
int
-
change_prim_path
(new_prim_path: str) → None¶ Moves prim from the old path to a new one.
- Parameters
new_prim_path (str) – new path of the prim to be moved to.
-
disable_gravity
() → None¶ [summary]
-
property
dof_properties
¶ [summary]
- Returns
[description]
- Return type
np.ndarray
-
get_angular_velocity
() → numpy.ndarray¶ [summary]
- Returns
[description]
- Return type
np.ndarray
-
get_applied_action
() → omni.isaac.core.utils.types.ArticulationAction¶ [summary]
- Raises
Exception – [description]
- Returns
[description]
- Return type
-
get_applied_visual_material
() → omni.isaac.core.materials.visual_material.VisualMaterial¶ - Returns the current applied visual material in case it was applied using apply_visual_material OR
it’s one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.
- Returns
the current applied visual material if its type is currently supported.
- Return type
-
get_articulation_body_count
() → int¶ [summary]
- Returns
[description]
- Return type
int
-
get_articulation_controller
() → omni.isaac.core.controllers.articulation_controller.ArticulationController¶ - Returns
PD Controller of all degrees of freedom of an articulation, can apply position targets, velocity targets and efforts.
- Return type
-
get_default_state
() → omni.isaac.core.utils.types.XFormPrimState¶ - Returns
returns the default state of the prim (position and orientation) that is used after each reset.
- Return type
-
get_dof_index
(dof_name: str) → int¶ [summary]
- Parameters
dof_name (str) – [description]
- Returns
[description]
- Return type
int
-
get_enabled_self_collisions
() → bool¶ [summary]
- Returns
[description]
- Return type
bool
-
get_joint_efforts
() → numpy.ndarray¶ [summary]
- Raises
Exception – [description]
- Returns
[description]
- Return type
np.ndarray
-
get_joint_positions
() → numpy.ndarray¶ [summary]
- Raises
Exception – [description]
- Returns
[description]
- Return type
np.ndarray
-
get_joint_velocities
() → numpy.ndarray¶ [summary]
- Raises
Exception – [description]
- Returns
[description]
- Return type
np.ndarray
-
get_joints_state
() → omni.isaac.core.utils.types.JointsState¶ [summary]
- Returns
[description]
- Return type
-
get_linear_velocity
() → numpy.ndarray¶ [summary]
- Returns
[description]
- Return type
np.ndarray
-
get_local_pose
() → Tuple[numpy.ndarray, numpy.ndarray]¶ Gets prim’s pose with respect to the local frame (the prim’s parent frame).
- Returns
- first index is position in the local frame of the prim. shape is (3, ).
second index is quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).
- Return type
Tuple[np.ndarray, np.ndarray]
-
get_local_scale
() → numpy.ndarray¶ Gets prim’s scale with respect to the local frame (the parent’s frame).
- Returns
scale applied to the prim’s dimensions in the local frame. shape is (3, ).
- Return type
np.ndarray
-
get_sleep_threshold
() → float¶ [summary]
- Returns
[description]
- Return type
float
-
get_solver_position_iteration_count
() → int¶ [summary]
- Returns
[description]
- Return type
int
-
get_solver_velocity_iteration_count
() → int¶ [summary]
- Returns
[description]
- Return type
int
-
get_stabilization_threshold
() → float¶ [summary]
- Returns
[description]
- Return type
float
-
get_visibility
() → bool¶ - Returns
true if the prim is visible in stage. false otherwise.
- Return type
bool
-
get_world_pose
() → Tuple[numpy.ndarray, numpy.ndarray]¶ Gets prim’s pose with respect to the world’s frame.
- Returns
- first index is position in the world frame of the prim. shape is (3, ).
second index is quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).
- Return type
Tuple[np.ndarray, np.ndarray]
-
get_world_scale
() → numpy.ndarray¶ Gets prim’s scale with respect to the world’s frame.
- Returns
scale applied to the prim’s dimensions in the world frame. shape is (3, ).
- Return type
np.ndarray
-
property
gripper
¶ [summary]
- Returns
[description]
- Return type
-
property
handles_initialized
¶ [summary]
- Returns
[description]
- Return type
bool
-
initialize
() → None¶ [summary]
-
is_valid
() → bool¶ - Returns
True is the current prim path corresponds to a valid prim in stage. False otherwise.
- Return type
bool
-
is_visual_material_applied
() → bool¶ - Returns
True if there is a visual material applied. False otherwise.
- Return type
bool
-
property
name
¶ Returns: str: name given to the prim when instantiating it. Otherwise None.
-
property
num_dof
¶ [summary]
- Returns
[description]
- Return type
int
-
post_reset
() → None¶ [summary]
-
property
prim
¶ Returns: Usd.Prim: USD Prim object that this object holds.
