[isaacsim.replicator.grasping.ui] Replicator Grasping Pipeline UI#
Version: 1.1.3
Overview#
The isaacsim.replicator.grasping.ui extension provides a comprehensive user interface for interactive robotic grasp generation and evaluation within Isaac Sim. This extension creates a dedicated window accessible through the Tools/Replicator menu that enables users to configure grasping scenarios, generate grasp poses, simulate grasp execution, and evaluate grasp success metrics.
Key Components#
GraspingWindow#
The GraspingWindow class serves as the main interface for all grasping-related functionality. The window is organized into several collapsible sections that cover the complete grasping workflow:
Gripper Configuration - Users can define gripper joint pregrasp states and configure grasp phases to specify how the gripper should move during grasp execution.
Object Selection and Pose Sampling - The interface provides controls for selecting target objects and configuring surface sampling parameters for generating potential grasp poses.
Grasp Pose Generation - Supports generating antipodal grasp poses using surface sampling algorithms, allowing users to create multiple grasp candidates for evaluation.
Visualization Tools - Includes options for visualizing grasp poses and object meshes to help users understand the spatial relationships and grasp configurations.
Simulation Settings - Integrates with USD stages and physics scenes to enable realistic grasp simulation, including physics scene configuration and rendering options.
Workflow Automation - Provides batch grasp evaluation capabilities to test multiple grasp candidates systematically.
Configuration Management - Allows users to save and load complete grasping setup configurations for reusability across sessions.
Integration#
The extension uses omni.kit.menu.utils to integrate with the Omniverse Kit SDK menu system, creating menu items in the Tools/Replicator group. This provides consistent access to grasping tools alongside other Isaac Sim replicator functionality.
Enable Extension#
The extension can be enabled (if not already) in one of the following ways:
Define the next entry as an application argument from a terminal.
APP_SCRIPT.(sh|bat) --enable isaacsim.replicator.grasping.ui
Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.
[dependencies]
"isaacsim.replicator.grasping.ui" = {}
Open the Window > Extensions menu in a running application instance and search for isaacsim.replicator.grasping.ui.
Then, toggle the enable control button if it is not already active.