3d6b73753a
- Add pick_test_tube task: USDC asset repackaging, grasp generation, task config - Add tools: usdc_to_obj.py, repackage_test_tube.py, fix_test_tube_materials.py - Add custom_task_guide.md: full Chinese documentation for creating custom tasks - Add crawled InternDataEngine online docs (23 pages) - Add grasp generation script (gen_tube_grasp.py) and pipeline config
975 lines
27 KiB
Markdown
975 lines
27 KiB
Markdown
# Source: https://internrobotics.github.io/InternDataEngine-Docs/concepts/skills/pick.html
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# Pick Skill [](#pick-skill)
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The `Pick `skill performs a standard pick operation with grasp pose selection. It loads pre-annotated grasp poses from `.npy `files, filters them based on orientation constraints, and executes the pick motion.
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Code Example:
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python
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```
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# Source workflows/simbox/core/skills/pick.py
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import os
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import random
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from copy import deepcopy
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import numpy as np
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from core.skills.base_skill import BaseSkill, register_skill
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from core.utils.constants import CUROBO_BATCH_SIZE
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from core.utils.plan_utils import (
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select_index_by_priority_dual,
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select_index_by_priority_single,
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)
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from core.utils.transformation_utils import poses_from_tf_matrices
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from omegaconf import DictConfig
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from omni.isaac.core.controllers import BaseController
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from omni.isaac.core.robots.robot import Robot
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from omni.isaac.core.tasks import BaseTask
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from omni.isaac.core.utils.prims import get_prim_at_path
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from omni.isaac.core.utils.transformations import (
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get_relative_transform,
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tf_matrix_from_pose,
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)
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@register_skill
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class Pick(BaseSkill):
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def __init__(self, robot: Robot, controller: BaseController, task: BaseTask, cfg: DictConfig, *args, **kwargs):
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super().__init__()
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self.robot = robot
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self.controller = controller
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self.task = task
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self.skill_cfg = cfg
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object_name = self.skill_cfg["objects"][0]
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self.pick_obj = task.objects[object_name]
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# Get grasp annotation
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usd_path = [obj["path"] for obj in task.cfg["objects"] if obj["name"] == object_name][0]
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usd_path = os.path.join(self.task.asset_root, usd_path)
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grasp_pose_path = usd_path.replace(
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"Aligned_obj.usd", self.skill_cfg.get("npy_name", "Aligned_grasp_sparse.npy")
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)
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sparse_grasp_poses = np.load(grasp_pose_path)
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lr_arm = "right" if "right" in self.controller.robot_file else "left"
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self.T_obj_ee, self.scores = self.robot.pose_post_process_fn(
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sparse_grasp_poses,
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lr_arm=lr_arm,
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grasp_scale=self.skill_cfg.get("grasp_scale", 1),
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tcp_offset=self.skill_cfg.get("tcp_offset", self.robot.tcp_offset),
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constraints=self.skill_cfg.get("constraints", None),
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)
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# Keyposes should be generated after previous skill is done
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self.manip_list = []
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self.pickcontact_view = task.pickcontact_views[robot.name][lr_arm][object_name]
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self.process_valid = True
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self.obj_init_trans = deepcopy(self.pick_obj.get_local_pose()[0])
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final_gripper_state = self.skill_cfg.get("final_gripper_state", -1)
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if final_gripper_state == 1:
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self.gripper_cmd = "open_gripper"
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elif final_gripper_state == -1:
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self.gripper_cmd = "close_gripper"
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else:
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raise ValueError(f"final_gripper_state must be 1 or -1, got {final_gripper_state}")
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self.fixed_orientation = self.skill_cfg.get("fixed_orientation", None)
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if self.fixed_orientation is not None:
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self.fixed_orientation = np.array(self.fixed_orientation)
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def simple_generate_manip_cmds(self):
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manip_list = []
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# Update
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p_base_ee_cur, q_base_ee_cur = self.controller.get_ee_pose()
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cmd = (p_base_ee_cur, q_base_ee_cur, "update_pose_cost_metric", {"hold_vec_weight": None})
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manip_list.append(cmd)
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ignore_substring = deepcopy(self.controller.ignore_substring + self.skill_cfg.get("ignore_substring", []))
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ignore_substring.append(self.pick_obj.name)
