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
Apply joint positions, velocities and/or efforts to control an articulation
- 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.
Hint
High stiffness makes the joints snap faster and harder to the desired target, and higher damping smoothes but also slows down the joint’s movement to target
For position control, set relatively high stiffness and low damping (to reduce vibrations)
For velocity control, stiffness must be set to zero with a non-zero damping
For effort control, stiffness and damping must be set to zero
Example:
>>> from omni.isaac.core.utils.types import ArticulationAction >>> >>> # move all the robot joints to the indicated position >>> action = ArticulationAction(joint_positions=np.array([0.0, -1.0, 0.0, -2.2, 0.0, 2.4, 0.8, 0.04, 0.04])) >>> prim.apply_action(action) >>> >>> # close the robot fingers: panda_finger_joint1 (7) and panda_finger_joint2 (8) to 0.0 >>> action = ArticulationAction(joint_positions=np.array([0.0, 0.0]), joint_indices=np.array([7, 8])) >>> prim.apply_action(action)
- apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) None
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.
Example:
>>> from omni.isaac.core.materials import OmniGlass >>> >>> # create a dark-red glass visual material >>> material = OmniGlass( ... prim_path="/World/material/glass", # path to the material prim to create ... ior=1.25, ... depth=0.001, ... thin_walled=False, ... color=np.array([0.5, 0.0, 0.0]) ... ) >>> prim.apply_visual_material(material)
- property articulation_handle: int
A handler to the articulation
The handler is a unique identifier used by the Dynamic Control extension to manage the articulation
- Returns
handle
- Return type
int
Example:
>>> prim.articulation_handle 1116691496961
- disable_gravity() None
Keep gravity from affecting the robot
Example:
>>> prim.disable_gravity()
- property dof_names: List[str]
List of prim names for each DOF.
- Returns
prim names
- Return type
list(string)
Example:
>>> prim.dof_names ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7', 'panda_finger_joint1', 'panda_finger_joint2']
- property dof_properties: numpy.ndarray
Articulation DOF properties
Index
Property name
Description
0
type
DOF type: invalid/unknown/uninitialized (0), rotation (1), translation (2)
1
hasLimits
Whether the DOF has limits
2
lower
Lower DOF limit (in radians or meters)
3
upper
Upper DOF limit (in radians or meters)
4
driveMode
Drive mode for the DOF: force (1), acceleration (2)
5
maxVelocity
Maximum DOF velocity. In radians/s, or stage_units/s
6
maxEffort
Maximum DOF effort. In N or N*stage_units
7
stiffness
DOF stiffness
8
damping
DOF damping
- Returns
named NumPy array of shape (num_dof, 9)
- Return type
np.ndarray
Example:
>>> # get properties for all DOFs >>> prim.dof_properties [(1, True, -2.8973, 2.8973, 1, 1.0000000e+01, 5220., 60000., 3000.) (1, True, -1.7628, 1.7628, 1, 1.0000000e+01, 5220., 60000., 3000.) (1, True, -2.8973, 2.8973, 1, 5.9390470e+36, 5220., 60000., 3000.) (1, True, -3.0718, -0.0698, 1, 5.9390470e+36, 5220., 60000., 3000.) (1, True, -2.8973, 2.8973, 1, 5.9390470e+36, 720., 25000., 3000.) (1, True, -0.0175, 3.7525, 1, 5.9390470e+36, 720., 15000., 3000.) (1, True, -2.8973, 2.8973, 1, 1.0000000e+01, 720., 5000., 3000.) (2, True, 0. , 0.04 , 1, 3.4028235e+38, 720., 6000., 1000.) (2, True, 0. , 0.04 , 1, 3.4028235e+38, 720., 6000., 1000.)] >>> >>> # property names >>> prim.dof_properties.dtype.names ('type', 'hasLimits', 'lower', 'upper', 'driveMode', 'maxVelocity', 'maxEffort', 'stiffness', 'damping') >>> >>> # get DOF upper limits >>> prim.dof_properties["upper"] [ 2.8973 1.7628 2.8973 -0.0698 2.8973 3.7525 2.8973 0.04 0.04 ] >>> >>> # get the last DOF (panda_finger_joint2) upper limit >>> prim.dof_properties["upper"][8] # or prim.dof_properties[8][3] 0.04
- enable_gravity() None
Gravity will affect the robot
Example:
>>> prim.enable_gravity()
- 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
Get the angular velocity of the root articulation prim
- Returns
3D angular velocity vector. Shape (3,)
- Return type
np.ndarray
Example:
>>> prim.get_angular_velocity() [0. 0. 0.]
- get_applied_action() omni.isaac.core.utils.types.ArticulationAction
Get the last applied action
- Returns
last applied action. Note: a dictionary is used as the object’s string representation
- Return type
Example:
>>> # last applied action: joint_positions -> [0.0, -1.0, 0.0, -2.2, 0.0, 2.4, 0.8, 0.04, 0.04] >>> prim.get_applied_action() {'joint_positions': [0.0, -1.0, 0.0, -2.200000047683716, 0.0, 2.4000000953674316, 0.800000011920929, 0.03999999910593033, 0.03999999910593033], 'joint_velocities': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'joint_efforts': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}
- get_applied_joint_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Get the efforts applied to the joints set by the
set_joint_efforts
method- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – indices to specify which joints to read. Defaults to None (all joints)
- Raises
Exception – If the handlers are not initialized
- Returns
all or selected articulation joint applied efforts
- Return type
np.ndarray
Example:
>>> # get all applied joint efforts >>> prim.get_applied_joint_efforts() [ 0. 0. 0. 0. 0. 0. 0. 0. 0.] >>> >>> # get finger applied efforts: panda_finger_joint1 (7) and panda_finger_joint2 (8) >>> prim.get_applied_joint_efforts(joint_indices=np.array([7, 8])) [0. 0.]
- get_applied_visual_material() omni.isaac.core.materials.visual_material.VisualMaterial
Return 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
Example:
>>> # given a visual material applied >>> prim.get_applied_visual_material() <omni.isaac.core.materials.omni_glass.OmniGlass object at 0x7f36263106a0>
- get_articulation_body_count() int
Get the number of bodies (links) that make up the articulation
- Returns
amount of bodies
- Return type
int
Example:
>>> prim.get_articulation_body_count() 12
- get_articulation_controller() omni.isaac.core.controllers.articulation_controller.ArticulationController
Get the articulation controller
Note
If no
articulation_controller
was passed during class instantiation, a default controller of typeArticulationController
(a Proportional-Derivative controller that can apply position targets, velocity targets and efforts) will be used- Returns
articulation controller
- Return type
Example:
>>> prim.get_articulation_controller() <omni.isaac.core.controllers.articulation_controller.ArticulationController object at 0x7f04a0060190>
- get_default_state() omni.isaac.core.utils.types.XFormPrimState
Get the default prim states (spatial position and orientation).
- Returns
an object that contains the default state of the prim (position and orientation)
- Return type
Example:
>>> state = prim.get_default_state() >>> state <omni.isaac.core.utils.types.XFormPrimState object at 0x7f33addda650> >>> >>> state.position [-4.5299529e-08 -1.8347054e-09 -2.8610229e-08] >>> state.orientation [1. 0. 0. 0.]
