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Functions315 in github.com/YitianShi/MetaIsaacGrasp

⨍ Functions 315◇ Types & classes 114
↓ 23 callersMethod_get_ee_pose
(self)
isaac_env/air_env_base/env.py:647
↓ 16 callersMethodget_camera_pose
(self, cam_id, env_id = None)
isaac_env/air_env_base/env.py:659
↓ 11 callersMethod_get_obj_pos
(self, id_obj)
isaac_env/air_env_base/env.py:634
↓ 8 callersMethodvisualize
(self)
grasp_sampler/visualize_object.py:193
↓ 7 callersFunctiondist_transforms
Compute the distance between two transformations.
isaac_env/air_env_base/wp_cfg.py:35
↓ 6 callersMethod_get_ee_vel
(self)
isaac_env/air_env_base/env.py:652
↓ 6 callersFunctionrobot_point_to_image
(world_point, cam_pose)
isaac_env/utils.py:56
↓ 6 callersMethodupdate_env_state
Update the environment state before taking action. Args: sm_wait_time: The time the robot needs to wait before taking action.
isaac_env/air_env_base/env.py:187
↓ 5 callersMethod_reset_robot
Reset robot states
isaac_env/air_env_base/env.py:515
↓ 4 callersFunctionconvert_to_franka_6DOF
Convert Contact-Point Pregrasp representation to 6DOF Gripper Pose (4x4).
grasp_sampler/generate_grasp_scene.py:286
↓ 4 callersFunctioncreate_cylinder_between_points
Create a cylinder mesh between two points p1 and p2 with a specified radius and color. Args: p1 (numpy.ndarray): Starting point of th
grasp_sampler/visualize_data.py:10
↓ 3 callersMethod__init__
(self)
isaac_env/air_env_sb3/env_cfg.py:258
↓ 3 callersMethod__init__
(self)
isaac_env/air_env_targo/env_cfg.py:179
↓ 3 callersMethod__init__
(self)
isaac_env/air_env_skrl/env_cfg.py:258
↓ 3 callersMethod__init__
(self)
isaac_env/air_env_rl/env_cfg.py:258
↓ 3 callersMethod__init__
(self)
isaac_env/air_env_grasp/env_cfg.py:180
↓ 3 callersMethod__init__
(self)
isaac_env/air_env_data/env_cfg.py:179
↓ 3 callersMethod__init__
(self)
isaac_env/air_env_tele/env_cfg.py:179
↓ 3 callersFunctionapproach_pose_from_grasp_pose
Compute the approach pose from the grasp pose, approach pose have the same rotation as grasp pose but have certain distance in the opposite direc
isaac_env/air_env_base/wp_cfg.py:40
↓ 3 callersMethodcompute
(self, inputs, role)
isaac_env/agents/skrl_gaussian_model.py:25
↓ 3 callersMethodget_action_demo
Get the grasp pose from the camera data.
isaac_env/air_env_base/env.py:339
↓ 3 callersFunctioninterpolate_between_red_and_green
Returns RGBA color between RED and GREEN.
grasp_sampler/visualize_grasp_object.py:21
↓ 3 callersMethodstep
(self, grasp_pose, policy_inference_criteria=torch.tensor([]))
isaac_env/air_env_rl/env.py:126
↓ 2 callersMethod__init__
(self)
isaac_env/air_env_base/env_cfg.py:379
↓ 2 callersMethod__init__
(self, observation_space, action_space, device)
isaac_env/agents/skrl_gaussian_model.py:29
↓ 2 callersMethod_get_obj_pose
(self, id_obj, id_env)
isaac_env/air_env_base/env.py:638
↓ 2 callersMethodcalculate_contact_point
(self,x,y)
grasp_sampler/visualize_object.py:63
↓ 2 callersMethodcheck_for_collision
Iterate through grasps for each asset in scene and check for collision.
grasp_sampler/generate_grasp_scene.py:487
↓ 2 callersMethodget_action
Get the action from the policy.
isaac_env/air_env_base/env.py:332
↓ 2 callersFunctionget_camera_pose
(env, cam_id=None, env_id=None)
isaac_env/air_env_sb3/env_cfg.py:90
↓ 2 callersFunctionget_camera_pose
(env, cam_id=None, env_id=None)
isaac_env/air_env_base/env_cfg.py:192
↓ 2 callersFunctionget_camera_pose
(env, cam_id=None, env_id=None)
isaac_env/air_env_skrl/env_cfg.py:90
↓ 2 callersFunctionget_camera_pose
(env, cam_id=None, env_id=None)
isaac_env/air_env_rl/env_cfg.py:90
↓ 2 callersFunctionget_parallel_gripper_collision_mesh
Based on grasp with return different collision manager for franka gripper. Maximum grasp width is 8 cm.
