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Public API for module isaacsim.replicator.grasping:#

Classes#

  • class GraspingManager

    • def init(self)

    • def clear(self)

    • def clear_simulation(self, simulate_using_timeline: bool)

    • def clear_gripper(self)

    • def clear_object(self)

    • def set_results_output_dir(self, dir_path: str | None)

    • def get_results_output_dir(self) -> str | None

    • def set_overwrite_results_output(self, overwrite: bool)

    • def set_gripper(self, gripper: str | Usd.Prim) -> bool

    • [property] def gripper_path(self) -> str

    • [property] def gripper_prim(self) -> Usd.Prim | None

    • def set_object_prim_path(self, path: str)

    • def get_object_prim_path(self) -> str | None

    • def get_object_prim(self) -> Usd.Prim | None

    • def create_and_add_grasp_phase(self, name: str, joint_drive_targets: dict[str, float] = None, simulation_steps: int = DEFAULT_NUM_SIMULATION_STEPS, simulation_step_dt: float = DEFAULT_SIMULATION_STEP_DT) -> GraspPhase

    • def remove_grasp_phase_by_name(self, phase_name: str) -> bool

    • def get_grasp_phase_by_name(self, name: str, ignore_case: bool = True) -> GraspPhase | None

    • def get_grasp_phase_by_index(self, index: int) -> GraspPhase | None

    • def get_grasp_phases_as_dicts(self) -> list[dict]

    • def get_grasp_phase_names(self) -> list[str]

    • def save_config(self, file_path: str, components: list[str] | None = None, overwrite: bool = False)

    • def load_config(self, file_path: str, components: list[str] | None = None) -> dict[str, str]

    • def request_workflow_stop(self)

    • async def simulate_all_grasp_phases(self, render: bool = True, physics_scene_path: str | None = None, isolate_simulation: bool = False, simulate_using_timeline: bool = False) -> bool

    • async def simulate_single_grasp_phase(self, phase_identifier: str | int, render: bool = True, physics_scene_path: str | None = None, isolate_simulation: bool = False, simulate_using_timeline: bool = False) -> bool

    • async def evaluate_grasp_poses(self, grasp_poses: list[tuple[Gf.Vec3d, Gf.Quatd]], render: bool = True, physics_scene_path: str | None = None, isolate_simulation: bool = False, simulate_using_timeline: bool = False, progress_callback: callable = None)

    • async def evaluate_grasp_pose(self, location: Gf.Vec3d, orientation: Gf.Quatd, clear_simulation: bool = True, render: bool = True, physics_scene_path: str | None = None, isolate_simulation: bool = False, simulate_using_timeline: bool = False)

    • async def evaluate_grasp_pose_by_index(self, index: int, render: bool = True, physics_scene_path: str | None = None, isolate_simulation: bool = False, simulate_using_timeline: bool = False)

    • def write_grasp_results(self, location: Gf.Vec3d, orientation: Gf.Quatd)

    • def set_gripper_pose(self, location: Gf.Vec3d, orientation: Gf.Quatd)

    • def move_gripper_to_grasp_pose(self, index: int, in_world_frame: bool = True)

    • def store_initial_gripper_pose(self, location: Gf.Vec3d = None, orientation: Gf.Quatd = None)

    • def get_initial_gripper_pose(self) -> tuple[Gf.Vec3d, Gf.Quatd] | None

    • def generate_grasp_poses(self, config: dict = None) -> bool

    • def clear_grasp_poses(self)

    • def get_grasp_poses(self, in_world_frame: bool = False) -> list[tuple[Gf.Vec3d, Gf.Quatd]]

    • def get_grasp_pose_at_index(self, index: int, in_world_frame: bool = False) -> tuple[Gf.Vec3d, Gf.Quatd] | None

    • def update_joint_pregrasp_states_from_current(self, joint_info_list: list[dict] | None = None)

  • class GraspPhase

    • name: str

    • joint_drive_targets: dict[str, float]

    • simulation_steps: int

    • simulation_step_dt: float

    • def add_joint(self, joint_path: str, target_position: float = 0)

    • def remove_joint(self, joint_path: str)

    • def has_joint(self, joint_path: str) -> bool

    • def get_joint_target(self, joint_path: str) -> float

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