concepts.simulator.sapien2.table_top_scene.TableTopScene#

class TableTopScene[source]#

Bases: SapienSceneBase

Methods

`add_camera`([direction, fovy])
`attach_object`(object)
`close_gripper`([gripper_target])
`create_viewer`([resolutions, camera_xyz, ...])
`detach_object`()
`ee_ik`(ee_pose, start_qpos[, mask, ...])
`ee_ik_without_collision_check`(ee_pose, ...)
`follow_path`(result[, check_collision, ...])
`get_8_pictures`([debug_viewer])
`get_picture`([direction, ...])
`grasp_center_ik`(grasp_center, ee_quat_wxyz, ...)
`hide_robot_visual`()
`open_gripper`([gripper_target])
`planner_attach_obj`(object)
`planner_detach_obj`()
`set_up_planner`()
`step`()
`unhide_robot_visual`()
`update_env_pcd`([exclude_ids, ...])	Update the point cloud of the environment for planner collision avoidance
`update_render`()

__init__(fps=240.0)[source]#

Parameters:: fps (float)

__new__(**kwargs)#

add_camera(direction='+x', fovy=None)[source]#

Parameters:

direction (str)
fovy (float)

Return type:

sapien.core.CameraEntity

attach_object(object)[source]#

Parameters:: object (sapien.core.Actor)

close_gripper(gripper_target=0.01)[source]#

create_viewer(resolutions=(1440, 1440), camera_xyz=(1.2, 0.25, 0.4), camera_rpy=(0.0, -0.4, 2.7), near=0.05, far=100, fovy=1)[source]#

Parameters:

resolutions (tuple[int, int])
camera_xyz (tuple[float, float, float])
camera_rpy (tuple[float, float, float])
near (float)
far (float)
fovy (float)

Return type:

sapien.utils.Viewer

detach_object()[source]#

ee_ik(ee_pose, start_qpos, mask=None, threshold=1e-3, exclude_ids=None, return_closest=False, verbose=False, pcd_resolution=1e-3)[source]#

Parameters:

ee_pose (sapien.core.Pose)
start_qpos (ndarray)
mask (list)
threshold (float)
exclude_ids (List[int] | None)
return_closest (bool)
verbose (bool)

Return type:

ndarray | None

ee_ik_without_collision_check(ee_pose, start_qpos, mask=None, threshold=1e-3, return_closest=False, verbose=False)[source]#

Parameters:

ee_pose (sapien.core.Pose)
start_qpos (ndarray)
mask (list)
threshold (float)
return_closest (bool)
verbose (bool)

Return type:

ndarray | None

follow_path(result, check_collision=False, collision_obj_1=None, collision_obj_2=None, threshold=1e-3, camera=None, camera_interval=4)[source]#

get_8_pictures(debug_viewer=False)[source]#

Parameters:: debug_viewer (bool)
Return type:: <module ‘PIL.Image’ from ‘/Users/jiayuanm/miniforge3/envs/summer2024/lib/python3.11/site-packages/PIL/Image.py’>

get_picture(direction='+x', additional_translation=None, additional_rotation=None, get_depth=False, debug_viewer=False)[source]#

Parameters:

direction (str)
additional_translation (ndarray)
additional_rotation (ndarray)
get_depth (bool)
debug_viewer (bool)

Return type:

tuple[Image, sapien.core.CameraEntity]

grasp_center_ik(grasp_center, ee_quat_wxyz, start_qpos, mask=None, threshold=1e-3, exclude_ids=None)[source]#

Parameters:

grasp_center (ndarray)
ee_quat_wxyz (ndarray)
start_qpos (ndarray)
mask (list)
threshold (float)
exclude_ids (List[int] | None)

Return type:

tuple[ndarray | None, ndarray]

hide_robot_visual()[source]#

open_gripper(gripper_target=0.04)[source]#

planner_attach_obj(object)[source]#

Parameters:: object (sapien.core.Actor)

planner_detach_obj()[source]#

set_up_planner()[source]#

step()[source]#

unhide_robot_visual()[source]#

update_env_pcd(exclude_ids=None, pcd_resolution=1e-3, verbose=False, idx=None)[source]#

Update the point cloud of the environment for planner collision avoidance

Parameters:

exclude_ids (list[int])
idx (int)

update_render()[source]#