behavior_robot
BRPart
Bases: ABC
This is the interface that all BehaviorRobot eef parts must implement.
Source code in omnigibson/robots/behavior_robot.py
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local_position_orientation: Tuple[Iterable[float], Iterable[float]]
property
Get local position and orientation w.r.t. to the body Returns: Tuple[Array[x, y, z], Array[x, y, z, w]]
__init__(name, parent, relative_prim_path, eef_type, offset_to_body)
Create an object instance with the minimum information of class ID and rendering parameters.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
name |
str
|
unique name of this BR part |
required |
parent |
BehaviorRobot
|
the parent BR object |
required |
relative_prim_path |
str
|
relative prim path to the root link of the eef |
required |
eef_type |
str
|
type of eef. One of hand, head |
required |
offset_to_body |
List[float]
|
relative POSITION offset between the rz link and the eef link. |
required |
Source code in omnigibson/robots/behavior_robot.py
get_position_orientation(clone=True)
Get position and orientation in the world space
Parameters:
Name | Type | Description | Default |
---|---|---|---|
clone |
bool
|
Whether to clone the internal buffer or not when grabbing data |
True
|
Returns:
Type | Description |
---|---|
Tuple[Iterable[float], Iterable[float]]
|
Tuple[Array[x, y, z], Array[x, y, z, w]] |
Source code in omnigibson/robots/behavior_robot.py
set_position_orientation(pos, orn)
Call back function to set the base's position
Source code in omnigibson/robots/behavior_robot.py
update_ghost_hands(pos, orn)
Updates ghost hand to track real hand and displays it if the real and virtual hands are too far apart. Args: pos (Iterable[float]): list of positions [x, y, z] orn (Iterable[float]): list of rotations [x, y, z, w]
Source code in omnigibson/robots/behavior_robot.py
BehaviorRobot
Bases: ManipulationRobot
, LocomotionRobot
, ActiveCameraRobot
A humanoid robot that can be used in VR as an avatar. It has two hands, a body and a head with two cameras.
Source code in omnigibson/robots/behavior_robot.py
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arm_joint_names
property
The head counts as a arm since it has the same 33 joint configuration
arm_link_names
property
The head counts as a arm since it has the same 33 joint configuration
base_footprint_link_name
property
Name of the actual root link that we are interested in.
__init__(name, relative_prim_path=None, scale=None, visible=True, visual_only=False, self_collisions=True, load_config=None, abilities=None, control_freq=None, controller_config=None, action_type='continuous', action_normalize=False, reset_joint_pos=None, obs_modalities='rgb', proprio_obs='default', grasping_mode='assisted', use_ghost_hands=True, **kwargs)
Initializes BehaviorRobot Args: use_ghost_hands (bool): whether to show ghost hand when the robot hand is too far away from the controller
Source code in omnigibson/robots/behavior_robot.py
get_position_orientation(frame='world', clone=True)
Gets robot's pose with respect to the specified frame.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
frame |
Literal
|
frame to get the pose with respect to. Default to world. scene frame get position relative to the scene. |
'world'
|
clone |
bool
|
Whether to clone the internal buffer or not when grabbing data |
True
|
Returns:
Type | Description |
---|---|
2 - tuple
|
|
Source code in omnigibson/robots/behavior_robot.py
set_position_orientation(position=None, orientation=None, frame='world')
Sets behavior robot's pose with respect to the specified frame
Parameters:
Name | Type | Description | Default |
---|---|---|---|
position |
None or 3 - array
|
if specified, (x,y,z) position in the world frame Default is None, which means left unchanged. |
None
|
orientation |
None or 4 - array
|
if specified, (x,y,z,w) quaternion orientation in the world frame. Default is None, which means left unchanged. |
None
|
frame |
Literal
|
frame to set the pose with respect to, defaults to "world". scene frame set position relative to the scene. |
'world'
|
Source code in omnigibson/robots/behavior_robot.py
teleop_data_to_action(teleop_action)
Generates an action for the BehaviorRobot to perform based on teleop action data dict.
Action space (all non-normalized values that will be clipped if they are too large) Body: - 6DOF pose - relative to body frame from previous frame Eye: - 6DOF pose - relative to body frame (where the body will be after applying this frame's action) Left hand, right hand (in that order): - 6DOF pose - relative to body frame (same as above) - 10DOF gripper joint rotation
Total size: 44
Source code in omnigibson/robots/behavior_robot.py
update_hand_contact_info()
Helper function that updates the contact info for the hands and body. Can be used in the future with device haptics to provide collision feedback.