-
property
prim_path
¶ Returns: str: prim path in the stage.
-
read_kinematic_hierarchy
() → None¶ [summary]
-
set_angular_velocity
(velocity: numpy.ndarray) → None¶ [summary]
- Parameters
velocity (np.ndarray) – [description]
-
set_default_state
(position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None) → None¶ Sets the default state of the prim (position and orientation), that will be used after each reset.
- Parameters
position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[np.ndarray], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.
-
set_enabled_self_collisions
(flag: bool) → None¶ [summary]
- Parameters
flag (bool) – [description]
-
set_joint_efforts
(efforts: numpy.ndarray, indices: Optional[Union[List, numpy.ndarray]] = None) → None¶ [summary]
- Parameters
efforts (np.ndarray) – [description]
indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.
- Raises
Exception – [description]
-
set_joint_positions
(positions: numpy.ndarray, indices: Optional[Union[List, numpy.ndarray]] = None) → None¶ [summary]
- Parameters
positions (np.ndarray) – [description]
indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.
- Raises
Exception – [description]
-
set_joint_velocities
(velocities: numpy.ndarray, indices: Optional[Union[List, numpy.ndarray]] = None) → None¶ [summary]
- Parameters
velocities (np.ndarray) – [description]
indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.
- Raises
Exception – [description]
-
set_joints_default_state
(positions: Optional[numpy.ndarray] = None, velocities: Optional[numpy.ndarray] = None, efforts: Optional[numpy.ndarray] = None) → None¶ [summary]
- Parameters
positions (Optional[np.ndarray], optional) – [description]. Defaults to None.
velocities (Optional[np.ndarray], optional) – [description]. Defaults to None.
efforts (Optional[np.ndarray], optional) – [description]. Defaults to None.
-
set_linear_velocity
(velocity: numpy.ndarray)¶ Sets the linear velocity of the prim in stage.
- Parameters
velocity (np.ndarray) – linear velocity to set the rigid prim to. Shape (3,).
-
set_local_pose
(translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None) → None¶ Sets prim’s pose with respect to the local frame (the prim’s parent frame).
- Parameters
translation (Optional[np.ndarray], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[np.ndarray], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.
-
set_local_scale
(scale: Optional[numpy.ndarray]) → None¶ Sets prim’s scale with respect to the local frame (the prim’s parent frame).
- Parameters
scale (Optional[np.ndarray]) – scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.
-
set_sleep_threshold
(threshold: float) → None¶ [summary]
- Parameters
threshold (float) – [description]
-
set_solver_position_iteration_count
(count: int) → None¶ [summary]
- Parameters
count (int) – [description]
-
set_solver_velocity_iteration_count
(count: int)¶ [summary]
- Parameters
count (int) – [description]
-
set_stabilization_threshold
(threshold: float) → None¶ [summary]
- Parameters
threshold (float) – [description]
-
set_visibility
(visible: bool) → None¶ Sets the visibility of the prim in stage.
- Parameters
visible (bool) – flag to set the visibility of the usd prim in stage.
-
set_world_pose
(position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None) → None¶ Sets prim’s pose with respect to the world’s frame.
- Parameters
position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[np.ndarray], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.
Dofbot IK Solver¶
-
class
InverseKinematicsSolver
(name: str, robot_prim_path: str, robot_urdf_path: Optional[str] = None, robot_description_yaml_path: Optional[str] = None, end_effector_frame_name: Optional[str] = None)¶ [summary]
- Parameters
name (str) – [description]
robot_prim_path (str) – [description]
robot_urdf_path (Optional[str], optional) – [description]. Defaults to None.
robot_description_yaml_path (Optional[str], optional) – [description]. Defaults to None.
end_effector_frame_name (Optional[str], optional) – [description]. Defaults to None.
-
forward
(target_end_effector_position: numpy.ndarray, target_end_effector_orientation: Optional[numpy.ndarray] = None) → omni.isaac.core.utils.types.ArticulationAction¶ [summary]
- Parameters
target_end_effector_position (np.ndarray) – [description]
target_end_effector_orientation (Optional[np.ndarray], optional) – [description]. Defaults to None.
- Returns
[description]
- Return type
-
reset
() → None¶ [summary]
Dofbot Controllers¶
-
class
GripperController
(name: str, gripper_dof_indices: List[int], deltas: Optional[numpy.ndarray] = None)¶ [summary]
- Parameters
name (str) – [description]
gripper_dof_indices (List[int]) – [description]
deltas (Optional[np.ndarray], optional) – [description]. Defaults to None.
