Universal Robots [omni.isaac.universal_robots]

UR10

class UR10(prim_path: str, name: str = 'ur10_robot', usd_path: Optional[str] = None, position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None, end_effector_prim_name: Optional[str] = None, attach_gripper: bool = False, gripper_usd: Optional[str] = 'default')

[summary]

Parameters
  • prim_path (str) – [description]

  • name (str, optional) – [description]. Defaults to “ur10_robot”.

  • usd_path (Optional[str], optional) – [description]. Defaults to None.

  • position (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • orientation (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • end_effector_prim_name (Optional[str], optional) – [description]. Defaults to None.

  • attach_gripper (bool, optional) – [description]. Defaults to False.

  • gripper_usd (Optional[str], optional) – [description]. Defaults to “default”.

Raises

NotImplementedError – [description]

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 attach_gripper: bool

[summary]

Returns

[description]

Return type

bool

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

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

[summary]

Returns

[description]

Return type

RigidPrim

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

ArticulationAction

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

VisualMaterial

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 type ArticulationController (a Proportional-Derivative controller that can apply position targets, velocity targets and efforts) will be used

Returns

articulation controller

Return type

ArticulationController

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

XFormPrimState

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

JointsState

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

JointsState

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.]
get_world_velocity() numpy.ndarray

Get the articulation root velocity

Returns

current velocity of the the root prim. Shape (3,).

Return type

np.ndarray

property gripper: omni.isaac.manipulators.grippers.surface_gripper.SurfaceGripper

[summary]

Returns

[description]

Return type

SurfaceGripper

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=None) None

[summary]

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.

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_bodies: int

Number of articulation links

Returns

number of links

Return type

int

Example:

>>> prim.num_bodies
9
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

[summary]

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() or world.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.]))
set_world_velocity(velocity: numpy.ndarray)

Set the articulation root velocity

Parameters

velocity (np.ndarray) – linear and angular velocity to set the root prim to. Shape (6,).

UR10 Kinematics Solver

class KinematicsSolver(robot_articulation: omni.isaac.core.articulations.articulation.Articulation, end_effector_frame_name: Optional[str] = None, attach_gripper: Optional[bool] = False)

Kinematics Solver for UR10 robot. This class loads a LulaKinematicsSovler object

Parameters
  • robot_articulation (Articulation) – An initialized Articulation object representing this UR10

  • end_effector_frame_name (Optional[str]) – The name of the UR10 end effector. If None, an end effector link will be automatically selected. Defaults to None.

  • attach_gripper (Optional[bool]) – If True, a URDF will be loaded that includes a suction gripper. Defaults to False.

compute_end_effector_pose(position_only=False) Tuple[numpy.array, numpy.array]

Compute the pose of the robot end effector using the simulated robot’s current joint positions

Parameters

position_only (bool) – If True, only the frame positions need to be calculated. The returned rotation may be left undefined.

Returns

position: Translation vector describing the translation of the robot end effector relative to the USD global frame (in stage units)

rotation: (3x3) rotation matrix describing the rotation of the frame relative to the USD stage global frame

Return type

Tuple[np.array,np.array]

compute_inverse_kinematics(target_position: numpy.array, target_orientation: Optional[numpy.array] = None, position_tolerance: Optional[float] = None, orientation_tolerance: Optional[float] = None) Tuple[omni.isaac.core.utils.types.ArticulationAction, bool]

Compute inverse kinematics for the end effector frame using the current robot position as a warm start. The result is returned in an articulation action that can be directly applied to the robot.

Parameters
  • target_position (np.array) – target translation of the target frame (in stage units) relative to the USD stage origin

  • target_orientation (np.array) – target orientation of the target frame relative to the USD stage global frame. Defaults to None.

  • position_tolerance (float) – l-2 norm of acceptable position error (in stage units) between the target and achieved translations. Defaults to None.

  • tolerance (orientation) – magnitude of rotation (in radians) separating the target orientation from the achieved orienatation. orientation_tolerance is well defined for values between 0 and pi. Defaults to None.

Returns

ik_result: An ArticulationAction that can be applied to the robot to move the end effector frame to the desired position.

success: Solver converged successfully

Return type

Tuple[ArticulationAction, bool]

get_end_effector_frame() str

Get the end effector frame

Returns

Name of the end effector frame

Return type

str

get_joints_subset() omni.isaac.core.articulations.articulation_subset.ArticulationSubset
Returns

A wrapper class for querying USD robot joint states in the order expected by the kinematics solver

Return type

ArticulationSubset

get_kinematics_solver() omni.isaac.motion_generation.kinematics_interface.KinematicsSolver

Get the underlying KinematicsSolver instance used by this class.

Returns

A class that can solve forward and inverse kinematics for a specified robot.

