Franka Robot [omni.isaac.franka]

Franka

class Franka(prim_path: str, name: str = 'franka_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, deltas: Optional[numpy.ndarray] = None)

[summary]

Parameters

prim_path (str) – [description]
name (str, optional) – [description]. Defaults to “franka_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) → 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: int

[summary]

Returns: [description]
Return type: int

disable_gravity() → None: Keep gravity from affecting the robot

property dof_names: List[str]

List of prim names for each DOF.

Returns: prim names
Return type: list(string)

property dof_properties: numpy.ndarray

[summary]

Returns: [description]
Return type: np.ndarray

enable_gravity() → None: Gravity will affect the robot

property end_effector: omni.isaac.core.prims.rigid_prim.RigidPrim

[summary]

Returns: [description]
Return type: RigidPrim

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: ArticulationAction

get_applied_joint_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) → numpy.ndarray

Gets the efforts applied to the joints

Parameters: joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
Raises: Exception – _description_
Returns: _description_
Return type: np.ndarray

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: VisualMaterial

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: ArticulationController

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: XFormPrimState

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_positions(joint_indices: Optional[Union[List, numpy.ndarray]] = None) → numpy.ndarray

_summary_

Parameters: joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
Returns: _description_
Return type: np.ndarray

get_joint_velocities(joint_indices: Optional[Union[List, numpy.ndarray]] = None) → numpy.ndarray

_summary_

Parameters: joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
Returns: _description_
Return type: np.ndarray

get_joints_default_state() → omni.isaac.core.utils.types.JointsState

Accessor for the default joints state.

Returns: The defaults that the robot is reset to when post_reset() is called (often automatically called during world.reset()).
Return type: JointsState

get_joints_state() → omni.isaac.core.utils.types.JointsState

[summary]

Returns: [description]
Return type: JointsState

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_measured_joint_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) → numpy.ndarray

Returns the dof efforts computed/measured by the physics solver

Parameters: joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
Raises: Exception – _description_
Returns: _description_
Return type: np.ndarray

get_measured_joint_forces(joint_indices: Optional[Union[List, numpy.ndarray]] = None) → numpy.ndarray

Gets the measured joint forces

Parameters: joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.
Raises: Exception – _description_
Returns: _description_
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: omni.isaac.manipulators.grippers.parallel_gripper.ParallelGripper

[summary]

Returns: [description]
Return type: ParallelGripper

property handles_initialized: bool

[summary]

Returns: [description]
Return type: bool

initialize(physics_sim_view=None) → 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: Optional[str]: Returns: str: name given to the prim when instantiating it. Otherwise None.

property non_root_articulation_link: bool

_summary_

Returns: _description_
Return type: bool

property num_dof: int

[summary]

Returns: [description]
Return type: int

post_reset() → None: [summary]

property prim: pxr.Usd.Prim: Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path: str: Returns: str: prim path in the stage.

set_angular_velocity(velocity: numpy.ndarray) → None

[summary]

Parameters: velocity (np.ndarray) – [description]

set_default_state(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets the default state of the prim (position and orientation), that will be used after each reset.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], 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, joint_indices: Optional[Union[List, numpy.ndarray]] = None) → None

[summary]

Parameters

efforts (np.ndarray) – [description]
joint_indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.

Raises

Exception – [description]

set_joint_positions(positions: numpy.ndarray, joint_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, joint_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[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the local frame (the prim’s parent frame).

Parameters

translation (Optional[Sequence[float]], 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[Sequence[float]], optional) – quaternion orientation in the local 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[Sequence[float]]) → None

Sets prim’s scale with respect to the local frame (the prim’s parent frame).

Parameters: scale (Optional[Sequence[float]]) – 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[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) → None

Sets prim’s pose with respect to the world’s frame.

Parameters

position (Optional[Sequence[float]], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.
orientation (Optional[Sequence[float]], 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.

Franka Kinematics Solver

class KinematicsSolver(robot_articulation: omni.isaac.core.articulations.articulation.Articulation, end_effector_frame_name: Optional[str] = None)

Kinematics Solver for Franka robot. This class loads a LulaKinematicsSovler object

Parameters

robot_articulation (Articulation) – An initialized Articulation object representing this Franka
end_effector_frame_name (Optional[str]) – The name of the Franka end effector. If None, an end effector link will be automatically selected. Defaults to None.

compute_end_effector_pose(position_only=False) → Tuple[numpy.array, numpy.array]

Compute the pose of the robot end effector using the simulated robot’s current joint positions

Parameters

position_only (bool) – If True, only the frame positions need to be calculated. The returned rotation may be left undefined.

