metasim.cfg.checkers#

Checker config classes.

Base Class

BaseChecker

Base class for all checkers.

Checker Operators

`AndOp`	Combine multiple checkers with a logical AND operation.
`OrOp`	Combine multiple checkers with a logical OR operation.
`NotOp`	Negate the result of a checker.

Checkers

`DetectedChecker`	Check if the object with `obj_name` is detected by the detector.
`JointPosChecker`	Check if the joint with `joint_name` of the object with `obj_name` has position `radian_threshold` units.
`PositionShiftChecker`	Check if the object with `obj_name` was moved more than `distance` meters in given `axis`.
`RotationShiftChecker`	Check if the object with `obj_name` was rotated more than `radian_threshold` radians around the given `axis`.
`JointPosShiftChecker`	Check if the joint with `joint_name` of the object with `obj_name` was moved more than `threshold` units.

Detectors

`RelativeBboxDetector`	Check if the object is in the bounding box detector.
`Relative3DSphereDetector`	Detect whether the object is in a 3D sphere region.

BaseChecker#

class metasim.cfg.checkers.BaseChecker#

Base class for all checkers. Checkers are used to check whether the task is executed successfully.

reset(handler: BaseSimHandler, env_ids: list[int] | None = None)#: The code to run when the environment is reset.

check(handler: BaseSimHandler)#: Check whether the task is executed successfully.

get_debug_viewers() → list[BaseObjCfg]#: Get the viewers to be used for debugging the checker.

AndOp#

class metasim.cfg.checkers.AndOp#

Combine multiple checkers with a logical AND operation.

reset(handler: BaseSimHandler, env_ids: list[int] | None = None)#: The code to run when the environment is reset.

check(handler: BaseSimHandler) → torch.BoolTensor#: Check whether the task is executed successfully.

get_debug_viewers() → list[BaseObjCfg]#: Get the viewers to be used for debugging the checker.

OrOp#

class metasim.cfg.checkers.OrOp#

Combine multiple checkers with a logical OR operation.

reset(handler: BaseSimHandler, env_ids: list[int] | None = None)#: The code to run when the environment is reset.

check(handler: BaseSimHandler) → torch.BoolTensor#: Check whether the task is executed successfully.

get_debug_viewers() → list[BaseObjCfg]#: Get the viewers to be used for debugging the checker.

NotOp#

class metasim.cfg.checkers.NotOp#

Negate the result of a checker.

reset(handler: BaseSimHandler, env_ids: list[int] | None = None)#: The code to run when the environment is reset.

check(handler: BaseSimHandler) → torch.BoolTensor#: Check whether the task is executed successfully.

get_debug_viewers() → list[BaseObjCfg]#: Get the viewers to be used for debugging the checker.

DetectedChecker#

class metasim.cfg.checkers.DetectedChecker#

Bases: BaseChecker

Check if the object with obj_name is detected by the detector.

This class should always be used with a detector.

obj_name: str#: The name of the object to be checked.

detector: BaseDetector#: The detector to be used.

ignore_if_first_check_success: bool#: If True, the checker will ignore the success of the first check. Default to False.

reset(handler: BaseSimHandler, env_ids: list[int] | None = None)#: The code to run when the environment is reset.

check(handler: BaseSimHandler) → torch.BoolTensor#: Check whether the task is executed successfully.

get_debug_viewers() → list[BaseObjCfg]#: Get the viewers to be used for debugging the checker.

JointPosChecker#

class metasim.cfg.checkers.JointPosChecker#

Bases: BaseChecker

Check if the joint with joint_name of the object with obj_name has position radian_threshold units.

mode should be one of “ge”, “le”. “ge” for greater than or equal to, “le” for less than or equal to.
radian_threshold is the threshold for the joint position.

obj_name: str#: The name of the object to be checked.

joint_name: str#: The name of the joint to be checked.

mode: Literal['ge', 'le']#: The mode of the joint position checker. “ge” for greater than or equal to, “le” for less than or equal to.

radian_threshold: float#: The threshold for the joint position. (in radian)

check(handler: BaseSimHandler) → torch.BoolTensor#: Check whether the task is executed successfully.

get_debug_viewers() → list[BaseObjCfg]#: Get the viewers to be used for debugging the checker.

