Manipulators [omni.isaac.manipulators]

Single Manipulator

class SingleManipulator(prim_path: str, end_effector_prim_name: str, name: str = 'single_manipulator', position: Optional[Sequence[float]] = None, translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None, scale: Optional[Sequence[float]] = None, visible: Optional[bool] = None, gripper: Optional[omni.isaac.manipulators.grippers.gripper.Gripper] = None)

Provides high level functions to set/ get properties and actions of a manipulator with a single end effector and optionally a gripper.

Parameters
  • prim_path (str) – prim path of the Prim to encapsulate or create.

  • end_effector_prim_name (str) – end effector prim name to be used to track the rigid body that corresponds to the end effector.

  • name (str, optional) – shortname to be used as a key by Scene class. Note: needs to be unique if the object is added to the Scene. Defaults to “single_manipulator”.

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

  • 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 world/ local frame of the prim (depends if translation or position is specified). quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

  • scale (Optional[Sequence[float]], optional) – local scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.

  • visible (Optional[bool], optional) – set to false for an invisible prim in the stage while rendering. Defaults to True.

  • gripper (Gripper, optional) – Gripper to be used with the manipulator. 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

Returns: RigidPrim: end effector of the manipulator (can be used to get its world pose, angular velocity..etc).

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_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray

Deprecated function. Please use get_applied_joint_efforts instead.

Parameters

joint_indices (Optional[Union[List, np.ndarray]], optional) – _description_. Defaults to None.

Raises

Exception – _description_

Returns

_description_

Return type

np.ndarray

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_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.gripper.Gripper

Returns: Gripper: gripper of the manipulator (can be used to open or close the gripper, get its world pose or angular velocity..etc).

property handles_initialized: bool

[summary]

Returns

[description]

Return type

bool

initialize(physics_sim_view: Optional[omni.physics.tensors.SimulationView] = None) None
Create a physics simulation view if not passed and creates an articulation view using physX tensor api.

This needs to be called after each hard reset (i.e stop + play on the timeline) before interacting with any of the functions of this class.

Parameters

physics_sim_view (omni.physics.tensors.SimulationView, optional) – current physics simulation view. Defaults to None.

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.

_summary_

Returns

_description_

Return type

bool

property num_dof: int

[summary]

Returns

[description]

Return type

int

post_reset() None

Resets the manipulator, the end effector and the gripper to its default state.

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.

Grippers

Controllers