Returns

position: Translation vector describing the translation of the robot end effector relative to the USD global frame (in stage units)

rotation: (3x3) rotation matrix describing the rotation of the frame relative to the USD stage global frame

Return type

Tuple[np.array,np.array]

compute_inverse_kinematics(target_position: numpy.array, target_orientation: Optional[numpy.array] = None, position_tolerance: Optional[float] = None, orientation_tolerance: Optional[float] = None) → Tuple[omni.isaac.core.utils.types.ArticulationAction, bool]

Compute inverse kinematics for the end effector frame using the current robot position as a warm start. The result is returned in an articulation action that can be directly applied to the robot.

Parameters

target_position (np.array) – target translation of the target frame (in stage units) relative to the USD stage origin
target_orientation (np.array) – target orientation of the target frame relative to the USD stage global frame. Defaults to None.
position_tolerance (float) – l-2 norm of acceptable position error (in stage units) between the target and achieved translations. Defaults to None.
tolerance (orientation) – magnitude of rotation (in radians) separating the target orientation from the achieved orienatation. orientation_tolerance is well defined for values between 0 and pi. Defaults to None.

Returns

ik_result: An ArticulationAction that can be applied to the robot to move the end effector frame to the desired position.

success: Solver converged successfully

Return type

Tuple[ArticulationAction, bool]

get_end_effector_frame() → str

Get the end effector frame

Returns: Name of the end effector frame
Return type: str

get_joints_subset() → omni.isaac.core.articulations.articulation_subset.ArticulationSubset

Returns: A wrapper class for querying USD robot joint states in the order expected by the kinematics solver
Return type: ArticulationSubset

get_kinematics_solver() → omni.isaac.motion_generation.kinematics_interface.KinematicsSolver

Get the underlying KinematicsSolver instance used by this class.

Returns: A class that can solve forward and inverse kinematics for a specified robot.
Return type: KinematicsSolver

set_end_effector_frame(end_effector_frame_name: str) → None

Set the name for the end effector frame. If the frame is not recognized by the internal KinematicsSolver instance, an error will be thrown

Parameters: end_effector_frame_name (str) – Name of the robot end effector frame.

Franka Controllers

class PickPlaceController(name: str, gripper: omni.isaac.manipulators.grippers.parallel_gripper.ParallelGripper, robot_articulation: omni.isaac.core.articulations.articulation.Articulation, end_effector_initial_height: Optional[float] = None, events_dt: Optional[List[float]] = None)

[summary]

Parameters

name (str) – [description]
gripper (ParallelGripper) – [description]
robot_articulation (Articulation) – [description]
end_effector_initial_height (Optional[float], optional) – [description]. Defaults to None.
events_dt (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

Runs the controller one step.

Parameters

picking_position (np.ndarray) – The object’s position to be picked in local frame.
placing_position (np.ndarray) – The object’s position to be placed in local frame.
current_joint_positions (np.ndarray) – Current joint positions of the robot.
end_effector_offset (Optional[np.ndarray], optional) – offset of the end effector target. Defaults to None.
end_effector_orientation (Optional[np.ndarray], optional) – end effector orientation while picking and placing. Defaults to None.

Returns

action to be executed by the ArticulationController

Return type

ArticulationAction

get_current_event() → int

Returns: Current event/ phase of the state machine
Return type: int

is_done() → bool

Returns: True if the state machine reached the last phase. Otherwise False.
Return type: bool

is_paused() → bool

Returns: True if the state machine is paused. Otherwise False.
Return type: bool

pause() → None: Pauses the state machine’s time and phase.

reset(end_effector_initial_height: Optional[float] = None, events_dt: Optional[List[float]] = None) → None

Resets the state machine to start from the first phase/ event

Parameters

end_effector_initial_height (Optional[float], optional) – end effector initial picking height to start from. If not defined, set to 0.3 meters. Defaults to None.
events_dt (Optional[List[float]], optional) – Dt of each phase/ event step. 10 phases dt has to be defined. Defaults to None.