- get_dof_index(dof_name: str) int
Get a DOF index given its name
- Parameters
dof_name (str) – name of the DOF
- Returns
DOF index
- Return type
int
Example:
>>> prim.get_dof_index("panda_finger_joint2") 8
- get_enabled_self_collisions() int
Get the enable self collisions flag (
physxArticulation:enabledSelfCollisions
)- Returns
self collisions flag (boolean interpreted as int)
- Return type
int
Example:
>>> prim.get_enabled_self_collisions() 0
- get_joint_positions(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Get the articulation joint positions
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – indices to specify which joints to read. Defaults to None (all joints)
- Returns
all or selected articulation joint positions
- Return type
np.ndarray
Example:
>>> # get all joint positions >>> prim.get_joint_positions() [ 1.1999920e-02 -5.6962633e-01 1.3480479e-08 -2.8105433e+00 6.8284894e-06 3.0301569e+00 7.3234749e-01 3.9912373e-02 3.9999999e-02] >>> >>> # get finger positions: panda_finger_joint1 (7) and panda_finger_joint2 (8) >>> prim.get_joint_positions(joint_indices=np.array([7, 8])) [0.03991237 3.9999999e-02]
- get_joint_velocities(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Get the articulation joint velocities
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – indices to specify which joints to read. Defaults to None (all joints)
- Returns
all or selected articulation joint velocities
- Return type
np.ndarray
Example:
>>> # get all joint velocities >>> prim.get_joint_velocities() [ 1.91603772e-06 -7.67638255e-03 -2.19138826e-07 1.10636465e-02 -4.63412944e-05 3.48245539e-02 8.84692147e-02 5.40335372e-04 1.02849208e-05] >>> >>> # get finger velocities: panda_finger_joint1 (7) and panda_finger_joint2 (8) >>> prim.get_joint_velocities(joint_indices=np.array([7, 8])) [5.4033537e-04 1.0284921e-05]
- get_joints_default_state() omni.isaac.core.utils.types.JointsState
Get the default joint states (positions and velocities).
- Returns
an object that contains the default joint positions and velocities
- Return type
Example:
>>> state = prim.get_joints_default_state() >>> state <omni.isaac.core.utils.types.JointsState object at 0x7f04a0061240> >>> >>> state.positions [ 0.012 -0.57000005 0. -2.81 0. 3.037 0.785398 0.04 0.04 ] >>> state.velocities [0. 0. 0. 0. 0. 0. 0. 0. 0.]
- get_joints_state() omni.isaac.core.utils.types.JointsState
Get the current joint states (positions and velocities)
- Returns
an object that contains the current joint positions and velocities
- Return type
Example:
>>> state = prim.get_joints_state() >>> state <omni.isaac.core.utils.types.JointsState object at 0x7f02f6df57b0> >>> >>> state.positions [ 1.1999920e-02 -5.6962633e-01 1.3480479e-08 -2.8105433e+00 6.8284894e-06 3.0301569e+00 7.3234749e-01 3.9912373e-02 3.9999999e-02] >>> state.velocities [ 1.91603772e-06 -7.67638255e-03 -2.19138826e-07 1.10636465e-02 -4.63412944e-05 245539e-02 8.84692147e-02 5.40335372e-04 1.02849208e-05]
- get_linear_velocity() numpy.ndarray
Get the linear velocity of the root articulation prim
- Returns
3D linear velocity vector. Shape (3,)
- Return type
np.ndarray
Example:
>>> prim.get_linear_velocity() [0. 0. 0.]
- get_local_pose() Tuple[numpy.ndarray, numpy.ndarray]
Get prim’s pose with respect to the local frame (the prim’s parent frame)
- Returns
first index is the position in the local frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the local frame
- Return type
Tuple[np.ndarray, np.ndarray]
Example:
>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame >>> position, orientation = prim.get_local_pose() >>> position [0. 0. 0.] >>> orientation [0. 0. 0.]
- get_local_scale() numpy.ndarray
Get 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
Example:
>>> prim.get_local_scale() [1. 1. 1.]
- get_measured_joint_efforts(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Returns the efforts computed/measured by the physics solver of the joint forces in the DOF motion direction
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – indices to specify which joints to read. Defaults to None (all joints)
- Raises
Exception – If the handlers are not initialized
- Returns
all or selected articulation joint measured efforts
- Return type
np.ndarray
Example:
>>> # get all joint efforts >>> prim.get_measured_joint_efforts() [ 2.7897308e-06 -6.9083519e+00 -3.6398471e-06 1.9158335e+01 -4.3552645e-06 1.1866090e+00 -4.7079347e-06 3.2339853e-04 -3.2044132e-04] >>> >>> # get finger efforts: panda_finger_joint1 (7) and panda_finger_joint2 (8) >>> prim.get_measured_joint_efforts(joint_indices=np.array([7, 8])) [ 0.0003234 -0.00032044]
- get_measured_joint_forces(joint_indices: Optional[Union[List, numpy.ndarray]] = None) numpy.ndarray
Get the measured joint reaction forces and torques (link incoming joint forces and torques) to external loads
Note
Since the name->index map for joints has not been exposed yet, it is possible to access the joint names and their indices through the articulation metadata.
prim._articulation_view._metadata.joint_names # list of names prim._articulation_view._metadata.joint_indices # dict of name: index
To retrieve a specific row for the link incoming joint force/torque use
joint_index + 1
- Parameters
joint_indices (Optional[Union[List, np.ndarray]], optional) – indices to specify which joints to read. Defaults to None (all joints)
- Raises
Exception – If the handlers are not initialized
- Returns
measured joint forces and torques. Shape is (num_joint + 1, 6). Row index 0 is the incoming joint of the base link. For the last dimension the first 3 values are for forces and the last 3 for torques
- Return type
np.ndarray
Example:
>>> # get all measured joint forces and torques >>> prim.get_measured_joint_forces() [[ 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00 0.0000000e+00] [ 1.4995076e+02 4.2574748e-06 5.6364370e-04 4.8701895e-05 -6.9072924e+00 3.1881387e-05] [-2.8971717e-05 -1.0677823e+02 -6.8384506e+01 -6.9072924e+00 -5.4927128e-05 6.1222494e-07] [ 8.7120995e+01 -4.3871860e-05 -5.5795174e+01 5.3687054e-05 -2.4538563e+01 1.3333466e-05] [ 5.3519474e-05 -4.8109909e+01 6.0709282e+01 1.9157074e+01 -5.9258469e-05 8.2744418e-07] [-3.1691040e+01 2.3313689e-04 3.9990173e+01 -5.8968733e-05 -1.1863431e+00 2.2335558e-05] [-1.0809851e-04 1.5340537e+01 -1.5458489e+01 1.1863426e+00 6.1094368e-05 -1.5940281e-05] [-7.5418940e+00 -5.0814648e+00 -5.6512990e+00 -5.6385466e-05 3.8859999e-01 -3.4943256e-01] [ 4.7421460e+00 -3.1945827e+00 3.5528181e+00 5.5852943e-05 8.4794536e-03 7.6405057e-03] [ 4.0760727e+00 2.1640673e-01 -4.0513167e+00 -5.9565349e-04 1.1407082e-02 2.1432268e-06] [ 5.1680198e-03 -9.7754575e-02 -9.7093947e-02 -8.4155556e-12 -1.2910691e-12 -1.9347857e-11] [-5.1910793e-03 9.7588278e-02 -9.7106412e-02 8.4155573e-12 1.2910637e-12 -1.9347855e-11]] >>> >>> # get measured joint force and torque for the fingers >>> metadata = prim._articulation_view._metadata >>> joint_indices = 1 + np.array([ ... metadata.joint_indices["panda_finger_joint1"], ... metadata.joint_indices["panda_finger_joint2"], ... ]) >>> joint_indices [10 11] >>> prim.get_measured_joint_forces(joint_indices) [[ 5.1680198e-03 -9.7754575e-02 -9.7093947e-02 -8.4155556e-12 -1.2910691e-12 -1.9347857e-11] [-5.1910793e-03 9.7588278e-02 -9.7106412e-02 8.4155573e-12 1.2910637e-12 -1.9347855e-11]]
- get_sleep_threshold() float
Get the threshold for articulations to enter a sleep state
Search for Articulations and Sleeping in PhysX docs for more details
- Returns
sleep threshold
- Return type
float
Example:
>>> prim.get_sleep_threshold() 0.005
- get_solver_position_iteration_count() int
Get the solver (position) iteration count for the articulation
The solver iteration count determines how accurately contacts, drives, and limits are resolved. Search for Solver Iteration Count in PhysX docs for more details.
