RearrangeGraspManager class
Manages the agent grasping onto rigid objects and the links of articulated objects.
Methods
- def create_hold_constraint(self, constraint_type, pivot_in_link: _magnum.Vector3, pivot_in_obj: _magnum.Vector3, obj_id_b: int, link_id_b: typing.Optional[int] = None, rotation_lock_b: typing.Optional[_magnum.Matrix3] = None) -> int
- Create a new rigid point-to-point (ball joint) constraint between the robot and an object.
- def desnap(self, force = False) -> None
- Removes any hold constraints currently active. Removes hold constraints for regular and articulated objects.
- def is_violating_hold_constraint(self) -> bool
- Returns true if the object is too far away from the gripper, meaning the agent violated the hold constraint.
- def reconfigure(self) -> None
- Removes any existing constraints managed by this structure.
- def reset(self) -> None
- Reset the grasp manager by re-defining the collision group and dropping any grasped object.
- def snap_to_marker(self, marker_name: str) -> None
- Create a constraint between the end-effector and the marker on the articulated object to be grasped.
- def snap_to_obj(self, snap_obj_id: int, force: bool = True, should_open_gripper = True, rel_pos: typing.Optional[_magnum.Vector3] = None, keep_T: typing.Optional[_magnum.Matrix4] = None) -> None
- Attempt to grasp an object, snapping/constraining it to the robot’s end effector with 3 ball-joint constraints forming a fixed frame.
- def update(self) -> None
- Reset the collision group of the grasped object if its distance to the end effector exceeds a threshold.
- def update_debug(self) -> None
- Creates visualizations for grasp points.
- def update_object_to_grasp(self) -> None
- Kinematically update held object to be within robot’s grasp. If nothing is grasped then nothing will happen.
Special methods
- def __init__(self, sim: RearrangeSim, config: DictConfig, articulated_agent: Manipulator, ee_index = 0)
- Initialize a grasp manager for the simulator instance provided.
Properties
- is_grasped: bool get
- Returns whether or not an object or marker is currently grasped.
- snap_idx: typing.Optional[int] get
- The index of the grasped RigidObject. None if nothing is being grasped.
- snap_rigid_obj: habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject get
- The grasped object instance.
- snapped_marker_id: typing.Optional[str] get
- The name of the marker for the grasp. None if nothing is being grasped.
Method documentation
def habitat.
Create a new rigid point-to-point (ball joint) constraint between the robot and an object.
| Parameters | |
|---|---|
| constraint_type | |
| pivot_in_link | The origin of the constraint in end effector local space. |
| pivot_in_obj | The origin of the constraint in object local space. |
| obj_id_b | The id of the object to be constrained to the end effector. |
| link_id_b | If the object is articulated, provide the link index for the constraint. |
| rotation_lock_b | |
def habitat.
Removes any hold constraints currently active. Removes hold constraints for regular and articulated objects.
| Parameters | |
|---|---|
| force | If True, reset the collision group of the now released object immediately instead of waiting for its distance from the end effector to reach a threshold. |
def habitat.
Create a constraint between the end-effector and the marker on the articulated object to be grasped.
| Parameters | |
|---|---|
| marker_name | The name/id of the marker. |
def habitat.
Attempt to grasp an object, snapping/constraining it to the robot’s end effector with 3 ball-joint constraints forming a fixed frame.
| Parameters | |
|---|---|
| snap_obj_id | The id of the object to be constrained to the end effector. |
| force | Will kinematically snap the object to the robot’s end-effector, even if the object is already in the grasped state. |
| should_open_gripper | |
| rel_pos | |
| keep_T | |
def habitat.
Reset the collision group of the grasped object if its distance to the end effector exceeds a threshold.
Used to wait for a dropped object to clear the end effector’s proximity before re-activating collisions between them.
def habitat.
Initialize a grasp manager for the simulator instance provided.
| Parameters | |
|---|---|
| sim | Pointer to the simulator where the agent is instantiated |
| config | The task’s “simulator” subconfig node. Defines grasping parameters. |
| articulated_agent | The agent for which we want to manage grasping |
| ee_index | The index of the end effector of the articulated_agent belonging to this grasp_manager |