scenic.simulators.isaac.backends.profiles.base

Base manipulator profile consumed by the generic backend manipulator code.

Summary of Module Members

Module Attributes

ROBOTIQ_2F85_REQUIRED_FIELDS

Fields the backends read on the gripper_style == "robotiq_2f85" path (declared by UR5eProfile, the reference implementation).

Classes

ManipulatorProfile

Immutable, typed description of a manipulator robot (a frozen dataclass).

Member Details

ROBOTIQ_2F85_REQUIRED_FIELDS = ('gripperPrim', 'gripperFullyClosedPosition', 'gripperContactMaterialPath', 'objectContactMaterialPath', 'gripperStaticFriction', 'gripperDynamicFriction', 'objectStaticFriction', 'objectDynamicFriction', 'contactOffset', 'restOffset', 'pickObjectMassKg', 'gripperMaxForce', 'gripperStiffness', 'gripperDamping', 'gripperMaxJointVelocityDegPerSec', 'mimicNaturalFrequency', 'mimicDampingRatio', 'outerFingerParallelStiffness')

Fields the backends read on the gripper_style == "robotiq_2f85" path (declared by UR5eProfile, the reference implementation).

class ManipulatorProfile(usdPath, usdVariants, armDofNames, gripperDofNames, controlLinkName, endEffectorPrim, gripperFramePrim, defaultArmPose, downwardOrientation, tcpOffset, openGripperPositions, closedGripperPositions, gripperStyle, gripperOpenVelocity=None, gripperCloseVelocity=None, gripperControlMode='position', supportsPickPlace=False, ikDamping=0.05, ikStepScale=1.0, rmpflowPolicyName=None, rmpflowUsesTcpOffset=False)[source]

Immutable, typed description of a manipulator robot (a frozen dataclass).

Field groups: asset (usd_path/usd_variants), kinematics (*DofNames, *Prim, default_arm_pose), gripper (*gripper*), motion tuning (ik*, rmpflow*), capability flags (supports_pick_place).

gripper_style selects the backend gripper path: "robotiq_2f85" uses the closed-loop Robotiq authoring and requires the fields in ROBOTIQ_2F85_REQUIRED_FIELDS; any other value is treated as a plain parallel gripper (gripper_action_deltas optional, e.g. Franka). supports_pick_place currently assumes a Franka-style position-mode parallel gripper.

New robots need no Scenic-internal edits: define a profile instance in your own module and attach it to a ManipulatorRobot subclass in your scenario (see “Adding a Custom Robot” in the README).

Parameters:

  • usdPath (str)

  • usdVariants (tuple)

  • armDofNames (tuple)

  • gripperDofNames (tuple)

  • controlLinkName (str)

  • endEffectorPrim (str)

  • gripperFramePrim (str)

  • defaultArmPose (ndarray)

  • downwardOrientation (ndarray)

  • tcpOffset (ndarray)

  • openGripperPositions (ndarray)

  • closedGripperPositions (ndarray)

  • gripperStyle (str)

  • gripperOpenVelocity (float | None)

  • gripperCloseVelocity (float | None)

  • gripperControlMode (str)

  • supportsPickPlace (bool)

  • ikDamping (float)

  • ikStepScale (float)

  • rmpflowPolicyName (str | None)

  • rmpflowUsesTcpOffset (bool)