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cmd = (
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p_base_ee_cur,
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q_base_ee_cur,
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"update_specific",
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{"ignore_substring": ignore_substring, "reference_prim_path": self.controller.reference_prim_path},
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)
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manip_list.append(cmd)
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# Pre grasp
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T_base_ee_grasps = self.sample_ee_pose() # (N, 4, 4)
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T_base_ee_pregrasps = deepcopy(T_base_ee_grasps)
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self.controller.update_specific(
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ignore_substring=ignore_substring, reference_prim_path=self.controller.reference_prim_path
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)
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if "r5a" in self.controller.robot_file:
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T_base_ee_pregrasps[:, :3, 3] -= T_base_ee_pregrasps[:, :3, 0] * self.skill_cfg.get("pre_grasp_offset", 0.1)
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else:
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T_base_ee_pregrasps[:, :3, 3] -= T_base_ee_pregrasps[:, :3, 2] * self.skill_cfg.get("pre_grasp_offset", 0.1)
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p_base_ee_pregrasps, q_base_ee_pregrasps = poses_from_tf_matrices(T_base_ee_pregrasps)
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p_base_ee_grasps, q_base_ee_grasps = poses_from_tf_matrices(T_base_ee_grasps)
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if self.controller.use_batch:
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# Check if the input arrays are exactly the same
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if np.array_equal(p_base_ee_pregrasps, p_base_ee_grasps) and np.array_equal(
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q_base_ee_pregrasps, q_base_ee_grasps
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):
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# Inputs are identical, compute only once to avoid redundant computation
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result = self.controller.test_batch_forward(p_base_ee_grasps, q_base_ee_grasps)
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index = select_index_by_priority_single(result)
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else:
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# Inputs are different, compute separately
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pre_result = self.controller.test_batch_forward(p_base_ee_pregrasps, q_base_ee_pregrasps)
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result = self.controller.test_batch_forward(p_base_ee_grasps, q_base_ee_grasps)
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index = select_index_by_priority_dual(pre_result, result)
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else:
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for index in range(T_base_ee_grasps.shape[0]):
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p_base_ee_pregrasp, q_base_ee_pregrasp = p_base_ee_pregrasps[index], q_base_ee_pregrasps[index]
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p_base_ee_grasp, q_base_ee_grasp = p_base_ee_grasps[index], q_base_ee_grasps[index]
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test_mode = self.skill_cfg.get("test_mode", "forward")
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if test_mode == "forward":
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result_pre = self.controller.test_single_forward(p_base_ee_pregrasp, q_base_ee_pregrasp)
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elif test_mode == "ik":
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result_pre = self.controller.test_single_ik(p_base_ee_pregrasp, q_base_ee_pregrasp)
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else:
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raise NotImplementedError
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if self.skill_cfg.get("pre_grasp_offset", 0.1) > 0:
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if test_mode == "forward":
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result = self.controller.test_single_forward(p_base_ee_grasp, q_base_ee_grasp)
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elif test_mode == "ik":
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result = self.controller.test_single_ik(p_base_ee_grasp, q_base_ee_grasp)
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else:
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raise NotImplementedError
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if result == 1 and result_pre == 1:
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print("pick plan success")
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break
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else:
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if result_pre == 1:
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print("pick plan success")
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break
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if self.fixed_orientation is not None:
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q_base_ee_pregrasps[index] = self.fixed_orientation
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q_base_ee_grasps[index] = self.fixed_orientation
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# Pre-grasp
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cmd = (p_base_ee_pregrasps[index], q_base_ee_pregrasps[index], "open_gripper", {})
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manip_list.append(cmd)
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if self.skill_cfg.get("pre_grasp_hold_vec_weight", None) is not None:
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cmd = (
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p_base_ee_pregrasps[index],
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q_base_ee_pregrasps[index],
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"update_pose_cost_metric",
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{"hold_vec_weight": self.skill_cfg.get("pre_grasp_hold_vec_weight", None)},
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)
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manip_list.append(cmd)
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# Grasp
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cmd = (p_base_ee_grasps[index], q_base_ee_grasps[index], "open_gripper", {})
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manip_list.append(cmd)
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cmd = (p_base_ee_grasps[index], q_base_ee_grasps[index], self.gripper_cmd, {})
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manip_list.extend(
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[cmd] * self.skill_cfg.get("gripper_change_steps", 40)
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) # Default we use 40 steps to make sure the gripper is fully closed