- Returns
position iteration count
- Return type
int
Example:
>>> prim.get_solver_position_iteration_count() 32
- get_solver_velocity_iteration_count() int
Get the solver (velocity) iteration count for the articulation
The solver iteration count determines how accurately contacts, drives, and limits are resolved. Search for Solver Iteration Count in PhysX docs for more details.
- Returns
velocity iteration count
- Return type
int
Example:
>>> prim.get_solver_velocity_iteration_count() 32
- get_stabilization_threshold() float
Get the mass-normalized kinetic energy below which the articulation may participate in stabilization
Search for Stabilization Threshold in PhysX docs for more details
- Returns
stabilization threshold
- Return type
float
Example:
>>> prim.get_stabilization_threshold() 0.0009999999
- get_visibility() bool
- Returns
true if the prim is visible in stage. false otherwise.
- Return type
bool
Example:
>>> # get the visible state of an visible prim on the stage >>> prim.get_visibility() True
- get_world_pose() Tuple[numpy.ndarray, numpy.ndarray]
Get prim’s pose with respect to the world’s frame
- Returns
first index is the position in the world frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the world frame
- Return type
Tuple[np.ndarray, np.ndarray]
Example:
>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame >>> position, orientation = prim.get_world_pose() >>> position [1. 0.5 0. ] >>> orientation [1. 0. 0. 0.]
- get_world_scale() numpy.ndarray
Get 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
Example:
>>> prim.get_world_scale() [1. 1. 1.]
- 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
Check if articulation handler is initialized
- Returns
whether the handler was initialized
- Return type
bool
Example:
>>> prim.handles_initialized True
- initialize(physics_sim_view: Optional[omni.physics.tensors.bindings._physicsTensors.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
Check if the prim path has a valid USD Prim at it
- Returns
True is the current prim path corresponds to a valid prim in stage. False otherwise.
- Return type
bool
Example:
>>> # given an existing and valid prim >>> prims.is_valid() True
- is_visual_material_applied() bool
Check if there is a visual material applied
- Returns
True if there is a visual material applied. False otherwise.
- Return type
bool
Example:
>>> # given a visual material applied >>> prim.is_visual_material_applied() True
- property name: Optional[str]
Returns: str: name given to the prim when instantiating it. Otherwise None.
- property non_root_articulation_link: bool
Used to query if the prim is a non root articulation link
- Returns
True if the prim itself is a non root link
- Return type
bool
Example:
>>> # for a wrapped articulation (where the root prim has the Physics Articulation Root property applied) >>> prim.non_root_articulation_link False
- property num_dof: int
Number of DOF of the articulation
- Returns
amount of DOFs
- Return type
int
Example:
>>> prim.num_dof 9
- 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
Set the angular velocity of the root articulation prim
Warning
This method will immediately set the articulation state
- Parameters
velocity (np.ndarray) – 3D angular velocity vector. Shape (3,)
Hint
This method belongs to the methods used to set the articulation kinematic state:
set_linear_velocity
,set_angular_velocity
,set_joint_positions
,set_joint_velocities
,set_joint_efforts
Example:
>>> prim.set_angular_velocity(np.array([0.1, 0.0, 0.0]))
- set_default_state(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Set 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.
Example:
>>> # configure default state >>> prim.set_default_state(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1, 0, 0, 0])) >>> >>> # set default states during post-reset >>> prim.post_reset()
- set_enabled_self_collisions(flag: bool) None
Set the enable self collisions flag (
physxArticulation:enabledSelfCollisions
)- Parameters
flag (bool) – whether to enable self collisions
Example:
>>> prim.set_enabled_self_collisions(True)
- set_joint_efforts(efforts: numpy.ndarray, joint_indices: Optional[Union[List, numpy.ndarray]] = None) None
Set the articulation joint efforts
Note
This method can be used for effort control. For this purpose, there must be no joint drive or the stiffness and damping must be set to zero.
- Parameters
efforts (np.ndarray) – articulation joint efforts
joint_indices (Optional[Union[list, np.ndarray]], optional) – indices to specify which joints to manipulate. Defaults to None (all joints)
Hint
This method belongs to the methods used to set the articulation kinematic state:
set_linear_velocity
,set_angular_velocity
,set_joint_positions
,set_joint_velocities
,set_joint_efforts
Example:
>>> # set all the robot joint efforts to 0.0 >>> prim.set_joint_efforts(np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])) >>> >>> # set only the fingers efforts: panda_finger_joint1 (7) and panda_finger_joint2 (8) to 10 >>> prim.set_joint_efforts(np.array([10, 10]), joint_indices=np.array([7, 8]))
- set_joint_positions(positions: numpy.ndarray, joint_indices: Optional[Union[List, numpy.ndarray]] = None) None
Set the articulation joint positions
Warning
This method will immediately set (teleport) the affected joints to the indicated value. Use the
apply_action
method to control robot joints.- Parameters
positions (np.ndarray) – articulation joint positions
joint_indices (Optional[Union[list, np.ndarray]], optional) – indices to specify which joints to manipulate. Defaults to None (all joints)
Hint
This method belongs to the methods used to set the articulation kinematic state:
set_linear_velocity
,set_angular_velocity
,set_joint_positions
,set_joint_velocities
,set_joint_efforts
Example:
>>> # set all the robot joints >>> prim.set_joint_positions(np.array([0.0, -1.0, 0.0, -2.2, 0.0, 2.4, 0.8, 0.04, 0.04])) >>> >>> # set only the fingers in closed position: panda_finger_joint1 (7) and panda_finger_joint2 (8) to 0.0 >>> prim.set_joint_positions(np.array([0.04, 0.04]), joint_indices=np.array([7, 8]))
- set_joint_velocities(velocities: numpy.ndarray, joint_indices: Optional[Union[List, numpy.ndarray]] = None) None
Set the articulation joint velocities
Warning
This method will immediately set the affected joints to the indicated value. Use the
apply_action
method to control robot joints.- Parameters
velocities (np.ndarray) – articulation joint velocities
joint_indices (Optional[Union[list, np.ndarray]], optional) – indices to specify which joints to manipulate. Defaults to None (all joints)
Hint
This method belongs to the methods used to set the articulation kinematic state:
set_linear_velocity
,set_angular_velocity
,set_joint_positions
,set_joint_velocities
,set_joint_efforts
Example:
>>> # set all the robot joint velocities to 0.0 >>> prim.set_joint_velocities(np.array([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0])) >>> >>> # set only the fingers velocities: panda_finger_joint1 (7) and panda_finger_joint2 (8) to -0.01 >>> prim.set_joint_velocities(np.array([-0.01, -0.01]), joint_indices=np.array([7, 8]))
- set_joints_default_state(positions: Optional[numpy.ndarray] = None, velocities: Optional[numpy.ndarray] = None, efforts: Optional[numpy.ndarray] = None) None
Set the joint default states (positions, velocities and/or efforts) to be applied after each reset.
