Method register_graspable_objects

rlbench/backend/task.py:187–199

Register what objects can be grasped with a 'stable' grasp. In order for objects to be grasped in a stable way, PyRep attaches an objects that need to be grasped as a child of the gripper. This function allows one to register a list of objects that can be grasped in

(self, objects: List[Object])

        self._success_conditions = condition

    def register_graspable_objects(self, objects: List[Object]):
        """Register what objects can be grasped with a 'stable' grasp.

        In order for objects to be grasped in a stable way, PyRep attaches an
        objects that need to be grasped as a child of the gripper. This function
        allows one to register a list of objects that can be grasped in
        this 'stable' manner.

        Note: this replaces any previously registered objects!

        :param objects: The list of Objects that can be grasped.
        """
        self._graspable_objects = objects

    def register_waypoint_ability_start(self, waypoint_index: int,
                                        func: Callable[[Waypoint], None]):