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ignore_substring = deepcopy(self.controller.ignore_substring + self.skill_cfg.get("ignore_substring", []))
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cmd = (
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p_base_ee_grasps[index],
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q_base_ee_grasps[index],
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"update_specific",
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{"ignore_substring": ignore_substring, "reference_prim_path": self.controller.reference_prim_path},
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)
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manip_list.append(cmd)
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cmd = (
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p_base_ee_grasps[index],
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q_base_ee_grasps[index],
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"attach_obj",
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{"obj_prim_path": self.pick_obj.mesh_prim_path},
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)
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manip_list.append(cmd)
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# Post-grasp
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post_grasp_offset = np.random.uniform(
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self.skill_cfg.get("post_grasp_offset_min", 0.05), self.skill_cfg.get("post_grasp_offset_max", 0.05)
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)
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if post_grasp_offset:
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p_base_ee_postgrasps = deepcopy(p_base_ee_grasps)
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p_base_ee_postgrasps[index][2] += post_grasp_offset
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cmd = (p_base_ee_postgrasps[index], q_base_ee_grasps[index], self.gripper_cmd, {})
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manip_list.append(cmd)
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# Whether return to pre-grasp
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if self.skill_cfg.get("return_to_pregrasp", False):
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cmd = (p_base_ee_pregrasps[index], q_base_ee_pregrasps[index], self.gripper_cmd, {})
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manip_list.append(cmd)
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self.manip_list = manip_list
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def sample_ee_pose(self, max_length=CUROBO_BATCH_SIZE):
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T_base_ee = self.get_ee_poses("armbase")
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num_pose = T_base_ee.shape[0]
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flags = {
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"x": np.ones(num_pose, dtype=bool),
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"y": np.ones(num_pose, dtype=bool),
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"z": np.ones(num_pose, dtype=bool),
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"direction_to_obj": np.ones(num_pose, dtype=bool),
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}
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filter_conditions = {
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"x": {
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"forward": (0, 0, 1), # (row, col, direction)
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"backward": (0, 0, -1),
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"upward": (2, 0, 1),
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"downward": (2, 0, -1),
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},
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"y": {"forward": (0, 1, 1), "backward": (0, 1, -1), "downward": (2, 1, -1), "upward": (2, 1, 1)},
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"z": {"forward": (0, 2, 1), "backward": (0, 2, -1), "downward": (2, 2, -1), "upward": (2, 2, 1)},
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}
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for axis in ["x", "y", "z"]:
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filter_list = self.skill_cfg.get(f"filter_{axis}_dir", None)
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if filter_list is not None:
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# direction, value = filter_list
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direction = filter_list[0]
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row, col, sign = filter_conditions[axis][direction]
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if len(filter_list) == 2:
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value = filter_list[1]
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cos_val = np.cos(np.deg2rad(value))
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flags[axis] = T_base_ee[:, row, col] >= cos_val if sign > 0 else T_base_ee[:, row, col] <= cos_val
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elif len(filter_list) == 3:
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value1, value2 = filter_list[1:]
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cos_val1 = np.cos(np.deg2rad(value1))
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cos_val2 = np.cos(np.deg2rad(value2))
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if sign > 0:
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flags[axis] = np.logical_and(
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T_base_ee[:, row, col] >= cos_val1, T_base_ee[:, row, col] <= cos_val2
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)
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else:
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flags[axis] = np.logical_and(
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T_base_ee[:, row, col] <= cos_val1, T_base_ee[:, row, col] >= cos_val2
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)
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if self.skill_cfg.get("direction_to_obj", None) is not None:
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direction_to_obj = self.skill_cfg["direction_to_obj"]
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T_world_obj = tf_matrix_from_pose(*self.pick_obj.get_local_pose())
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T_base_world = get_relative_transform(
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get_prim_at_path(self.task.root_prim_path), get_prim_at_path(self.controller.reference_prim_path)
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)
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T_base_obj = T_base_world @ T_world_obj
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if direction_to_obj == "right":
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flags["direction_to_obj"] = T_base_ee[:, 1, 3] <= T_base_obj[1, 3]
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elif direction_to_obj == "left":
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flags["direction_to_obj"] = T_base_ee[:, 1, 3] > T_base_obj[1, 3]
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else:
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raise NotImplementedError