grasp_sampler/generate_grasp_scene.py:49
↓ 2 callersFunctionload_hdf5
(path)
grasp_sampler/visualize_object.py:23
↓ 2 callersFunctionread_in_mesh_config
(file, parallel=False, suctioncup=False, simulation=False, keypts_byhand=False, keypts_com=False, analytical=F
grasp_sampler/visualize_grasp_object.py:101
↓ 2 callersFunctionrotation_matrix_from_view
Compute the rotation matrix from world to view coordinates. This function takes a vector ''eyes'' which specifies the location of the camera
isaac_env/utils.py:106
↓ 2 callersMethodrun
Runs the simulation loop.
air_sim.py:152
↓ 2 callersMethodsave_data
( self, env_id, grasp_pose, grasp_pos_img, rgbs, pcds,
isaac_env/air_env_base/env.py:557
↓ 1 callersMethod__init__
(self, observation_space: gym.spaces.Dict, features_dim: int = 32)
isaac_env/agents/custom_extractor.py:12
↓ 1 callersMethod_action_plan
(self)
isaac_env/air_env_base/env.py:240
↓ 1 callersMethod_advance_state_machine
Compute the desired state of the robot's end-effector and the gripper.
isaac_env/air_env_base/env.py:235
↓ 1 callersMethod_load_model
(self, args_cli)
isaac_env/air_env_sb3/sim.py:121
↓ 1 callersMethod_load_model
(self, args_cli)
isaac_env/air_env_skrl/sim.py:119
↓ 1 callersMethod_load_model
(self, args_cli)
isaac_env/air_env_rl/sim.py:121
↓ 1 callersMethod_policy_inf_criteria
(self)
isaac_env/air_env_base/env.py:323
↓ 1 callersMethod_record_reward
Summarize the reward and print the success message.
isaac_env/air_env_base/env.py:489
↓ 1 callersMethod_rlg_train
(self, args_cli)
air_sim.py:58
↓ 1 callersMethod_rlg_train
(self, args_cli)
isaac_env/air_env_sb3/sim.py:43
↓ 1 callersMethod_rlg_train
(self, args_cli)
isaac_env/air_env_rl/sim.py:43
↓ 1 callersMethod_skrl_train
(self, args_cli)
isaac_env/air_env_skrl/sim.py:43
↓ 1 callersMethod_summerize_and_reset
Calculate the reward and reset the indexed enviroments
isaac_env/air_env_base/env.py:466
↓ 1 callersMethod_vis
Visualize markers
isaac_env/air_env_base/env.py:532
↓ 1 callersMethodcheck_mesh_for_collision_with_scene
Check if grasps collide with the scene.
grasp_sampler/generate_grasp_scene.py:564
↓ 1 callersMethodcompute_com_keypts
(self, surface_pts=1000)
grasp_sampler/visualize_object.py:174
↓ 1 callersFunctionconvert_to_contact_6DOF
Convert Contact-Point Pregrasp representation to 6DOF Contact Point Pose (4x4).
grasp_sampler/generate_grasp_scene.py:310
↓ 1 callersFunctionconvert_to_franka_6DOF
Convert Contact-Point Pregrasp representation to 6DOF Gripper Pose (4x4).
grasp_sampler/visualize_grasp_object.py:83
↓ 1 callersFunctioncreate_contact_pose
(grasp_config)
grasp_sampler/visualize_grasp_object.py:223
↓ 1 callersFunctioncreate_easy_gripper
( color=[0, 255, 0, 140], sections=6, show_axis=False, width=None )
grasp_sampler/generate_grasp_scene.py:157
↓ 1 callersFunctioncreate_easy_gripper
( color=[0, 255, 0, 140], sections=6, show_axis=False, width=None)
grasp_sampler/visualize_grasp_object.py:38
↓ 1 callersFunctioncreate_file
(rootdir, filepath)
grasp_sampler/generate_grasp_object.py:87
↓ 1 callersMethodcreate_window
(self)
grasp_sampler/visualize_object.py:123
↓ 1 callersFunctiondraw_grasps
Draw grasp lines and spheres between two contact points. Args: cp (numpy.ndarray): Contact points (N x 3). cp2 (numpy.ndarray
grasp_sampler/visualize_data.py:51
↓ 1 callersFunctionevaluate_scene
(scene_dir)
grasp_sampler/generate_grasp_scene.py:942
↓ 1 callersFunctionfrom_SE2_to_6D
(grasp_config, obj_to_world_transform=None)
grasp_sampler/visualize_grasp_object.py:198
↓ 1 callersFunctionfrom_contact_to_6D
Convert from hdf5 contact representation to 4x4 Matrix in World COS.
