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.

property non_root_articulation_link: bool

_summary_

Returns: _description_
Return type: bool

property num_dof: int

[summary]

Returns: [description]
Return type: int

post_reset() → None: 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.

Manipulators [omni.isaac.manipulators]

Single Manipulator

Grippers

Controllers