Raises

Exception – events dt need to be list or numpy array
Exception – events dt need have length of 10

resume() → None: Resumes the state machine’s time and phase.

class RMPFlowController(name: str, robot_articulation: omni.isaac.core.articulations.articulation.Articulation, physics_dt: float = 0.016666666666666666)

[summary]

Parameters

name (str) – [description]
robot_articulation (Articulation) – [description]
physics_dt (float, optional) – [description]. Defaults to 1.0/60.0.

add_obstacle(obstacle: <module 'omni.isaac.core.objects' from '/buildAgent/work/471f8e01c9575c12/_build/linux-x86_64/release/exts/omni.isaac.core/omni/isaac/core/objects/__init__.py'>, static: bool = False) → None

Add an object from omni.isaac.core.objects as an obstacle to the motion_policy

Parameters

obstacle (omni.isaac.core.objects) – Dynamic, Visual, or Fixed object from omni.isaac.core.objects
static (bool) – If True, the obstacle may be assumed by the MotionPolicy to remain stationary over time

forward(target_end_effector_position: numpy.ndarray, target_end_effector_orientation: Optional[numpy.ndarray] = None) → omni.isaac.core.utils.types.ArticulationAction

Compute an ArticulationAction representing the desired robot state for the next simulation frame

Parameters

target_translation (nd.array) – Translation vector (3x1) for robot end effector. Target translation should be specified in the same units as the USD stage, relative to the stage origin.
target_orientation (Optional[np.ndarray], optional) – Quaternion of desired rotation for robot end effector relative to USD stage global frame. Target orientation defaults to None, which means that the robot may reach the target with any orientation.

Returns

A wrapper object containing the desired next state for the robot

Return type

ArticulationAction

get_articulation_motion_policy() → omni.isaac.motion_generation.articulation_motion_policy.ArticulationMotionPolicy

Get ArticulationMotionPolicy that was passed to this class on initialization

Returns: a wrapper around a MotionPolicy for computing ArticulationActions that can be directly applied to the robot
Return type: ArticulationMotionPolicy

get_motion_policy() → omni.isaac.motion_generation.motion_policy_interface.MotionPolicy

Get MotionPolicy object that is being used to generate robot motions

Returns: An instance of a MotionPolicy that is being used to compute robot motions
Return type: MotionPolicy

remove_obstacle(obstacle: <module 'omni.isaac.core.objects' from '/buildAgent/work/471f8e01c9575c12/_build/linux-x86_64/release/exts/omni.isaac.core/omni/isaac/core/objects/__init__.py'>) → None

Remove and added obstacle from the motion_policy

Parameters: obstacle (omni.isaac.core.objects) – Object from omni.isaac.core.objects that has been added to the motion_policy

reset()

class StackingController(name: str, gripper: omni.isaac.manipulators.grippers.parallel_gripper.ParallelGripper, robot_articulation: omni.isaac.core.articulations.articulation.Articulation, picking_order_cube_names: List[str], robot_observation_name: str)

[summary]

Parameters

name (str) – [description]
gripper (ParallelGripper) – [description]
robot_prim_path (str) – [description]
picking_order_cube_names (List[str]) – [description]
robot_observation_name (str) – [description]

forward(observations: dict, end_effector_orientation: Optional[numpy.ndarray] = None, end_effector_offset: Optional[numpy.ndarray] = None) → omni.isaac.core.utils.types.ArticulationAction

A controller should take inputs and returns an ArticulationAction to be then passed to the: ArticulationController.

Parameters: observations (dict) – [description]
Raises: NotImplementedError – [description]
Returns: [description]
Return type: ArticulationAction

is_done() → bool

[summary]

Returns: [description]
Return type: bool

reset(picking_order_cube_names: Optional[List[str]] = None) → None

[summary]

Parameters: picking_order_cube_names (Optional[List[str]], optional) – [description]. Defaults to None.

Franka Tasks

class FollowTarget(name: str = 'franka_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, franka_prim_path: Optional[str] = None, franka_robot_name: Optional[str] = None)

[summary]

Parameters

name (str, optional) – [description]. Defaults to “franka_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.
franka_prim_path (Optional[str], optional) – [description]. Defaults to None.
franka_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]

property device

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: str

[summary]

Returns: [description]
Return type: str

obstacles_exist() → bool

[summary]

Returns: [description]
Return type: bool

post_reset() → None: [summary]

pre_step(time_step_index: int, simulation_time: float) → None

[summary]

Parameters

time_step_index (int) – [description]
simulation_time (float) – [description]

remove_obstacle(name: Optional[str] = None) → None

[summary]