-
close
(current_joint_positions: numpy.ndarray) → omni.isaac.core.utils.types.ArticulationAction¶ [summary]
- Parameters
current_joint_positions (np.ndarray) – [description]
- Returns
[description]
- Return type
-
forward
(action: str, current_joint_positions: numpy.ndarray) → omni.isaac.core.utils.types.ArticulationAction¶ Action has be “open” or “close”
- Parameters
action (str) – “open” or “close”
current_joint_positions (np.ndarray) – [description]
- Raises
Exception – [description]
- Returns
[description]
- Return type
-
get_deltas
() → numpy.ndarray¶ [summary]
- Returns
[description]
- Return type
np.ndarray
-
property
grippers_dof_indices
¶ [summary]
- Returns
[description]
- Return type
List[int]
-
open
(current_joint_positions: numpy.ndarray) → omni.isaac.core.utils.types.ArticulationAction¶ [summary]
- Parameters
current_joint_positions (np.ndarray) – [description]
- Returns
[description]
- Return type
-
reset
() → None¶ [summary]
-
set_deltas
(deltas: numpy.ndarray) → None¶ [summary]
- Parameters
deltas (np.ndarray) – [description]
-
class
PickPlaceController
(name: str, gripper_dof_indices: List[int], robot_prim_path: str, event_velocities: Optional[List[float]] = None)¶ [summary]
- Parameters
name (str) – [description]
gripper_dof_indices (List[int]) – [description]
robot_prim_path (str) – [description]
event_velocities (Optional[List[float]], optional) – [description]. Defaults to None.
-
forward
(picking_position: numpy.ndarray, placing_position: numpy.ndarray, current_joint_positions: numpy.ndarray, end_effector_offset: Optional[numpy.ndarray] = None, end_effector_orientation: Optional[numpy.ndarray] = None) → omni.isaac.core.utils.types.ArticulationAction¶ [summary]
- Parameters
picking_position (np.ndarray) – [description]
placing_position (np.ndarray) – [description]
current_joint_positions (np.ndarray) – [description]
end_effector_offset (typing.Optional[np.ndarray], optional) – [description]. Defaults to None.
end_effector_orientation (typing.Optional[np.ndarray], optional) – [description]. Defaults to None.
- Returns
[description]
- Return type
-
get_current_event
() → int¶ [summary]
- Returns
[description]
- Return type
int
-
is_done
() → bool¶ [summary]
- Returns
[description]
- Return type
bool
-
is_paused
() → bool¶ [summary]
- Returns
[description]
- Return type
bool
-
pause
() → None¶ [summary]
-
reset
(start_picking_height: Optional[float] = None, event_velocities: Optional[List[float]] = None) → None¶ [summary]
- Parameters
start_picking_height (typing.Optional[float], optional) – [description]. Defaults to None.
event_velocities (typing.Optional[typing.List[float]], optional) – [description]. Defaults to None.
- Raises
Exception – [description]
Exception – [description]
-
resume
() → None¶ [summary]
-
class
RMPFlowController
(name: str, robot_prim_path: str, physics_dt: float = 0.016666666666666666)¶ [summary]
- Parameters
name (str) – [description]
robot_prim_path (str) – [description]
physics_dt (float, optional) – [description]. Defaults to 1.0/60.0.
-
add_cube_obstacle
(cube_prim: pxr.Usd.Prim) → None¶ [summary]
- Parameters
cube_prim (Usd.Prim) – [description]
-
forward
(target_end_effector_position: numpy.ndarray, target_end_effector_orientation: Optional[numpy.ndarray] = None) → omni.isaac.core.utils.types.ArticulationAction¶ [summary]
- Parameters
target_end_effector_position (np.ndarray) – [description]
target_end_effector_orientation (Optional[np.ndarray], optional) – [description]. Defaults to None.
- Returns
[description]
- Return type
-
get_motion_generation
() → omni.isaac.motion_generation.motion_generation.MotionGenerator¶ [summary]
- Returns
[description]
- Return type
-
remove_cube_obstacle
(cube_prim: pxr.Usd.Prim) → None¶ [summary]
- Parameters
cube_prim (Usd.Prim) – [description]
-
reset
() → None¶ [summary]
Dofbot Tasks¶
-
class
FollowTarget
(name: str = 'dofbot_follow_target', target_prim_path: Optional[str] = None, target_name: Optional[str] = None, target_position: Optional[numpy.ndarray] = None, target_orientation: Optional[numpy.ndarray] = None, offset: Optional[numpy.ndarray] = None, dofbot_prim_path: Optional[str] = None, dofbot_robot_name: Optional[str] = None)¶ [summary]
- Parameters
name (str, optional) – [description]. Defaults to “dofbot_follow_target”.
target_prim_path (Optional[str], optional) – [description]. Defaults to None.
target_name (Optional[str], optional) – [description]. Defaults to None.
target_position (Optional[np.ndarray], optional) – [description]. Defaults to None.
target_orientation (Optional[np.ndarray], optional) – [description]. Defaults to None.
offset (Optional[np.ndarray], optional) – [description]. Defaults to None.
dofbot_prim_path (Optional[str], optional) – [description]. Defaults to None.
dofbot_robot_name (Optional[str], optional) – [description]. Defaults to None.