grasp_sampler/generate_grasp_scene.py:249
↓ 1 callersFunctionfrom_contact_to_6D
Convert from hdf5 contact representation to 4x4 Matrix in World COS.
grasp_sampler/visualize_grasp_object.py:130
↓ 1 callersFunctiongenerate_6DOF_from_SE2
Generate a rotation matrix from only one approach vector! Just for visualization. Keep in mind, that this might have to change later on!
grasp_sampler/visualize_grasp_object.py:169
↓ 1 callersFunctiongenerate_random_approach
(max_rotation, max_translation)
grasp_sampler/generate_grasp_object.py:340
↓ 1 callersMethodget_action_remote
(self, ids, obs_buf)
isaac_env/air_env_grasp/env.py:105
↓ 1 callersMethodget_grasp_poses_from_hdf5
(self, obj_id, env_id, img, camera_pose)
isaac_env/air_env_base/env.py:764
↓ 1 callersFunctionget_idx_color
Returns color based on seed.
grasp_sampler/visualize_object.py:29
↓ 1 callersFunctionget_pj_collission_manager
Based on grasp width, return different collision manager for franka gripper. Maximum grasp width is 8 cm.
grasp_sampler/generate_grasp_object.py:23
↓ 1 callersMethodinit_run
Initialize the simulation loop.
air_sim.py:136
↓ 1 callersFunctioninterpolate_between_red_and_green
Returns RGBA color between RED and GREEN.
grasp_sampler/generate_grasp_scene.py:207
↓ 1 callersFunctioninterpolate_between_red_and_green
Returns RGBA color between RED and GREEN.
grasp_sampler/visualize_object.py:15
↓ 1 callersMethodload_grasps_from_file
(self)
grasp_sampler/generate_grasp_scene.py:862
↓ 1 callersFunctionload_mesh
(root, relative, scale_factor=None)
grasp_sampler/generate_grasp_object.py:105
↓ 1 callersMethodload_obj_mesh
(self)
grasp_sampler/visualize_object.py:87
↓ 1 callersMethodload_obj_mesh
(self)
grasp_sampler/visualize_object.py:217
↓ 1 callersMethodload_potential_grasps_and_generate_trimesh_scene
1) Generate a twin scene in trimesh (much simpler) and check for gripper collision. 2) Create scene description .hp5y file + .usd stage
grasp_sampler/generate_grasp_scene.py:353
↓ 1 callersFunctionload_single_grasp_config
(hdf5_path, num_samples=2000)
grasp_sampler/generate_grasp_scene.py:115
↓ 1 callersFunctionload_single_mesh
(_path, output_on=True, scale=100)
grasp_sampler/generate_grasp_scene.py:106
↓ 1 callersFunctionload_single_mesh
(file)
grasp_sampler/visualize_grasp_object.py:123
↓ 1 callersFunctionmain
()
urdf_converter.py:54
↓ 1 callersFunctionmain
Main function.
test_ur10cfg.py:356
↓ 1 callersFunctionmain
(pth_paths)
grasp_sampler/visualize_data.py:164
↓ 1 callersFunctionperpendicular_grasp_orientation
Compute a quaternion (w, x, y, z) to align the gripper's Z-axis with the given surface normal. This approach simplifies alignment by ignoring
isaac_env/utils.py:9
↓ 1 callersMethodpolicy
Get the grasp pose from the policy
air_sim.py:181
↓ 1 callersFunctionpose_vector_to_transformation_matrix
(pose_vec)
isaac_env/utils.py:85
↓ 1 callersMethodprocess_action
(self, grasp_pose)
isaac_env/air_env_sb3/env.py:136
↓ 1 callersMethodprocess_action
(self, grasp_pose)
isaac_env/air_env_skrl/env.py:136
↓ 1 callersMethodprocess_action
(self, grasp_pose)
isaac_env/air_env_rl/env.py:136
↓ 1 callersMethodpropose_action
(self, get_pcd = False)
air_sim.py:161
↓ 1 callersMethodpropose_action
(self)
isaac_env/air_env_sb3/sim.py:151
↓ 1 callersMethodpropose_action
(self, get_pcd = False)
isaac_env/air_env_base/sim.py:71
↓ 1 callersMethodpropose_action
(self)
isaac_env/air_env_skrl/sim.py:151
↓ 1 callersMethodpropose_action
(self)
isaac_env/air_env_rl/sim.py:151
↓ 1 callersFunctionrandom_rgb_color
(seed, score=1.0)
grasp_sampler/visualize_grasp_object.py:30
↓ 1 callersFunctionread_in_scene
Read in viewpt of scene and return obj_poses_rel_world as well as categories.
grasp_sampler/generate_grasp_scene.py:883
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