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combined_flag = np.logical_and.reduce(list(flags.values()))
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if sum(combined_flag) == 0:
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# idx_list = [i for i in range(max_length)]
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idx_list = list(range(max_length))
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else:
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tmp_scores = self.scores[combined_flag]
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tmp_idxs = np.arange(num_pose)[combined_flag]
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combined = list(zip(tmp_scores, tmp_idxs))
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combined.sort()
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idx_list = [idx for (score, idx) in combined[:max_length]]
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score_list = self.scores[idx_list]
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weights = 1.0 / (score_list + 1e-8)
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weights = weights / weights.sum()
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sampled_idx = random.choices(idx_list, weights=weights, k=max_length)
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sampled_scores = self.scores[sampled_idx]
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# Sort indices by their scores (ascending)
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sorted_pairs = sorted(zip(sampled_scores, sampled_idx))
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idx_list = [idx for _, idx in sorted_pairs]
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print(self.scores[idx_list])
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# print((T_base_ee[idx_list])[:, 0, 1])
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return T_base_ee[idx_list]
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def get_ee_poses(self, frame: str = "world"):
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# get grasp poses at specific frame
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if frame not in ["world", "body", "armbase"]:
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raise ValueError(
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f"poses in {frame} frame is not supported: accepted values are [world, body, armbase] only"
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)
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if frame == "body":
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return self.T_obj_ee
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T_world_obj = tf_matrix_from_pose(*self.pick_obj.get_local_pose())
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T_world_ee = T_world_obj[None] @ self.T_obj_ee
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if frame == "world":
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return T_world_ee
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if frame == "armbase": # arm base frame
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T_world_base = get_relative_transform(
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get_prim_at_path(self.controller.reference_prim_path), get_prim_at_path(self.task.root_prim_path)
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)
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T_base_world = np.linalg.inv(T_world_base)
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T_base_ee = T_base_world[None] @ T_world_ee
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return T_base_ee
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def get_contact(self, contact_threshold=0.0):
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contact = np.abs(self.pickcontact_view.get_contact_force_matrix()).squeeze()
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contact = np.sum(contact, axis=-1)
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indices = np.where(contact > contact_threshold)[0]
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return contact, indices
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def is_feasible(self, th=5):
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return self.controller.num_plan_failed <= th
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def is_subtask_done(self, t_eps=1e-3, o_eps=5e-3):
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assert len(self.manip_list) != 0
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p_base_ee_cur, q_base_ee_cur = self.controller.get_ee_pose()
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p_base_ee, q_base_ee, *_ = self.manip_list[0]
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diff_trans = np.linalg.norm(p_base_ee_cur - p_base_ee)
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diff_ori = 2 * np.arccos(min(abs(np.dot(q_base_ee_cur, q_base_ee)), 1.0))
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pose_flag = np.logical_and(
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diff_trans < t_eps,
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diff_ori < o_eps,
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)
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self.plan_flag = self.controller.num_last_cmd > 10
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return np.logical_or(pose_flag, self.plan_flag)
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def is_done(self):
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if len(self.manip_list) == 0:
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return True
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if self.is_subtask_done(t_eps=self.skill_cfg.get("t_eps", 1e-3), o_eps=self.skill_cfg.get("o_eps", 5e-3)):
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self.manip_list.pop(0)
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return len(self.manip_list) == 0
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def is_success(self):
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flag = True
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_, indices = self.get_contact()
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if self.gripper_cmd == "close_gripper":
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flag = len(indices) >= 1
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if self.skill_cfg.get("process_valid", True):
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self.process_valid = np.max(np.abs(self.robot.get_joints_state().velocities)) < 5 and (
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np.max(np.abs(self.pick_obj.get_linear_velocity())) < 5
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)
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flag = flag and self.process_valid
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if self.skill_cfg.get("lift_th", 0.0) > 0.0:
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p_world_obj = deepcopy(self.pick_obj.get_local_pose()[0])
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flag = flag and ((p_world_obj[2] - self.obj_init_trans[2]) > self.skill_cfg.get("lift_th", 0.0))
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return flag
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```
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__init__(self, robot, controller, task, cfg, *args, **kwargs)
|
||
|
||
Initialize the pick skill and load grasp annotations.