-
add_obstacle
(position: Optional[numpy.ndarray] = None)¶ [summary]
- Parameters
position (np.ndarray, optional) – [description]. Defaults to np.array([0.1, 0.1, 1.0]).
-
calculate_metrics
() → dict¶ [summary]
-
cleanup
() → None¶ [summary]
-
get_description
() → str¶ [summary]
- Returns
[description]
- Return type
str
-
get_observations
() → dict¶ [summary]
- Returns
[description]
- Return type
dict
-
get_obstacle_to_delete
() → None¶ [summary]
- Returns
[description]
- Return type
[type]
-
get_params
() → dict¶ [summary]
- Returns
[description]
- Return type
dict
-
get_task_objects
() → dict¶ [summary]
- Returns
[description]
- Return type
dict
-
is_done
() → bool¶ [summary]
-
property
name
¶ [summary]
- Returns
[description]
- Return type
str
-
obstacles_exist
() → bool¶ [summary]
- Returns
[description]
- Return type
bool
-
post_reset
() → None¶ [summary]
-
pre_step
(control_index: int, simulation_time: float) → None¶ [summary]
- Parameters
control_index (int) – [description]
simulation_time (float) – [description]
-
remove_obstacle
(name: Optional[str] = None) → None¶ [summary]
- Parameters
name (Optional[str], optional) – [description]. Defaults to None.
-
set_params
(target_prim_path: Optional[str] = None, target_name: Optional[str] = None, target_position: Optional[numpy.ndarray] = None, target_orientation: Optional[numpy.ndarray] = None) → None¶ [summary]
- Parameters
target_prim_path (Optional[str], optional) – [description]. Defaults to None.
target_name (Optional[str], optional) – [description]. Defaults to None.
target_position (Optional[np.ndarray], optional) – [description]. Defaults to None.
target_orientation (Optional[np.ndarray], optional) – [description]. Defaults to None.
-
set_robot
() → omni.isaac.dofbot.dofbot.DofBot¶ [summary]
- Returns
[description]
- Return type
-
set_up_scene
(scene: omni.isaac.core.scenes.scene.Scene) → None¶ [summary]
- Parameters
scene (Scene) – [description]
-
target_reached
() → bool¶ [summary]
- Returns
[description]
- Return type
bool
-
class
PickPlace
(name: str = 'dofbot_pick_place', cube_initial_position: Optional[numpy.ndarray] = None, cube_initial_orientation: Optional[numpy.ndarray] = None, target_position: Optional[numpy.ndarray] = None, cube_size: Optional[numpy.ndarray] = None, offset: Optional[numpy.ndarray] = None)¶ -
calculate_metrics
() → dict¶ [summary]
-
cleanup
() → None¶ Called before calling a reset() on the world to removed temporarly objects that were added during simulation for instance.
-
get_description
() → str¶ [summary]
- Returns
[description]
- Return type
str
-
get_observations
() → dict¶ [summary]
- Returns
[description]
- Return type
dict
-
get_params
() → dict¶ - Gets the params of the task,
should have the form of params_representation[“param_name”] = {“value”: param_value, “modifiable”: bool} Will be consumed by the task UI to change the params in an easy way.
- Raises
NotImplementedError – [description]
- Returns
[description]
- Return type
dict
-
get_task_objects
() → dict¶ [summary]
- Returns
[description]
- Return type
dict
-
is_done
() → bool¶ [summary]
-
property
name
¶ [summary]
- Returns
[description]
- Return type
str
-
post_reset
() → None¶ Calls while doing a .reset() on the world.
-
pre_step
(control_index: int, simulation_time: float) → None¶ [summary]
- Parameters
control_index (int) – [description]
simulation_time (float) – [description]
-
set_params
(cube_position: Optional[numpy.ndarray] = None, cube_orientation: Optional[numpy.ndarray] = None, target_position: Optional[numpy.ndarray] = None) → None¶ Changes the modifiable paramateres of the task
- Raises
NotImplementedError – [description]
-
set_robot
() → omni.isaac.dofbot.dofbot.DofBot¶ [summary]
- Returns
[description]
- Return type
-