Parameters: name (Optional[str], optional) – [description]. Defaults to None.

property scene: omni.isaac.core.scenes.scene.Scene

Scene of the world

Returns: [description]
Return type: Scene

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.franka.franka.Franka

[summary]

Returns: [description]
Return type: Franka

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 = 'franka_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)

[summary]

Parameters

name (str, optional) – [description]. Defaults to “franka_pick_place”.
cube_initial_position (Optional[np.ndarray], optional) – [description]. Defaults to None.
cube_initial_orientation (Optional[np.ndarray], optional) – [description]. Defaults to None.
target_position (Optional[np.ndarray], optional) – [description]. Defaults to None.
cube_size (Optional[np.ndarray], optional) – [description]. Defaults to None.
offset (Optional[np.ndarray], optional) – [description]. Defaults to 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.

property device

get_description() → str

[summary]

Returns: [description]
Return type: str

get_observations() → dict

[summary]

Returns: [description]
Return type: dict

get_params() → dict

Gets the parameters of the task.: This is defined differently for each task in order to access the task’s objects and values. Note that this is different from get_observations. Things like the robot name, block name..etc can be defined here for faster retrieval. should have the form of params_representation[“param_name”] = {“value”: param_value, “modifiable”: bool}

Raises: NotImplementedError – [description]
Returns: defined parameters of the task.
Return type: dict

get_task_objects() → dict

[summary]

Returns: [description]
Return type: dict

is_done() → bool: [summary]

property name: str

[summary]

Returns: [description]
Return type: str

post_reset() → None: Calls while doing a .reset() on the world.

pre_step(time_step_index: int, simulation_time: float) → None

[summary]

Parameters

time_step_index (int) – [description]
simulation_time (float) – [description]

property scene: omni.isaac.core.scenes.scene.Scene

Scene of the world

Returns: [description]
Return type: Scene

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.franka.franka.Franka

[summary]

Returns: [description]
Return type: Franka

set_up_scene(scene: omni.isaac.core.scenes.scene.Scene) → None

[summary]

Parameters: scene (Scene) – [description]

class Stacking(name: str = 'franka_stacking', target_position: Optional[numpy.ndarray] = None, cube_size: Optional[numpy.ndarray] = None, offset: Optional[numpy.ndarray] = None)

[summary]

Parameters

name (str, optional) – [description]. Defaults to “franka_stacking”.
target_position (Optional[np.ndarray], optional) – [description]. Defaults to None.
cube_size (Optional[np.ndarray], optional) – [description]. Defaults to None.
offset (Optional[np.ndarray], optional) – [description]. Defaults to None.

calculate_metrics() → dict

[summary]

Raises: NotImplementedError – [description]
Returns: [description]
Return type: dict

cleanup() → None: Called before calling a reset() on the world to removed temporarly objects that were added during simulation for instance.

property device

get_cube_names() → List[str]

[summary]

Returns: [description]
Return type: List[str]

get_description() → str

[summary]

Returns: [description]
Return type: str

get_observations() → dict

[summary]

Returns: [description]
Return type: dict

get_params() → dict

[summary]

Returns: [description]
Return type: dict

get_task_objects() → dict

[summary]

Returns: [description]
Return type: dict

is_done() → bool

[summary]

Raises: NotImplementedError – [description]
Returns: [description]
Return type: bool

property name: str

[summary]

Returns: [description]
Return type: str

post_reset() → None: [summary]

pre_step(time_step_index: int, simulation_time: float) → None

[summary]

Parameters

time_step_index (int) – [description]
simulation_time (float) – [description]

property scene: omni.isaac.core.scenes.scene.Scene

Scene of the world

Returns: [description]
Return type: Scene

set_params(cube_name: Optional[str] = None, cube_position: Optional[str] = None, cube_orientation: Optional[str] = None, stack_target_position: Optional[str] = None) → None

[summary]

Parameters

cube_name (Optional[str], optional) – [description]. Defaults to None.
cube_position (Optional[str], optional) – [description]. Defaults to None.
cube_orientation (Optional[str], optional) – [description]. Defaults to None.
stack_target_position (Optional[str], optional) – [description]. Defaults to None.

set_robot() → omni.isaac.franka.franka.Franka

[summary]

Returns: [description]
Return type: Franka

set_up_scene(scene: omni.isaac.core.scenes.scene.Scene) → None

[summary]

Parameters: scene (Scene) – [description]