Note
The default states will be set during post-reset (e.g., calling
.post_reset()
orworld.reset()
methods)- Parameters
positions (Optional[np.ndarray], optional) – joint positions. Defaults to None.
velocities (Optional[np.ndarray], optional) – joint velocities. Defaults to None.
efforts (Optional[np.ndarray], optional) – joint efforts. Defaults to None.
Example:
>>> # configure default joint states >>> prim.set_joints_default_state( ... positions=np.array([0.0, -1.0, 0.0, -2.2, 0.0, 2.4, 0.8, 0.04, 0.04]), ... velocities=np.zeros(shape=(prim.num_dof,)), ... efforts=np.zeros(shape=(prim.num_dof,)) ... ) >>> >>> # set default states during post-reset >>> prim.post_reset()
- set_linear_velocity(velocity: numpy.ndarray) None
Set the linear velocity of the root articulation prim
Warning
This method will immediately set the articulation state
- Parameters
velocity (np.ndarray) – 3D linear velocity vector. Shape (3,).
Hint
This method belongs to the methods used to set the articulation kinematic state:
set_linear_velocity
,set_angular_velocity
,set_joint_positions
,set_joint_velocities
,set_joint_efforts
Example:
>>> prim.set_linear_velocity(np.array([0.1, 0.0, 0.0]))
- set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Set prim’s pose with respect to the local frame (the prim’s parent frame).
Warning
This method will change (teleport) the prim pose immediately to the indicated value
- 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.
Hint
This method belongs to the methods used to set the prim state
Example:
>>> prim.set_local_pose(translation=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))
- set_local_scale(scale: Optional[Sequence[float]]) None
Set 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.
Example:
>>> # scale prim 10 times smaller >>> prim.set_local_scale(np.array([0.1, 0.1, 0.1]))
- set_sleep_threshold(threshold: float) None
Set the threshold for articulations to enter a sleep state
Search for Articulations and Sleeping in PhysX docs for more details
- Parameters
threshold (float) – sleep threshold
Example:
>>> prim.set_sleep_threshold(0.01)
- set_solver_position_iteration_count(count: int) None
Set the solver (position) iteration count for the articulation
The solver iteration count determines how accurately contacts, drives, and limits are resolved. Search for Solver Iteration Count in PhysX docs for more details.
Warning
Setting a higher number of iterations may improve the fidelity of the simulation, although it may affect its performance.
- Parameters
count (int) – position iteration count
Example:
>>> prim.set_solver_position_iteration_count(64)
- set_solver_velocity_iteration_count(count: int)
Set the solver (velocity) iteration count for the articulation
The solver iteration count determines how accurately contacts, drives, and limits are resolved. Search for Solver Iteration Count in PhysX docs for more details.
Warning
Setting a higher number of iterations may improve the fidelity of the simulation, although it may affect its performance.
- Parameters
count (int) – velocity iteration count
Example:
>>> prim.set_solver_velocity_iteration_count(64)
- set_stabilization_threshold(threshold: float) None
Set the mass-normalized kinetic energy below which the articulation may participate in stabilization
Search for Stabilization Threshold in PhysX docs for more details
- Parameters
threshold (float) – stabilization threshold
Example:
>>> prim.set_stabilization_threshold(0.005)
- set_visibility(visible: bool) None
Set the visibility of the prim in stage
- Parameters
visible (bool) – flag to set the visibility of the usd prim in stage.
Example:
>>> # make prim not visible in the stage >>> prim.set_visibility(visible=False)
- set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Ses prim’s pose with respect to the world’s frame
Warning
This method will change (teleport) the prim pose immediately to the indicated value
- 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.
Hint
This method belongs to the methods used to set the prim state
Example:
>>> prim.set_world_pose(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))
Controllers
Pick and Place Controller
- class PickPlaceController(name: str, cspace_controller: omni.isaac.core.controllers.base_controller.BaseController, gripper: omni.isaac.manipulators.grippers.gripper.Gripper, end_effector_initial_height: Optional[float] = None, events_dt: Optional[List[float]] = None)
A simple pick and place state machine for tutorials
Each phase runs for 1 second, which is the internal time of the state machine
Dt of each phase/ event step is defined
Phase 0: Move end_effector above the cube center at the ‘end_effector_initial_height’.
Phase 1: Lower end_effector down to encircle the target cube
Phase 2: Wait for Robot’s inertia to settle.
Phase 3: close grip.
Phase 4: Move end_effector up again, keeping the grip tight (lifting the block).
Phase 5: Smoothly move the end_effector toward the goal xy, keeping the height constant.
Phase 6: Move end_effector vertically toward goal height at the ‘end_effector_initial_height’.
Phase 7: loosen the grip.
Phase 8: Move end_effector vertically up again at the ‘end_effector_initial_height’
Phase 9: Move end_effector towards the old xy position.
- Parameters
name (str) – Name id of the controller
cspace_controller (BaseController) – a cartesian space controller that returns an ArticulationAction type
gripper (Gripper) – a gripper controller for open/ close actions.
end_effector_initial_height (Optional[float], optional) – end effector initial picking height to start from (more info in phases above). 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
- 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
- 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.
Stacking Controller
- class StackingController(name: str, pick_place_controller: omni.isaac.manipulators.controllers.pick_place_controller.PickPlaceController, picking_order_cube_names: List[str], robot_observation_name: str)
[summary]
- Parameters
name (str) – [description]
pick_place_controller (PickPlaceController) – [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
- 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.
Grippers
Base Gripper
- class Gripper(end_effector_prim_path: str)
Provides high level functions to set/ get properties and actions of a gripper.
- Parameters
end_effector_prim_path (str) – prim path of the Prim that corresponds to the gripper root/ end effector.
- apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) None
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.
Example:
>>> from omni.isaac.core.materials import OmniGlass >>> >>> # create a dark-red glass visual material >>> material = OmniGlass( ... prim_path="/World/material/glass", # path to the material prim to create ... ior=1.25, ... depth=0.001, ... thin_walled=False, ... color=np.array([0.5, 0.0, 0.0]) ... ) >>> prim.apply_visual_material(material)
- abstract close() None
Applies actions to the articulation that closes the gripper (ex: to hold an object).
- disable_rigid_body_physics() None
Disable the rigid body physics
When disabled, the object will not be moved by external forces such as gravity and collisions
Example:
>>> prim.disable_rigid_body_physics()
- enable_rigid_body_physics() None
Enable the rigid body physics
When enabled, the object will be moved by external forces such as gravity and collisions
Example:
>>> prim.enable_rigid_body_physics()
- abstract forward(*args, **kwargs) omni.isaac.core.utils.types.ArticulationAction
- calculates the ArticulationAction for all of the articulation joints that corresponds to a specific action
such as “open” for an example.
- Returns
- articulation action to be passed to the articulation itself
(includes all joints of the articulation).
- Return type
- get_angular_velocity()
Get the angular velocity of the rigid body
- Returns
current angular velocity of the the rigid prim. Shape (3,).
- Return type
np.ndarray
Example:
>>> prim.get_angular_velocity()] [-0.01727393 0.00827609 -0.00040014]
- get_applied_visual_material() omni.isaac.core.materials.visual_material.VisualMaterial
Return 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
Example:
>>> # given a visual material applied >>> prim.get_applied_visual_material() <omni.isaac.core.materials.omni_glass.OmniGlass object at 0x7f36263106a0>
- get_current_dynamic_state() omni.isaac.core.utils.types.DynamicState
Get the current rigid body state (position, orientation and linear and angular velocities)
- Returns
the dynamic state of the rigid body prim
- Return type
Example:
>>> # for the example the rigid body is in free fall >>> state = prim.get_current_dynamic_state() >>> state <omni.isaac.core.utils.types.DynamicState object at 0x7f740b36f670> >>> state.position [ 0.99999857 2.0000017 -74.2862 ] >>> state.orientation [ 1.0000000e+00 -2.3961178e-07 -4.9891562e-09 4.9388258e-09] >>> state.linear_velocity [ 0. 0. -38.09554] >>> state.angular_velocity [0. 0. 0.]