Return type

KinematicsSolver

set_end_effector_frame(end_effector_frame_name: str) None

Set the name for the end effector frame. If the frame is not recognized by the internal KinematicsSolver instance, an error will be thrown

Parameters

end_effector_frame_name (str) – Name of the robot end effector frame.

UR10 Controllers

class PickPlaceController(name: str, gripper: omni.isaac.manipulators.grippers.surface_gripper.SurfaceGripper, robot_articulation: omni.isaac.core.articulations.articulation.Articulation, events_dt: Optional[List[float]] = None)

[summary]

Parameters
  • name (str) – [description]

  • surface_gripper (SurfaceGripper) – [description]

  • robot_articulation (Articulation) – [description]

  • events_dt (Optional[List[float]], optional) – [description]. Defaults to None.

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

[summary]

Parameters
  • picking_position (np.ndarray) – [description]

  • placing_position (np.ndarray) – [description]

  • current_joint_positions (np.ndarray) – [description]

  • end_effector_offset (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • end_effector_orientation (Optional[np.ndarray], optional) – [description]. Defaults to None.

Returns

[description]

Return type

ArticulationAction

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.

class RMPFlowController(name: str, robot_articulation: omni.isaac.core.articulations.articulation.Articulation, physics_dt: float = 0.016666666666666666, attach_gripper: bool = False)

[summary]

Parameters
  • name (str) – [description]

  • robot_articulation (Articulation) – [description]

  • physics_dt (float, optional) – [description]. Defaults to 1.0/60.0.

  • attach_gripper (bool, optional) – [description]. Defaults to False.

add_obstacle(obstacle: <module 'omni.isaac.core.objects' from '/builds/omniverse/isaac/omni_isaac_sim/_build/linux-x86_64/release/exts/omni.isaac.core/omni/isaac/core/objects/__init__.py'>, static: bool = False) None

Add an object from omni.isaac.core.objects as an obstacle to the motion_policy

Parameters
  • obstacle (omni.isaac.core.objects) – Dynamic, Visual, or Fixed object from omni.isaac.core.objects

  • static (bool) – If True, the obstacle may be assumed by the MotionPolicy to remain stationary over time

forward(target_end_effector_position: numpy.ndarray, target_end_effector_orientation: Optional[numpy.ndarray] = None) omni.isaac.core.utils.types.ArticulationAction

Compute an ArticulationAction representing the desired robot state for the next simulation frame

Parameters
  • target_translation (nd.array) – Translation vector (3x1) for robot end effector. Target translation should be specified in the same units as the USD stage, relative to the stage origin.

  • target_orientation (Optional[np.ndarray], optional) – Quaternion of desired rotation for robot end effector relative to USD stage global frame. Target orientation defaults to None, which means that the robot may reach the target with any orientation.

Returns

A wrapper object containing the desired next state for the robot

Return type

ArticulationAction

get_articulation_motion_policy() omni.isaac.motion_generation.articulation_motion_policy.ArticulationMotionPolicy

Get ArticulationMotionPolicy that was passed to this class on initialization

Returns

a wrapper around a MotionPolicy for computing ArticulationActions that can be directly applied to the robot

Return type

ArticulationMotionPolicy

get_motion_policy() omni.isaac.motion_generation.motion_policy_interface.MotionPolicy

Get MotionPolicy object that is being used to generate robot motions

Returns

An instance of a MotionPolicy that is being used to compute robot motions

Return type

MotionPolicy

remove_obstacle(obstacle: <module 'omni.isaac.core.objects' from '/builds/omniverse/isaac/omni_isaac_sim/_build/linux-x86_64/release/exts/omni.isaac.core/omni/isaac/core/objects/__init__.py'>) None

Remove and added obstacle from the motion_policy

Parameters

obstacle (omni.isaac.core.objects) – Object from omni.isaac.core.objects that has been added to the motion_policy

reset()
class StackingController(name: str, gripper: omni.isaac.manipulators.grippers.surface_gripper.SurfaceGripper, robot_articulation: omni.isaac.core.articulations.articulation.Articulation, picking_order_cube_names: List[str], robot_observation_name: str)

[summary]

Parameters
  • name (str) – [description]

  • gripper (SurfaceGripper) – [description]

  • robot_articulation (Articulation) – [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

[summary]

Parameters
  • observations (dict) – [description]

  • end_effector_orientation (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • end_effector_offset (Optional[np.ndarray], optional) – [description]. Defaults to None.

Returns

[description]

Return type

ArticulationAction

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.

UR10 Tasks

class BinFilling(name: str = 'bin_filling')

Task using UR10 robot to fill a bin with screws and showcase the surface gripper torque/ force limits.

