API#

Python API#

import_grasps_from_file

Parse an isaac_grasp YAML file for use in Isaac Sim.

GraspSpec

A data class for managing and manipulating grasp specifications imported from isaac_grasp YAML files.

import_grasps_from_file(
file_path: str,
) → GraspSpec#

Parse an isaac_grasp YAML file for use in Isaac Sim. The resulting GraspSpec class will allow you to look up the data for each grasp by its name.

Parameters:

file_path – A path to an isaac_grasp YAML file with format version 1.0.

Returns:

A data class that stores the information needed to replicate a grasp in Isaac Sim. This class also includes convenience functions to compute the desired pose of the gripper frame as a function of the of object position, or to compute the desired object position as a function of gripper pose.

class GraspSpec(imported_data: dict)#

Bases: object

A data class for managing and manipulating grasp specifications imported from isaac_grasp YAML files.

This class provides methods to access grasp data by name, compute gripper poses from rigid body poses, and compute rigid body poses from gripper poses. Each grasp contains position, orientation, confidence, and joint configuration data that defines how a gripper should approach and grasp an object.

The class enables pose transformations between gripper and rigid body coordinate frames, allowing users to determine the required gripper position given an object’s pose, or vice versa. This is essential for robotic manipulation tasks where precise grasp execution is required.

Parameters:

imported_data – Dictionary containing grasp specifications parsed from an isaac_grasp YAML file, including grasp names, poses, confidence values, and joint configurations.

compute_gripper_pose_from_rigid_body_pose(
grasp_name: str,
rb_trans: array,
rb_quat: array,
) → Tuple[array, array]#

Given a position of the rigid body in the world or robot frame, compute the position of the gripper in that same frame to replicate the grasp associated grasp_name.

Parameters:

  • grasp_name – Name of an imported grasp.

  • rb_trans – Translation of the rigid body in the desired frame of reference.

  • rb_quat – Quaternion orientation of the rigid body in the desired frame of reference.

Returns:

Translation and orientation of the gripper in the desired frame of reference.

compute_rigid_body_pose_from_gripper_pose(
grasp_name: str,
gripper_trans: array,
gripper_quat: array,
) → Tuple[array, array]#

Given a position of the gripper in the world or robot frame, compute the position of the rigid body in that same frame to replicate the grasp associated grasp_name.

Parameters:

  • grasp_name – Name of an imported grasp.

  • gripper_trans – Translation of the gripper in the desired frame of reference.

  • gripper_quat – Quaternion orientation of the gripper in the desired frame of reference.

Returns:

Translation and orientation of the rigid body in the desired frame of reference.

get_grasp_dict_by_name(name: str) → dict#

Get a dictionary of all data associated with a specific grasp name.

Parameters:

name – Valid grasp name.

Returns:

  • confidence (float): A confidence value between 0.0 and 1.0 indicating the quality of this grasp.

  • position (np.array): Translation of the gripper frame relative to the rigid body frame.

  • orientation (dict): Dictionary with w and xyz components that define the orientation of the gripper frame relative to the rigid body frame.

  • cspace_position (dict): A dictionary mapping each DOF that is considered to be part of the gripper to the position it was in when grasping this object.

  • pregrasp_cspace_position (dict): A dictionary mapping each DOF that is considered to be part of the gripper to its open position. I.e. a grasp of this object can be achieved by moving from the pregrasp_cspace_position to cspace_position while the gripper is at the relative pose specified by position and orientation.

Return type:

Dictionary containing the data associated with this grasp. This includes

get_grasp_dicts() → dict#

Get a dictionary of dictionaries that specify each grasp in the imported file. The get_grasp_dict_by_name() function describes the content of each inner dictionary, and the get_grasp_names() function provides the keys to this dictionary.

Returns:

A dictionary of dictionaries that define each grasp in the imported file.

get_grasp_names() → List[str]#

Get a list of valid grasp names stored in the imported isaac_grasp file.

Returns:

List of valid grasp names.