|
||
|
||
Parameters:
|
||
|
||
- **robot **( Robot ): Robot instance for state queries and actions.
|
||
- **controller **( BaseController ): Controller for motion planning.
|
||
- **task **( BaseTask ): Task instance containing scene objects.
|
||
- **cfg **( DictConfig ): Skill configuration from task YAML.
|
||
|
||
Key Operations:
|
||
|
||
- Extract target object name from `cfg["objects"][0] `
|
||
- Load sparse grasp poses from `Aligned_grasp_sparse.npy `
|
||
- Transform grasp poses to EE frame via `robot.pose_post_process_fn() `
|
||
- Initialize `manip_list `for command sequence
|
||
|
||
simple_generate_manip_cmds(self)
|
||
|
||
Generate the full pick motion sequence. This is the core method that defines the pick behavior.
|
||
|
||
Steps:
|
||
|
||
- **Update planning settings **— Reset cost metrics and collision settings
|
||
- **Sample EE poses **— Call `sample_ee_pose() `to filter valid grasp candidates
|
||
- **Generate pre-grasp poses **— Offset grasp poses along approach direction
|
||
- **Test motion feasibility **— Use CuRobo to check which candidates are reachable
|
||
- **Build manip_list **— Construct command sequence:
|
||
- Move to pre-grasp pose with open gripper
|
||
- Move to grasp pose
|
||
- Close gripper
|
||
- Attach object to gripper (physics)
|
||
- Lift object (post-grasp offset)
|
||
|
||
sample_ee_pose(self, max_length=CUROBO_BATCH_SIZE)
|
||
|
||
Filter grasp poses based on end-effector orientation constraints.
|
||
|
||
Parameters:
|
||
|
||
- **max_length **( int ): Maximum number of poses to return.
|
||
|
||
Returns:
|
||
|
||
- np.ndarray : Filtered grasp poses as transformation matrices `(N, 4, 4) `.
|
||
|
||
Filtering Logic:
|
||
|
||
- Transform all candidate grasp poses to arm base frame
|
||
- Apply `filter_x_dir `, `filter_y_dir `, `filter_z_dir `constraints
|
||
- Sort remaining poses by grasp quality score
|
||
- Sample top candidates weighted by inverse score
|
||
|
||
is_success(self)
|
||
|
||
Check if the pick operation succeeded.
|
||
|
||
Success Conditions:
|
||
|
||
- **Contact check **: Gripper is in contact with at least one object (when closing gripper)
|
||
- **Motion validity **: Joint velocities < 5 rad/s, object velocity < 5 m/s
|
||
- **Lift check **(optional): Object lifted above initial height by `lift_th `threshold
|
||
|
||
Returns:
|
||
|
||
- bool : `True `if all conditions are satisfied.
|
||
|
||
## Grasp Orientation Filtering [](#grasp-orientation-filtering)
|
||
|
||
The pick skill uses a **direction-based filtering strategy **to select valid grasp poses. Instead of constructing specific poses, we filter pre-annotated grasp candidates based on the desired end-effector orientation.
|
||
|
||
### Coordinate System [](#coordinate-system)
|
||
|
||
All arm base frames follow this convention:
|
||
|
||
- **X-axis **: Forward (toward the table/workspace)
|
||
- **Y-axis **: Right (when facing the table)
|
||
- **Z-axis **: Upward
|
||
|
||
**Arm Base Frame Examples: **
|
||
|
||
| Franka | ARX Lift-2 | Agilex Split Aloha |
|
||
|  |  |  |
|
||
|
||
The end-effector frame has its own local X, Y, Z axes. The filter constraints control how these EE axes align with the arm base frame.
|
||
|
||
### Filter Parameters [](#filter-parameters)
|
||
|
||
- **filter_x_dir **( list ): Filter based on EE's X-axis direction in arm base frame.
|
||
- **filter_y_dir **( list ): Filter based on EE's Y-axis direction in arm base frame.
|
||
- **filter_z_dir **( list ): Filter based on EE's Z-axis direction in arm base frame.
