[isaacsim.robot_setup.grasp_editor] Grasp Editor#

Version: 2.0.5

Author grasps by hand for a specific robot gripper and USD asset.

Enable Extension#

The extension can be enabled (if not already) in one of the following ways:

Command-line interface

Define the next entry as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --enable isaacsim.robot_setup.grasp_editor

Experience/extension configuration

Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.

[dependencies]
"isaacsim.robot_setup.grasp_editor" = {}

Extension Manager UI

Open the Window > Extensions menu in a running application instance and search for isaacsim.robot_setup.grasp_editor. Then, toggle the enable control button if it is not already active.

API#

Python API#

`import_grasps_from_file`	Parse an isaac_grasp YAML file for use in Isaac Sim.
`GraspSpec`

import_grasps_from_file( file_path: str, ) → GraspSpec#

Parse an isaac_grasp YAML file for use in Isaac Sim. The resulting GraspSpec class will allow you to look up the data for each grasp by its name.

Parameters:: file_path (str) – A path to an isaac_grasp YAML file with format version 1.0.
Returns:: A data class that stores the information needed to replicate a grasp in Isaac Sim. This class also includes convenience functions to compute the desired pose of the gripper frame as a function of the of object position, or to compute the desired object position as a function of gripper pose.
Return type:: GraspSpec

class GraspSpec(imported_data: dict)#

Bases: object

get_grasp_names() → List[str]#

Get a list of valid grasp names stored in the imported isaac_grasp file.

Returns:: List of valid grasp names.
Return type:: List[str]

get_grasp_dict_by_name(name: str) → dict#

Get a dictionary of all data associated with a specific grasp name.

Parameters:

name (str) – Valid grasp name.

Returns:

Dictionary containing the data associated with this grasp. This includes

confidence (float):: A confidence value between 0.0 and 1.0 indicating the quality of this grasp.
position (np.array):: Translation of the gripper frame relative to the rigid body frame.
orientation (dict):: Dictionary with w and xyz components that define the orientation of the gripper frame relative to the rigid body frame.
cspace_position (dict):: A dictionary mapping each DOF that is considered to be part of the gripper to the position it was in when grasping this object.
pregrasp_cspace_position (dict):: A dictionary mapping each DOF that is considered to be part of the gripper to its open position. I.e. a grasp of this object can be acheived by moving from the pregrasp_cspace_position to cspace_position while the gripper is at the relative pose specified by position and orientation.

Return type:

dict

get_grasp_dicts() → dict#

Get a dictionary of dictionaries that specify each grasp in the imported file. The get_grasp_dict_by_name() function describes the content of each inner dictionary, and the get_grasp_names() function provides the keys to this dictionary.

Returns:: A dictionary of dictionaries that define each grasp in the imported file.
Return type:: dict

compute_gripper_pose_from_rigid_body_pose( grasp_name: str, rb_trans: array, rb_quat: array, ) → Tuple[array, array]#

Given a position of the rigid body in the world or robot frame, compute the position of the gripper in that same frame to replicate the grasp associated grasp_name.

Parameters:

grasp_name (str) – Name of an imported grasp.
rb_trans (np.array) – Translation of the rigid body in the desired frame of reference.
rb_quat (np.array) – Quaternion orientation of the rigid body in the desired frame of reference.

Returns:

Translation and orientation of the gripper in the desired frame of reference.

Return type:

Tuple[np.array, np.array]

compute_rigid_body_pose_from_gripper_pose( grasp_name: str, gripper_trans: array, gripper_quat: array, ) → Tuple[array, array]#

Given a position of the gripper in the world or robot frame, compute the position of the rigid body in that same frame to replicate the grasp associated grasp_name.

Parameters:

grasp_name (str) – Name of an imported grasp.
gripper_trans (np.array) – Translation of the gripper in the desired frame of reference.
gripper_quat (np.array) – Quaternion orientation of the gripper in the desired frame of reference.

Returns:

Translation and orientation of the rigid body in the desired frame of reference.

Return type:

Tuple[np.array, np.array]