- abstract get_default_state(*args, **kwargs)
Gets the default state of the gripper
- get_density() float
Get the density of the rigid body
- Returns
density of the rigid body.
- Return type
float
Example:
>>> prim.get_density() 0
- get_linear_velocity() numpy.ndarray
Get the linear velocity of the rigid body
- Returns
current linear velocity of the the rigid prim. Shape (3,).
- Return type
np.ndarray
Example:
>>> prim.get_linear_velocity() [ 1.0812164e-04 6.1415871e-05 -2.1341663e-04]
- get_local_pose() Tuple[numpy.ndarray, numpy.ndarray]
Get prim’s pose with respect to the local frame (the prim’s parent frame)
- Returns
first index is the position in the local frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the local frame
- Return type
Tuple[np.ndarray, np.ndarray]
Example:
>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame >>> position, orientation = prim.get_local_pose() >>> position [0. 0. 0.] >>> orientation [0. 0. 0.]
- get_local_scale() numpy.ndarray
Get 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
Example:
>>> prim.get_local_scale() [1. 1. 1.]
- get_mass() float
Get the mass of the rigid body
- Returns
mass of the rigid body in kg.
- Return type
float
Example:
>>> prim.get_mass() 0
- get_sleep_threshold() float
Get the threshold for the rigid body to enter a sleep state
Search for Rigid Body Dynamics > Sleeping in PhysX docs for more details
- Returns
- Mass-normalized kinetic energy threshold below which
an actor may go to sleep. Range: [0, inf) Defaults: 0.00005 * tolerancesSpeed* tolerancesSpeed Units: distance^2 / second^2.
- Return type
float
Example:
>>> prim.get_sleep_threshold() 5e-05
- get_visibility() bool
- Returns
true if the prim is visible in stage. false otherwise.
- Return type
bool
Example:
>>> # get the visible state of an visible prim on the stage >>> prim.get_visibility() True
- get_world_pose() Tuple[numpy.ndarray, numpy.ndarray]
Get prim’s pose with respect to the world’s frame
- Returns
first index is the position in the world frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the world frame
- Return type
Tuple[np.ndarray, np.ndarray]
Example:
>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame >>> position, orientation = prim.get_world_pose() >>> position [1. 0.5 0. ] >>> orientation [1. 0. 0. 0.]
- get_world_scale() numpy.ndarray
Get 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
Example:
>>> prim.get_world_scale() [1. 1. 1.]
- initialize(physics_sim_view: Optional[omni.physics.tensors.bindings._physicsTensors.SimulationView] = None) None
- Create a physics simulation view if not passed and creates a rigid prim 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
Check if the prim path has a valid USD Prim at it
- Returns
True is the current prim path corresponds to a valid prim in stage. False otherwise.
- Return type
bool
Example:
>>> # given an existing and valid prim >>> prims.is_valid() True
- is_visual_material_applied() bool
Check if there is a visual material applied
- Returns
True if there is a visual material applied. False otherwise.
- Return type
bool
Example:
>>> # given a visual material applied >>> prim.is_visual_material_applied() True
- property name: Optional[str]
Returns: str: name given to the prim when instantiating it. Otherwise None.
- property non_root_articulation_link: bool
Used to query if the prim is a non root articulation link
- Returns
True if the prim itself is a non root link
- Return type
bool
Example:
>>> # for a wrapped articulation (where the root prim has the Physics Articulation Root property applied) >>> prim.non_root_articulation_link False
- abstract open() None
Applies actions to the articulation that opens the gripper (ex: to release an object held).
- post_reset() None
Reset the prim to its default state (position and orientation).
Note
For an articulation, in addition to configuring the root prim’s default position and spatial orientation (defined via the
set_default_state
method), the joint’s positions, velocities, and efforts (defined via theset_joints_default_state
method) are imposedExample:
>>> prim.post_reset()
- 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
Set the angular velocity of the rigid body in stage
Warning
This method will immediately set the articulation state
- Parameters
velocity (np.ndarray) – angular velocity to set the rigid prim to. Shape (3,).
Hint
This method belongs to the methods used to set the rigid prim kinematic state:
set_linear_velocity
,set_angular_velocity
Example:
>>> prim.set_angular_velocity(np.array([0.0, 0.0, 10.0]))
- abstract set_default_state(*args, **kwargs)
Sets the default state of the gripper
- set_density(density: float) None
Set the density of the rigid body
- Parameters
mass (float) – density of the rigid body.
Example:
>>> prim.set_density(0.9)
- set_linear_velocity(velocity: numpy.ndarray)
Set the linear velocity of the rigid body in stage
Warning
This method will immediately set the rigid prim state
- Parameters
velocity (np.ndarray) – linear velocity to set the rigid prim to. Shape (3,).
Hint
This method belongs to the methods used to set the rigid prim kinematic state:
set_linear_velocity
,set_angular_velocity
Example:
>>> prim.set_linear_velocity(np.array([5.0, 0.0, 0.0]))
- set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Set prim’s pose with respect to the local frame (the prim’s parent frame).
Warning
This method will change (teleport) the prim pose immediately to the indicated value
- 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.
Hint
This method belongs to the methods used to set the prim state
Example:
>>> prim.set_local_pose(translation=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))
- set_local_scale(scale: Optional[Sequence[float]]) None
Set 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.
Example:
>>> # scale prim 10 times smaller >>> prim.set_local_scale(np.array([0.1, 0.1, 0.1]))
- set_mass(mass: float) None
Set the mass of the rigid body
- Parameters
mass (float) – mass of the rigid body in kg.
Example:
>>> prim.set_mass(1.0)
- set_sleep_threshold(threshold: float) None
Set the threshold for the rigid body to enter a sleep state
Search for Rigid Body Dynamics > Sleeping in PhysX docs for more details
- Parameters
threshold (float) – Mass-normalized kinetic energy threshold below which an actor may go to sleep. Range: [0, inf) Defaults: 0.00005 * tolerancesSpeed* tolerancesSpeed Units: distance^2 / second^2.
Example:
>>> prim.set_sleep_threshold(1e-5)
- set_visibility(visible: bool) None
Set the visibility of the prim in stage
- Parameters
visible (bool) – flag to set the visibility of the usd prim in stage.
Example:
>>> # make prim not visible in the stage >>> prim.set_visibility(visible=False)
- set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Ses prim’s pose with respect to the world’s frame
Warning
This method will change (teleport) the prim pose immediately to the indicated value
- 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.
Hint
This method belongs to the methods used to set the prim state
Example:
>>> prim.set_world_pose(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))
Parallel Gripper
- class ParallelGripper(end_effector_prim_path: str, joint_prim_names: List[str], joint_opened_positions: numpy.ndarray, joint_closed_positions: numpy.ndarray, action_deltas: Optional[numpy.ndarray] = None)
Provides high level functions to set/ get properties and actions of a parllel gripper (a gripper that has two fingers).