|
||
|
||
**Format **: `[direction, angle] `or `[direction, angle_min, angle_max] `
|
||
|
||
### Direction Mapping [](#direction-mapping)
|
||
|
||
- **forward **: EE axis dot arm_base_X ≥ cos(angle)
|
||
- **backward **: EE axis dot arm_base_X ≤ cos(angle)
|
||
- **upward **: EE axis dot arm_base_Z ≥ cos(angle)
|
||
- **downward **: EE axis dot arm_base_Z ≤ cos(angle)
|
||
|
||
**Positive sign **: Use `≥ cos(angle) `when direction is positive (forward/upward)
|
||
|
||
**Negative sign **: Use `≤ cos(angle) `when direction is negative (backward/downward)
|
||
|
||
## Examples [](#examples)
|
||
|
||
### Example 1: Franka Research 3 [](#example-1-franka-research-3)
|
||
|
||
Config Example:
|
||
yaml
|
||
```
|
||
# Source: workflows/simbox/core/configs/tasks/pick_and_place/franka/single_pick/omniobject3d-banana.yaml
|
||
skills:
|
||
- franka:
|
||
- left:
|
||
- name: pick
|
||
objects: [pick_object_left]
|
||
filter_x_dir: ["forward", 90]
|
||
filter_z_dir: ["downward", 140]
|
||
```
|
||
1
|
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|
||
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|
||
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|
||
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|
||
6
|
||
7
|
||
8
|
||
|
||
Figure Example: 
|
||
|
||
**Analysis **:
|
||
|
||
For Franka, the gripper's approach direction (toward fingers) is the **Z-axis **of the end-effector frame.
|
||
|
||
-
|
||
|
||
**`filter_z_dir: ["downward", 140] `**: We want the gripper to approach **vertically downward **. The EE's Z-axis should form an angle ≥ 140° with the arm base's Z-axis (upward). Since 140° > 90°, the EE's Z-axis points downward.
|
||
|
||
-
|
||
|
||
**`filter_x_dir: ["forward", 90] `**: We want the gripper to face **forward **(no reverse grasping). The EE's X-axis should form an angle ≤ 90° with the arm base's X-axis (forward), ensuring the gripper doesn't rotate backward.
|
||
|
||
Result: Gripper approaches from above with fingers pointing down, facing forward.
|
||
|
||
### Example 2: Agilex Split Aloha with Piper-100 arm [](#example-2-agilex-split-aloha-with-piper-100-arm)
|
||
|
||
Config Example:
|
||
yaml
|
||
```
|
||
# Source: workflows/simbox/core/configs/tasks/pick_and_place/split_aloha/single_pick/left/omniobject3d-banana.yaml
|
||
skills:
|
||
- split_aloha:
|
||
- left:
|
||
- name: pick
|
||
objects: [pick_object_left]
|
||
filter_y_dir: ["forward", 90]
|
||
filter_z_dir: ["downward", 140]
|
||
```
|
||
1
|
||
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|
||
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|
||
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|
||
5
|
||
6
|
||
7
|
||
8
|
||
|
||
Figure Example: 
|
||
|
||
**Analysis **:
|
||
|
||
For Agilex Split Aloha's left arm, the gripper approach direction is still the **Z-axis **, but the forward-facing direction is the **Y-axis **.
|
||
|
||
-
|
||
|
||
**`filter_z_dir: ["downward", 140] `**: Same as Franka — gripper approaches vertically **downward **.
|
||
|
||
-
|
||
|
||
**`filter_y_dir: ["forward", 90] `**: The EE's Y-axis should form an angle ≤ 90° with the arm base's X-axis (forward). This ensures the gripper faces **forward **.
|
||
|
||
Result: Same grasp orientation as Franka, but using Y-axis for forward direction control.
|
||
|
||
### Example 3: ARX Lift-2 with R5a arm [](#example-3-arx-lift-2-with-r5a-arm)
|
||
|
||
Config Example:
|
||
yaml
|
||
```
|
||
# Source: workflows/simbox/core/configs/tasks/pick_and_place/lift2/single_pick/left/omniobject3d-banana.yaml
|
||
skills:
|
||
- lift2:
|
||
- left:
|
||
- name: pick
|
||
objects: [pick_object_left]
|
||
filter_z_dir: ["forward", 90]
|
||
filter_x_dir: ["downward", 140]
|
||
```
|
||
1
|
||
2
|
||
3
|
||
4
|
||
5
|
||
6
|
||
7
|
||
8
|
||
|
||
Figure Example: 
|
||
|
||
**Analysis **:
|
||
|
||
For Lift2 with R5A gripper, the approach direction (toward fingers) is the **X-axis **of the end-effector frame.
