concepts.dm.crowhat.impl.maniskill3.maniskill3_planning_world_interface.ManiSkill3PlanningWorldInterface

class ManiSkill3PlanningWorldInterface

Bases: PlanningWorldInterface

Here I give the type correspondence between planningworld interface and sapien: - object: actor - body: articulation - link: link - object_id: per_scene_id In ManiSkill3, name must be unique for each actor and articulation, so I use name to identify objects. Note that the quaternion convention is wxyz.

Methods

add_attachment(a, a_link, b, b_link[, a_to_b])	Set the attachment between object a and object b.
check_collision([a, b, ...])	Check if there is a collision between the object with the given identifiers.
check_collision_pairs(pairs[, ...])	Check if there is a collision between the pairs of objects.
check_collision_with_other_objects(object_id)	Check if there is a collision between the object with the given identifier and other objects.
checkpoint_world()
find_joint_by_name_with_body(body_name, ...)
find_link_by_name_with_body(body_name, link_name)
get_contact_points([a, b, max_distance, ...])	Get the contact points of the object between a and b, which are the identifiers of two objects.
get_link_pose(body_id, link_id)	Get the pose of the link with the given body and link identifiers.
get_object_mesh(identifier[, mode])	Get the mesh of the object with the given identifier.
get_object_name(identifier)	Get the name of the object with the given identifier.
get_object_point_cloud(identifier, **kwargs)	Get the point cloud of the object with the given identifier.
get_object_pose(identifier)	Get the pose of the object with the given identifier.
get_objects()	Get a list of objects in the world.
get_single_contact_normal(object_id, ...[, ...])
remove_attachment(a, a_link, b, b_link)	Remove the attachment between object a and object b.
restore_world(world)	Restore the world state from the given world state.
save_world()	Save the current world state.
set_object_pose(identifier, pose)	Set the pose of the object with the given identifier.
update_name2body()
update_name2object()

Attributes

sapien_scene

__init__(env)

Parameters:

env (mani_skill.BaseEnv)

__new__(**kwargs)

add_attachment(a, a_link, b, b_link, a_to_b=None)

Set the attachment between object a and object b. This is an optional functionality that can be implemented in subclasses

Parameters:

• a (str | int) – the identifier of the first object.

• a_link (str | int) – the link index of the first object.

• b (str | int) – the identifier of the second object.

• b_link (str | int) – the link index of the second object.

• pose – the pose of the attachment. If None, it will use the current pose of the objects.

• a_to_b (Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray] | None)

Returns:

an identifier of the attachment.

Return type:

Any

check_collision(a=None, b=None, ignored_collision_bodies=None, max_distance=None)

Check if there is a collision between the object with the given identifiers.

Parameters:

• a (int | str | None) – the identifier of the first object.

• b (int | str | None) – the identifier of the second object.

• ignored_collision_bodies (List[str | int] | None) – a list of identifiers of the bodies to ignore.

• max_distance (float | None)

Returns:

True if there is a collision, False otherwise.

Return type:

bool

check_collision_pairs(pairs, ignored_collision_bodies=None)

Check if there is a collision between the pairs of objects.

Parameters:

• pairs (List[Tuple[str | int, str | int]]) – a list of pairs of objects.

• ignored_collision_bodies (List[str | int] | None) – a list of identifiers of the bodies to ignore.

Returns:

True if there is a collision, False otherwise.

Return type:

bool

check_collision_with_other_objects(object_id, ignore_self_collision=True, ignored_collision_bodies=None, max_distance=None, return_list=False, verbose=False)

Check if there is a collision between the object with the given identifier and other objects.

Parameters:

• object_id (str | int) – the identifier of the object.

• ignore_self_collision (bool) – whether to ignore the collision between the object and itself.

• ignored_collision_bodies (List[str | int] | None) – a list of identifiers of the bodies to ignore.

• max_distance (float | None) – the maximum distance to consider a collision.

• return_list (bool) – whether to return the list of identifiers of the colliding objects.

• verbose (bool)

Returns:

True if there is a collision, False otherwise. If return_list is True, it will return the list of identifiers of the colliding objects.

Return type:

bool | List[str | int]

checkpoint_world()

Return type:

Iterator[Any]

find_joint_by_name_with_body(body_name, joint_name)

Parameters:

• body_name (str)

• joint_name (str)

Return type:

sapien.pysapien.physx.PhysxArticulationJoint

find_link_by_name_with_body(body_name, link_name)

Parameters:

• body_name (str)

• link_name (str)

Return type:

sapien.Entity

get_contact_points(a=None, b=None, max_distance=None, ignored_collision_bodies=None)

Get the contact points of the object between a and b, which are the identifiers of two objects. If either a or b is None, it will return the contact points of the object with the given identifier. When both a and b are None, it will return all the contact points in the world.

Parameters:

• a (int | str | None) – the identifier of the first object.

• b (int | str | None) – the identifier of the second object.

• ignored_collision_bodies (List[str | int] | None) – a list of identifiers of the bodies to ignore.

• max_distance (float | None)

Returns:

a list of contact points.

Return type:

List[GeometricContactInfo]

get_link_pose(body_id, link_id)

Get the pose of the link with the given body and link identifiers.

Parameters:

• body_id (str | int) – the identifier of the body.

• link_id (str | int) – the identifier of the link.

Returns:

a tuple of the position and quaternion of the link.

Return type:

Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]

get_object_mesh(identifier, mode='open3d', **kwargs)

Get the mesh of the object with the given identifier.

Parameters:

• identifier (str | int) – the identifier of the object.

• mode (str) – the mode of the mesh. Default is ‘open3d’.

Returns:

the mesh of the object.

Return type:

open3d.geometry.TriangleMesh | trimesh.Trimesh

get_object_name(identifier)

Get the name of the object with the given identifier.

Parameters:

identifier (str | int) – the identifier of the object.

Returns:

the name of the object.

Return type:

str

get_object_point_cloud(identifier, **kwargs)

Get the point cloud of the object with the given identifier.

Parameters:

identifier (str | int) – the identifier of the object.

Returns:

the point cloud of the object.

Return type:

open3d.geometry.PointCloud

get_object_pose(identifier)

Get the pose of the object with the given identifier.

Parameters:

identifier (str | int) – the identifier of the object.

Returns:

a tuple of the position and quaternion of the object.

Return type:

Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]

get_objects()

Get a list of objects in the world.

Returns:

a list of objects in the world.

Return type:

List[Any]

get_single_contact_normal(object_id, support_object_id, deviation_tol=0.05, return_center=False)

Parameters:

• object_id (str)

• support_object_id (str)

• deviation_tol (float)

• return_center (bool)

Return type:

ndarray | Tuple[ndarray, ndarray]

remove_attachment(a, a_link, b, b_link)

Remove the attachment between object a and object b. This is an optional functionality that can be implemented in subclasses.

Parameters:

• a (str | int) – the identifier of the first object.

• a_link (str | int) – the link index of the first object.

• b (str | int) – the identifier of the second object.

• b_link (str | int) – the link index of the second object.

restore_world(world)

Restore the world state from the given world state.

Parameters:

world (Any)

save_world()

Save the current world state.

Return type:

Any

set_object_pose(identifier, pose)

Set the pose of the object with the given identifier.

Parameters:

• identifier (str | int) – the identifier of the object.

• pose (Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]) – the new pose of the object.

update_name2body()

update_name2object()

property sapien_scene: sapien.Scene