- Parameters
end_effector_prim_path (str) – prim path of the Prim that corresponds to the gripper root/ end effector.
joint_prim_names (List[str]) – the left finger joint prim name and the right finger joint prim name respectively.
joint_opened_positions (np.ndarray) – joint positions of the left finger joint and the right finger joint respectively when opened.
joint_closed_positions (np.ndarray) – joint positions of the left finger joint and the right finger joint respectively when closed.
action_deltas (np.ndarray, optional) – deltas to apply for finger joint positions when openning or closing the gripper. Defaults to None.
- apply_action(control_actions: omni.isaac.core.utils.types.ArticulationAction) None
Applies actions to all the joints of an articulation that corresponds to the ArticulationAction of the finger joints only.
- Parameters
control_actions (ArticulationAction) – ArticulationAction for the left finger joint and the right finger joint respectively.
- apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) None
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.
Example:
>>> from omni.isaac.core.materials import OmniGlass >>> >>> # create a dark-red glass visual material >>> material = OmniGlass( ... prim_path="/World/material/glass", # path to the material prim to create ... ior=1.25, ... depth=0.001, ... thin_walled=False, ... color=np.array([0.5, 0.0, 0.0]) ... ) >>> prim.apply_visual_material(material)
- close() None
Applies actions to the articulation that closes the gripper (ex: to hold an object).
- disable_rigid_body_physics() None
Disable the rigid body physics
When disabled, the object will not be moved by external forces such as gravity and collisions
Example:
>>> prim.disable_rigid_body_physics()
- enable_rigid_body_physics() None
Enable the rigid body physics
When enabled, the object will be moved by external forces such as gravity and collisions
Example:
>>> prim.enable_rigid_body_physics()
- forward(action: str) omni.isaac.core.utils.types.ArticulationAction
- calculates the ArticulationAction for all of the articulation joints that corresponds to “open”
or “close” actions.
- Parameters
action (str) – “open” or “close” as an abstract action.
- Raises
Exception – _description_
- Returns
- articulation action to be passed to the articulation itself
(includes all joints of the articulation).
- Return type
- get_action_deltas() numpy.ndarray
- Returns
- deltas that will be applied for finger joint positions when openning or closing the gripper.
[left, right]. Defaults to None.
- Return type
np.ndarray
- get_angular_velocity()
Get the angular velocity of the rigid body
- Returns
current angular velocity of the the rigid prim. Shape (3,).
- Return type
np.ndarray
Example:
>>> prim.get_angular_velocity()] [-0.01727393 0.00827609 -0.00040014]
- get_applied_visual_material() omni.isaac.core.materials.visual_material.VisualMaterial
Return 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
Example:
>>> # given a visual material applied >>> prim.get_applied_visual_material() <omni.isaac.core.materials.omni_glass.OmniGlass object at 0x7f36263106a0>
- get_current_dynamic_state() omni.isaac.core.utils.types.DynamicState
Get the current rigid body state (position, orientation and linear and angular velocities)
- Returns
the dynamic state of the rigid body prim
- Return type
Example:
>>> # for the example the rigid body is in free fall >>> state = prim.get_current_dynamic_state() >>> state <omni.isaac.core.utils.types.DynamicState object at 0x7f740b36f670> >>> state.position [ 0.99999857 2.0000017 -74.2862 ] >>> state.orientation [ 1.0000000e+00 -2.3961178e-07 -4.9891562e-09 4.9388258e-09] >>> state.linear_velocity [ 0. 0. -38.09554] >>> state.angular_velocity [0. 0. 0.]
- get_default_state() numpy.ndarray
Gets the default state of the gripper
- Returns
joint positions of the left finger joint and the right finger joint respectively.
- Return type
np.ndarray
- get_density() float
Get the density of the rigid body
- Returns
density of the rigid body.
- Return type
float
Example:
>>> prim.get_density() 0
- get_joint_positions() numpy.ndarray
- Returns
joint positions of the left finger joint and the right finger joint respectively.
- Return type
np.ndarray
- get_linear_velocity() numpy.ndarray
Get the linear velocity of the rigid body
- Returns
current linear velocity of the the rigid prim. Shape (3,).
- Return type
np.ndarray
Example:
>>> prim.get_linear_velocity() [ 1.0812164e-04 6.1415871e-05 -2.1341663e-04]
- get_local_pose() Tuple[numpy.ndarray, numpy.ndarray]
Get prim’s pose with respect to the local frame (the prim’s parent frame)
- Returns
first index is the position in the local frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the local frame
- Return type
Tuple[np.ndarray, np.ndarray]
Example:
>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame >>> position, orientation = prim.get_local_pose() >>> position [0. 0. 0.] >>> orientation [0. 0. 0.]
- get_local_scale() numpy.ndarray
Get 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
Example:
>>> prim.get_local_scale() [1. 1. 1.]
- get_mass() float
Get the mass of the rigid body
- Returns
mass of the rigid body in kg.
- Return type
float
Example:
>>> prim.get_mass() 0
- get_sleep_threshold() float
Get the threshold for the rigid body to enter a sleep state
Search for Rigid Body Dynamics > Sleeping in PhysX docs for more details
- Returns
- Mass-normalized kinetic energy threshold below which
an actor may go to sleep. Range: [0, inf) Defaults: 0.00005 * tolerancesSpeed* tolerancesSpeed Units: distance^2 / second^2.
- Return type
float
Example:
>>> prim.get_sleep_threshold() 5e-05
- get_visibility() bool
- Returns
true if the prim is visible in stage. false otherwise.
- Return type
bool
Example:
>>> # get the visible state of an visible prim on the stage >>> prim.get_visibility() True
- get_world_pose() Tuple[numpy.ndarray, numpy.ndarray]
Get prim’s pose with respect to the world’s frame
- Returns
first index is the position in the world frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the world frame
- Return type
Tuple[np.ndarray, np.ndarray]
Example:
>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame >>> position, orientation = prim.get_world_pose() >>> position [1. 0.5 0. ] >>> orientation [1. 0. 0. 0.]
- get_world_scale() numpy.ndarray
Get 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
Example:
>>> prim.get_world_scale() [1. 1. 1.]
- initialize(articulation_apply_action_func: Callable, get_joint_positions_func: Callable, set_joint_positions_func: Callable, dof_names: List, physics_sim_view: Optional[omni.physics.tensors.bindings._physicsTensors.SimulationView] = None) None
- Create a physics simulation view if not passed and creates a rigid prim 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
articulation_apply_action_func (Callable) – apply_action function from the Articulation class.
get_joint_positions_func (Callable) – get_joint_positions function from the Articulation class.
set_joint_positions_func (Callable) – set_joint_positions function from the Articulation class.
dof_names (List) – dof names from the Articulation class.
physics_sim_view (omni.physics.tensors.SimulationView, optional) – current physics simulation view. Defaults to None
- Raises
Exception – _description_
- is_valid() bool
Check if the prim path has a valid USD Prim at it
- Returns
True is the current prim path corresponds to a valid prim in stage. False otherwise.
- Return type
bool
Example:
>>> # given an existing and valid prim >>> prims.is_valid() True
- is_visual_material_applied() bool
Check if there is a visual material applied
- Returns
True if there is a visual material applied. False otherwise.
- Return type
bool
Example:
>>> # given a visual material applied >>> prim.is_visual_material_applied() True
- property joint_closed_positions: numpy.ndarray
Returns: np.ndarray: joint positions of the left finger joint and the right finger joint respectively when closed.
- property joint_dof_indicies: numpy.ndarray
Returns: np.ndarray: joint dof indices in the articulation of the left finger joint and the right finger joint respectively.
- property joint_opened_positions: numpy.ndarray
Returns: np.ndarray: joint positions of the left finger joint and the right finger joint respectively when opened.