|
||
|
||
-
|
||
|
||
**`filter_x_dir: ["downward", 140] `**: The EE's X-axis (approach direction) should form an angle ≥ 140° with the arm base's Z-axis, meaning the gripper approaches **downward **.
|
||
|
||
-
|
||
|
||
**`filter_z_dir: ["forward", 90] `**: The EE's Z-axis (gripper facing direction) should form an angle ≤ 90° with the arm base's X-axis (forward), ensuring the gripper faces **forward **.
|
||
|
||
Result: Gripper approaches from above, facing forward — same physical outcome as Franka, but using different axes.
|
||
|
||
## Design Philosophy [](#design-philosophy)
|
||
|
||
Note
|
||
|
||
**Filtering vs. Construction **: We use a filtering strategy rather than constructing specific grasp poses. This approach:
|
||
|
||
-
|
||
|
||
**Leverages existing annotations **: Pre-computed grasp poses from `Aligned_grasp_sparse.npy `already contain valid grasp configurations.
|
||
|
||
-
|
||
|
||
**Aligns with human intuition **: Specifying "gripper should approach downward and face forward" is more intuitive than computing exact rotation matrices.
|
||
|
||
-
|
||
|
||
**Provides flexibility **: Different robots with different EE frame conventions can achieve the same physical grasp by filtering different axes.
|
||
|
||
-
|
||
|
||
**Maintains diversity **: Multiple valid grasp poses remain after filtering, allowing the planner to select based on reachability and collision constraints.
|
||
|
||
## Configuration Reference [](#configuration-reference)
|
||
|
||
- **objects **( list , default: required): Target object names.
|
||
- **npy_name **( string , default: `"Aligned_grasp_sparse.npy" `): Grasp annotation file name.
|
||
- **grasp_scale **( float , default: `1 `): Scale factor for grasp poses.
|
||
- **tcp_offset **( float , default: `robot.tcp_offset `): TCP offset override.
|
||
- **constraints **( dict , default: `None `): Additional grasp constraints.
|
||
- **final_gripper_state **( int , default: `-1 `): Gripper state after pick: `1 `(open) or `-1 `(close).
|
||
- **fixed_orientation **( list , default: `None `): Fixed quaternion `[w, x, y, z] `if specified.
|
||
- **filter_x_dir **( list , default: `None `): EE X-axis filter: `[direction, angle] `.
|
||
- **filter_y_dir **( list , default: `None `): EE Y-axis filter: `[direction, angle] `.
|
||
- **filter_z_dir **( list , default: `None `): EE Z-axis filter: `[direction, angle] `.
|
||
- **direction_to_obj **( string , default: `None `): Filter by object position: `"left" `or `"right" `.
|
||
- **pre_grasp_offset **( float , default: `0.1 `): Distance to offset before grasp (meters).
|
||
- **pre_grasp_hold_vec_weight **( list , default: `None `): Hold vector weight at pre-grasp.
|
||
- **gripper_change_steps **( int , default: `40 `): Steps to close gripper.
|
||
- **post_grasp_offset_min **( float , default: `0.05 `): Minimum lift distance (meters).
|
||
- **post_grasp_offset_max **( float , default: `0.05 `): Maximum lift distance (meters).
|
||
- **return_to_pregrasp **( bool , default: `False `): Return to pre-grasp pose after lift.
|
||
- **lift_th **( float , default: `0.0 `): Lift threshold for success check (meters).
|
||
- **ignore_substring **( list , default: `[] `): Collision filter substrings.
|
||
- **test_mode **( string , default: `"forward" `): Motion test mode: `"forward" `or `"ik" `.
|
||
- **t_eps **( float , default: `1e-3 `): Translation tolerance (meters).
|
||
- **o_eps **( float , default: `5e-3 `): Orientation tolerance (radians).
|
||
- **process_valid **( bool , default: `True `): Check motion validity for success. |