Parameters

name (str, optional) – Task name identifier. Should be unique if added to the World. Defaults to “bin_filling”.

add_screws(screws_number: int = 10) None

Adds number of screws to be added by the pipe

Parameters

screws_number (int, optional) – number of screws to be added by the pipe. Defaults to 10.

calculate_metrics() dict

[summary]

Raises

NotImplementedError – [description]

cleanup() None

Removed the added screws when resetting.

property device
get_current_num_of_screws_to_add() int
Returns

Number of screws left to drop from the pipe

Return type

int

get_description() str

[summary]

Returns

[description]

Return type

str

get_observations() dict

Returns current observations from the task needed for the behavioral layer at each time step.

Observations:
  • packing_bin
    • position

    • orientation

    • target_position

    • size

  • my_ur10:
    • joint_positions

    • end_effector_position

    • end_effector_orientation

Returns

[description]

Return type

dict

get_params() dict
Task parameters are
  • bin_name

  • robot_name

Returns

defined parameters of the task.

Return type

dict

get_task_objects() dict

[summary]

Returns

[description]

Return type

dict

is_done() bool

Returns True of the task is done.

Raises

NotImplementedError – [description]

property name: str

[summary]

Returns

[description]

Return type

str

post_reset() None

Executed after reseting the scene

pre_step(time_step_index: int, simulation_time: float) None

Executed before the physics step.

Parameters
  • time_step_index (int) – Current time step index

  • simulation_time (float) – Current simulation time.

property scene: omni.isaac.core.scenes.scene.Scene

Scene of the world

Returns

[description]

Return type

Scene

set_params(*args, **kwargs) None

Changes the modifiable parameters of the task

Raises

NotImplementedError – [description]

set_up_scene(scene: omni.isaac.core.scenes.scene.Scene) None

Loads the stage USD and adds the robot and packing bin to the World’s scene.

Parameters

scene (Scene) – The world’s scene.

class FollowTarget(name: str = 'ur10_follow_target', target_prim_path: Optional[str] = None, target_name: Optional[str] = None, target_position: Optional[numpy.ndarray] = None, target_orientation: Optional[numpy.ndarray] = None, offset: Optional[numpy.ndarray] = None, ur10_prim_path: Optional[str] = None, ur10_robot_name: Optional[str] = None, attach_gripper: bool = False)

[summary]

Parameters
  • name (str, optional) – [description]. Defaults to “ur10_follow_target”.

  • target_prim_path (Optional[str], optional) – [description]. Defaults to None.

  • target_name (Optional[str], optional) – [description]. Defaults to None.

  • target_position (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • target_orientation (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • offset (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • ur10_prim_path (Optional[str], optional) – [description]. Defaults to None.

  • ur10_robot_name (Optional[str], optional) – [description]. Defaults to None.

  • attach_gripper (bool, optional) – [description]. Defaults to False.

add_obstacle(position: Optional[numpy.ndarray] = None)

[summary]

Parameters

position (np.ndarray, optional) – [description]. Defaults to np.array([0.1, 0.1, 1.0]).

calculate_metrics() dict

[summary]

cleanup() None

[summary]

property device
get_description() str

[summary]

Returns

[description]

Return type

str

get_observations() dict

[summary]

Returns

[description]

Return type

dict

get_obstacle_to_delete() None

[summary]

Returns

[description]

Return type

[type]

get_params() dict

[summary]

Returns

[description]

Return type

dict

get_task_objects() dict

[summary]

Returns

[description]

Return type

dict

is_done() bool

[summary]

property name: str

[summary]

Returns

[description]

Return type

str

obstacles_exist() bool

[summary]

Returns

[description]

Return type

bool

post_reset() None

[summary]

pre_step(time_step_index: int, simulation_time: float) None

[summary]

Parameters
  • time_step_index (int) – [description]

  • simulation_time (float) – [description]

remove_obstacle(name: Optional[str] = None) None

[summary]

Parameters

name (Optional[str], optional) – [description]. Defaults to None.

property scene: omni.isaac.core.scenes.scene.Scene

Scene of the world

Returns

[description]

Return type

Scene

set_params(target_prim_path: Optional[str] = None, target_name: Optional[str] = None, target_position: Optional[numpy.ndarray] = None, target_orientation: Optional[numpy.ndarray] = None) None

[summary]

Parameters
  • target_prim_path (Optional[str], optional) – [description]. Defaults to None.

  • target_name (Optional[str], optional) – [description]. Defaults to None.