- property joint_prim_names: List[str]
Returns: List[str]: the left finger joint prim name and the right finger joint prim name respectively.
- property name: Optional[str]
Returns: str: name given to the prim when instantiating it. Otherwise None.
- property non_root_articulation_link: bool
Used to query if the prim is a non root articulation link
- Returns
True if the prim itself is a non root link
- Return type
bool
Example:
>>> # for a wrapped articulation (where the root prim has the Physics Articulation Root property applied) >>> prim.non_root_articulation_link False
- open() None
Applies actions to the articulation that opens the gripper (ex: to release an object held).
- post_reset()
Reset the prim to its default state (position and orientation).
Note
For an articulation, in addition to configuring the root prim’s default position and spatial orientation (defined via the
set_default_state
method), the joint’s positions, velocities, and efforts (defined via theset_joints_default_state
method) are imposedExample:
>>> prim.post_reset()
- 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_action_deltas(value: numpy.ndarray) None
- Parameters
value (np.ndarray) – deltas to apply for finger joint positions when openning or closing the gripper. [left, right]. Defaults to None.
- set_angular_velocity(velocity: numpy.ndarray) None
Set the angular velocity of the rigid body in stage
Warning
This method will immediately set the articulation state
- Parameters
velocity (np.ndarray) – angular velocity to set the rigid prim to. Shape (3,).
Hint
This method belongs to the methods used to set the rigid prim kinematic state:
set_linear_velocity
,set_angular_velocity
Example:
>>> prim.set_angular_velocity(np.array([0.0, 0.0, 10.0]))
- set_default_state(joint_positions: numpy.ndarray) None
Sets the default state of the gripper
- Parameters
joint_positions (np.ndarray) – joint positions of the left finger joint and the right finger joint respectively.
- set_density(density: float) None
Set the density of the rigid body
- Parameters
mass (float) – density of the rigid body.
Example:
>>> prim.set_density(0.9)
- set_joint_positions(positions: numpy.ndarray) None
- Parameters
positions (np.ndarray) – joint positions of the left finger joint and the right finger joint respectively.
- set_linear_velocity(velocity: numpy.ndarray)
Set the linear velocity of the rigid body in stage
Warning
This method will immediately set the rigid prim state
- Parameters
velocity (np.ndarray) – linear velocity to set the rigid prim to. Shape (3,).
Hint
This method belongs to the methods used to set the rigid prim kinematic state:
set_linear_velocity
,set_angular_velocity
Example:
>>> prim.set_linear_velocity(np.array([5.0, 0.0, 0.0]))
- set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Set prim’s pose with respect to the local frame (the prim’s parent frame).
Warning
This method will change (teleport) the prim pose immediately to the indicated value
- 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.
Hint
This method belongs to the methods used to set the prim state
Example:
>>> prim.set_local_pose(translation=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))
- set_local_scale(scale: Optional[Sequence[float]]) None
Set 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.
Example:
>>> # scale prim 10 times smaller >>> prim.set_local_scale(np.array([0.1, 0.1, 0.1]))
- set_mass(mass: float) None
Set the mass of the rigid body
- Parameters
mass (float) – mass of the rigid body in kg.
Example:
>>> prim.set_mass(1.0)
- set_sleep_threshold(threshold: float) None
Set the threshold for the rigid body to enter a sleep state
Search for Rigid Body Dynamics > Sleeping in PhysX docs for more details
- Parameters
threshold (float) – Mass-normalized kinetic energy threshold below which an actor may go to sleep. Range: [0, inf) Defaults: 0.00005 * tolerancesSpeed* tolerancesSpeed Units: distance^2 / second^2.
Example:
>>> prim.set_sleep_threshold(1e-5)
- set_visibility(visible: bool) None
Set the visibility of the prim in stage
- Parameters
visible (bool) – flag to set the visibility of the usd prim in stage.
Example:
>>> # make prim not visible in the stage >>> prim.set_visibility(visible=False)
- set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Ses prim’s pose with respect to the world’s frame
Warning
This method will change (teleport) the prim pose immediately to the indicated value
- 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.
Hint
This method belongs to the methods used to set the prim state
Example:
>>> prim.set_world_pose(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))
Surface Gripper
- class SurfaceGripper(end_effector_prim_path: str, translate: float = 0, direction: str = 'x', grip_threshold: float = 0.01, force_limit: float = 1000000.0, torque_limit: float = 10000.0, bend_angle: float = 0.1308996938995747, kp: float = 100.0, kd: float = 100.0, disable_gravity: bool = True)
Provides high level functions to set/ get properties and actions of a surface gripper (a suction cup for example).
- Parameters
end_effector_prim_path (str) – prim path of the Prim that corresponds to the gripper root/ end effector.
translate (float, optional) – _description_. Defaults to 0.
direction (str, optional) – _description_. Defaults to “x”.
grip_threshold (float, optional) – _description_. Defaults to 0.01.
force_limit (float, optional) – _description_. Defaults to 1.0e6.
torque_limit (float, optional) – _description_. Defaults to 1.0e4.
bend_angle (float, optional) – _description_. Defaults to np.pi/24.
kp (float, optional) – _description_. Defaults to 1.0e2.
kd (float, optional) – _description_. Defaults to 1.0e2.
disable_gravity (bool, optional) – _description_. Defaults to True.
- apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) None
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.
Example:
>>> from omni.isaac.core.materials import OmniGlass >>> >>> # create a dark-red glass visual material >>> material = OmniGlass( ... prim_path="/World/material/glass", # path to the material prim to create ... ior=1.25, ... depth=0.001, ... thin_walled=False, ... color=np.array([0.5, 0.0, 0.0]) ... ) >>> prim.apply_visual_material(material)
- close() None
Applies actions to the articulation that closes the gripper (ex: to hold an object).
- disable_rigid_body_physics() None
Disable the rigid body physics
When disabled, the object will not be moved by external forces such as gravity and collisions
Example:
>>> prim.disable_rigid_body_physics()
- enable_rigid_body_physics() None
Enable the rigid body physics
When enabled, the object will be moved by external forces such as gravity and collisions
Example:
>>> prim.enable_rigid_body_physics()
- forward(action: str) omni.isaac.core.utils.types.ArticulationAction
- calculates the ArticulationAction for all of the articulation joints that corresponds to “open”
or “close” actions.
- Parameters
action (str) – “open” or “close” as an abstract action.
- Raises
Exception – _description_
- Returns
- articulation action to be passed to the articulation itself
(includes all joints of the articulation).
- Return type
- get_angular_velocity()
Get the angular velocity of the rigid body
- Returns
current angular velocity of the the rigid prim. Shape (3,).
- Return type
np.ndarray
Example:
>>> prim.get_angular_velocity()] [-0.01727393 0.00827609 -0.00040014]
- get_applied_visual_material() omni.isaac.core.materials.visual_material.VisualMaterial
Return 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
Example:
>>> # given a visual material applied >>> prim.get_applied_visual_material() <omni.isaac.core.materials.omni_glass.OmniGlass object at 0x7f36263106a0>
- get_current_dynamic_state() omni.isaac.core.utils.types.DynamicState
Get the current rigid body state (position, orientation and linear and angular velocities)
- Returns
the dynamic state of the rigid body prim
- Return type
Example:
>>> # for the example the rigid body is in free fall >>> state = prim.get_current_dynamic_state() >>> state <omni.isaac.core.utils.types.DynamicState object at 0x7f740b36f670> >>> state.position [ 0.99999857 2.0000017 -74.2862 ] >>> state.orientation [ 1.0000000e+00 -2.3961178e-07 -4.9891562e-09 4.9388258e-09] >>> state.linear_velocity [ 0. 0. -38.09554] >>> state.angular_velocity [0. 0. 0.]
- get_default_state() dict
Gets the default state of the gripper
- Returns
key is “opened” and value would be true if the surface gripper should start in an opened state. False otherwise.
- Return type
dict
- get_density() float
Get the density of the rigid body
- Returns
density of the rigid body.
- Return type
float
Example:
>>> prim.get_density() 0
- get_linear_velocity() numpy.ndarray
Get the linear velocity of the rigid body
- Returns
current linear velocity of the the rigid prim. Shape (3,).
- Return type
np.ndarray
Example:
>>> prim.get_linear_velocity() [ 1.0812164e-04 6.1415871e-05 -2.1341663e-04]
- get_local_pose() Tuple[numpy.ndarray, numpy.ndarray]
Get prim’s pose with respect to the local frame (the prim’s parent frame)
- Returns
first index is the position in the local frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the local frame
- Return type
Tuple[np.ndarray, np.ndarray]
Example:
>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame >>> position, orientation = prim.get_local_pose() >>> position [0. 0. 0.] >>> orientation [0. 0. 0.]
- get_local_scale() numpy.ndarray
Get 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
Example:
>>> prim.get_local_scale() [1. 1. 1.]
- get_mass() float
Get the mass of the rigid body
- Returns
mass of the rigid body in kg.
- Return type
float
Example:
>>> prim.get_mass() 0
- get_sleep_threshold() float
Get the threshold for the rigid body to enter a sleep state
Search for Rigid Body Dynamics > Sleeping in PhysX docs for more details
- Returns
- Mass-normalized kinetic energy threshold below which
an actor may go to sleep. Range: [0, inf) Defaults: 0.00005 * tolerancesSpeed* tolerancesSpeed Units: distance^2 / second^2.
- Return type
float
Example:
>>> prim.get_sleep_threshold() 5e-05
- get_visibility() bool
- Returns
true if the prim is visible in stage. false otherwise.
- Return type
bool
Example:
>>> # get the visible state of an visible prim on the stage >>> prim.get_visibility() True
- get_world_pose() Tuple[numpy.ndarray, numpy.ndarray]
Get prim’s pose with respect to the world’s frame
- Returns
first index is the position in the world frame (with shape (3, )). Second index is quaternion orientation (with shape (4, )) in the world frame
- Return type
Tuple[np.ndarray, np.ndarray]
Example:
>>> # if the prim is in position (1.0, 0.5, 0.0) with respect to the world frame >>> position, orientation = prim.get_world_pose() >>> position [1. 0.5 0. ] >>> orientation [1. 0. 0. 0.]
- get_world_scale() numpy.ndarray
Get 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
Example:
>>> prim.get_world_scale() [1. 1. 1.]
- initialize(physics_sim_view: Optional[omni.physics.tensors.bindings._physicsTensors.SimulationView] = None, articulation_num_dofs: Optional[int] = None) None
- Create a physics simulation view if not passed and creates a rigid prim 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
articulation_num_dofs (int, optional) – num of dofs of the Articulation. Defaults to None.
- is_closed() bool
- is_valid() bool
Check if the prim path has a valid USD Prim at it
- Returns
True is the current prim path corresponds to a valid prim in stage. False otherwise.
- Return type
bool
Example:
>>> # given an existing and valid prim >>> prims.is_valid() True
- is_visual_material_applied() bool
Check if there is a visual material applied
- Returns
True if there is a visual material applied. False otherwise.
- Return type
bool
Example:
>>> # given a visual material applied >>> prim.is_visual_material_applied() True
- property name: Optional[str]
Returns: str: name given to the prim when instantiating it. Otherwise None.
- property non_root_articulation_link: bool
Used to query if the prim is a non root articulation link
- Returns
True if the prim itself is a non root link
- Return type
bool
Example:
>>> # for a wrapped articulation (where the root prim has the Physics Articulation Root property applied) >>> prim.non_root_articulation_link False
- open() None
Applies actions to the articulation that opens the gripper (ex: to release an object held).
- post_reset()
Reset the prim to its default state (position and orientation).
Note
For an articulation, in addition to configuring the root prim’s default position and spatial orientation (defined via the
set_default_state
method), the joint’s positions, velocities, and efforts (defined via theset_joints_default_state
method) are imposedExample:
>>> prim.post_reset()
- 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
Set the angular velocity of the rigid body in stage
Warning
This method will immediately set the articulation state
- Parameters
velocity (np.ndarray) – angular velocity to set the rigid prim to. Shape (3,).
Hint
This method belongs to the methods used to set the rigid prim kinematic state:
set_linear_velocity
,set_angular_velocity
Example:
>>> prim.set_angular_velocity(np.array([0.0, 0.0, 10.0]))
- set_default_state(opened: bool)
Sets the default state of the gripper
- Parameters
opened (bool) – True if the surface gripper should start in an opened state. False otherwise.
- set_density(density: float) None
Set the density of the rigid body
- Parameters
mass (float) – density of the rigid body.
Example:
>>> prim.set_density(0.9)
- set_direction(value: float) None
- set_force_limit(value: float) None
- set_linear_velocity(velocity: numpy.ndarray)
Set the linear velocity of the rigid body in stage
Warning
This method will immediately set the rigid prim state
- Parameters
velocity (np.ndarray) – linear velocity to set the rigid prim to. Shape (3,).
Hint
This method belongs to the methods used to set the rigid prim kinematic state:
set_linear_velocity
,set_angular_velocity
Example:
>>> prim.set_linear_velocity(np.array([5.0, 0.0, 0.0]))
- set_local_pose(translation: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Set prim’s pose with respect to the local frame (the prim’s parent frame).
Warning
This method will change (teleport) the prim pose immediately to the indicated value
- 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.
Hint
This method belongs to the methods used to set the prim state
Example:
>>> prim.set_local_pose(translation=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))
- set_local_scale(scale: Optional[Sequence[float]]) None
Set 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.
Example:
>>> # scale prim 10 times smaller >>> prim.set_local_scale(np.array([0.1, 0.1, 0.1]))
- set_mass(mass: float) None
Set the mass of the rigid body
- Parameters
mass (float) – mass of the rigid body in kg.
Example:
>>> prim.set_mass(1.0)
- set_sleep_threshold(threshold: float) None
Set the threshold for the rigid body to enter a sleep state
Search for Rigid Body Dynamics > Sleeping in PhysX docs for more details
- Parameters
threshold (float) – Mass-normalized kinetic energy threshold below which an actor may go to sleep. Range: [0, inf) Defaults: 0.00005 * tolerancesSpeed* tolerancesSpeed Units: distance^2 / second^2.
Example:
>>> prim.set_sleep_threshold(1e-5)
- set_torque_limit(value: float) None
- set_translate(value: float) None
- set_visibility(visible: bool) None
Set the visibility of the prim in stage
- Parameters
visible (bool) – flag to set the visibility of the usd prim in stage.
Example:
>>> # make prim not visible in the stage >>> prim.set_visibility(visible=False)
- set_world_pose(position: Optional[Sequence[float]] = None, orientation: Optional[Sequence[float]] = None) None
Ses prim’s pose with respect to the world’s frame
Warning
This method will change (teleport) the prim pose immediately to the indicated value
- 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.
Hint
This method belongs to the methods used to set the prim state
Example:
>>> prim.set_world_pose(position=np.array([1.0, 0.5, 0.0]), orientation=np.array([1., 0., 0., 0.]))
- update() None