  • target_position (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • target_orientation (Optional[np.ndarray], optional) – [description]. Defaults to None.

set_robot() omni.isaac.universal_robots.ur10.UR10

[summary]

Returns

[description]

Return type

UR10

set_up_scene(scene: omni.isaac.core.scenes.scene.Scene) None

[summary]

Parameters

scene (Scene) – [description]

target_reached() bool

[summary]

Returns

[description]

Return type

bool

class PickPlace(name: str = 'ur10_pick_place', cube_initial_position: Optional[numpy.ndarray] = None, cube_initial_orientation: Optional[numpy.ndarray] = None, target_position: Optional[numpy.ndarray] = None, cube_size: Optional[numpy.ndarray] = None, offset: Optional[numpy.ndarray] = None)

[summary]

Parameters
  • name (str, optional) – [description]. Defaults to “ur10_pick_place”.

  • cube_initial_position (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • cube_initial_orientation (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • target_position (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • cube_size (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • offset (Optional[np.ndarray], optional) – [description]. Defaults to None.

calculate_metrics() dict

[summary]

cleanup() None

Called before calling a reset() on the world to removed temporary objects that were added during simulation for instance.

property device
get_description() str

[summary]

Returns

[description]

Return type

str

get_observations() dict

[summary]

Returns

[description]

Return type

dict

get_params() dict
Gets the parameters of the task.

This is defined differently for each task in order to access the task’s objects and values. Note that this is different from get_observations. Things like the robot name, block name..etc can be defined here for faster retrieval. should have the form of params_representation[“param_name”] = {“value”: param_value, “modifiable”: bool}

Raises

NotImplementedError – [description]

Returns

defined parameters of the task.

Return type

dict

get_task_objects() dict

[summary]

Returns

[description]

Return type

dict

is_done() bool

[summary]

property name: str

[summary]

Returns

[description]

Return type

str

post_reset() None

Calls while doing a .reset() on the world.

pre_step(time_step_index: int, simulation_time: float) None

[summary]

Parameters
  • time_step_index (int) – [description]

  • simulation_time (float) – [description]

property scene: omni.isaac.core.scenes.scene.Scene

Scene of the world

Returns

[description]

Return type

Scene

set_params(cube_position: Optional[numpy.ndarray] = None, cube_orientation: Optional[numpy.ndarray] = None, target_position: Optional[numpy.ndarray] = None) None

Changes the modifiable parameters of the task

Raises

NotImplementedError – [description]

set_robot() omni.isaac.universal_robots.ur10.UR10

[summary]

Returns

[description]

Return type

UR10

set_up_scene(scene: omni.isaac.core.scenes.scene.Scene) None

[summary]

Parameters

scene (Scene) – [description]

class Stacking(name: str = 'ur10_stacking', target_position: Optional[numpy.ndarray] = None, cube_size: Optional[numpy.ndarray] = None, offset: Optional[numpy.ndarray] = None)

[summary]

Parameters
  • name (str, optional) – [description]. Defaults to “ur10_stacking”.

  • target_position (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • cube_size (Optional[np.ndarray], optional) – [description]. Defaults to None.

  • offset (Optional[np.ndarray], optional) – [description]. Defaults to None.

calculate_metrics() dict

[summary]

Raises

NotImplementedError – [description]

Returns

[description]

Return type

dict

cleanup() None

Called before calling a reset() on the world to removed temporary objects that were added during simulation for instance.

property device
get_cube_names() List[str]

[summary]

Returns

[description]

Return type

List[str]

get_description() str

[summary]

Returns

[description]

Return type

str

get_observations() dict

[summary]

Returns

[description]

Return type

dict

get_params() dict

[summary]

Returns

[description]

Return type

dict

get_task_objects() dict

[summary]

Returns

[description]

Return type

dict

is_done() bool

[summary]

Raises

NotImplementedError – [description]

Returns

[description]

Return type

bool

property name: str

[summary]

Returns

[description]

Return type

str

post_reset() None

[summary]

pre_step(time_step_index: int, simulation_time: float) None

[summary]

Parameters
  • time_step_index (int) – [description]

  • simulation_time (float) – [description]

property scene: omni.isaac.core.scenes.scene.Scene

Scene of the world

Returns

[description]

Return type

Scene

set_params(cube_name: Optional[str] = None, cube_position: Optional[str] = None, cube_orientation: Optional[str] = None, stack_target_position: Optional[str] = None) None

[summary]

Parameters
  • cube_name (Optional[str], optional) – [description]. Defaults to None.

  • cube_position (Optional[str], optional) – [description]. Defaults to None.

  • cube_orientation (Optional[str], optional) – [description]. Defaults to None.

  • stack_target_position (Optional[str], optional) – [description]. Defaults to None.

set_robot() omni.isaac.universal_robots.ur10.UR10

[summary]

Returns

[description]

Return type

UR10

set_up_scene(scene: omni.isaac.core.scenes.scene.Scene) None

[summary]

Parameters

scene (Scene) – [description]