PositionShiftChecker#

class metasim.cfg.checkers.PositionShiftChecker#

Bases: BaseChecker

Check if the object with obj_name was moved more than distance meters in given axis.

distance is negative for moving towards the negative direction and positive for moving towards the positive direction.
max_distance is the maximum distance the object can move.
axis should be one of “x”, “y”, “z”.

obj_name: str#: The name of the object to be checked.

distance: float#: The threshold for the position shift. (in meters)

bounding_distance: float#: The maximum distance the object can move. (in meters)

axis: Literal['x', 'y', 'z']#: The axis to detect the position shift along.

reset(handler: BaseSimHandler, env_ids: list[int] | None = None)#: The code to run when the environment is reset.

check(handler: BaseSimHandler) → torch.BoolTensor#: Check whether the task is executed successfully.

RotationShiftChecker#

class metasim.cfg.checkers.RotationShiftChecker#

Bases: BaseChecker

Check if the object with obj_name was rotated more than radian_threshold radians around the given axis.

radian_threshold is negative for clockwise rotations and positive for counter-clockwise rotations.
radian_threshold should be in the range of [-pi, pi].
axis should be one of “x”, “y”, “z”. default is “z”.

obj_name: str#: The name of the object to be checked.

radian_threshold: float#: The threshold for the rotation. (in radian)

axis: Literal['x', 'y', 'z']#: The axis to detect the rotation around.

reset(handler: BaseSimHandler, env_ids: list[int] | None = None)#: The code to run when the environment is reset.

check(handler: BaseSimHandler) → torch.BoolTensor#: Check whether the task is executed successfully.

JointPosShiftChecker#

class metasim.cfg.checkers.JointPosShiftChecker#

Bases: BaseChecker

Check if the joint with joint_name of the object with obj_name was moved more than threshold units.

threshold is negative for moving towards the negative direction and positive for moving towards the positive direction.

obj_name: str#: The name of the object to be checked.

joint_name: str#: The name of the joint to be checked.

threshold: float#: The threshold for the joint position. (in radian)

reset(handler: BaseSimHandler, env_ids: list[int] | None = None)#: The code to run when the environment is reset.

check(handler: BaseSimHandler) → torch.BoolTensor#: Check whether the task is executed successfully.

RelativeBboxDetector#

class metasim.cfg.checkers.RelativeBboxDetector#

Bases: BaseDetector

Check if the object is in the bounding box detector.

The bbox detector is defined by relative_pos and relative_quat to the base object specified by base_obj_name
The bbox size is defined by checker_lower and checker_upper
If ignore_base_ori is True, the base object orientation is ignored.

base_obj_name: str#: The name of the base object.

relative_pos: tuple[float, float, float]#: The relative position (x, y, z) (in m) of the bbox detector to the base object.

relative_quat: tuple[float, float, float, float]#: The relative rotation (w, x, y, z) of the bbox detector to the base object.

checker_lower: tuple[float, float, float]#: The lower threshold (x, y, z) (in m) of the bbox detector.

checker_upper: tuple[float, float, float]#: The upper threshold (x, y, z) (in m) of the bbox detector.

ignore_base_ori: bool#: If True, the base object orientation is ignored, so the relative_quat becomes the absolute rotation of the bbox detector.

debug_vis: bool#: Visualize the bbox detector. Only supported with IsaacLab for now.

name: str#: The name of the bbox detector.

fixed: bool#: The pose of the bbox detector is fixed once reset. Otherwise, it will be updated every step in correspond to the base object. Default to True.

reset(handler: BaseSimHandler, env_ids: list[int] | None = None)#: The code to run when the environment is reset.

is_detected(handler: BaseSimHandler, obj_name: str) → torch.BoolTensor#: Check if the object is inside the detector.

get_debug_viewers() → list[BaseObjCfg]#: Get the viewers to be used for debugging the detector.

Relative3DSphereDetector#

class metasim.cfg.checkers.Relative3DSphereDetector#

Bases: BaseDetector

Detect whether the object is in a 3D sphere region.

The detector position is defined by relative_pos to the base object specified by base_obj_name
The region size is defined by radius

base_obj_name: str#: The name of the base object.

relative_pos: tuple[float, float, float]#: The relative position (x, y, z) (in m) of the 3D sphere detector to the base object.

radius: float#: The radius (in m) of the 3D sphere detector.

debug_vis: bool#: Visualize the 3D sphere detector. Not supported for now.

reset(handler: BaseSimHandler, env_ids: list[int] | None = None)#: The code to run when the environment is reset.

is_detected(handler: BaseSimHandler, obj_name: str) → torch.BoolTensor#: Check if the object is inside the detector.

get_debug_viewers() → list[BaseObjCfg]#: Get the viewers to be used for debugging the detector.

metasim.cfg.checkers#

BaseChecker#

AndOp#

OrOp#

NotOp#

DetectedChecker#

JointPosChecker#

PositionShiftChecker#

RotationShiftChecker#

JointPosShiftChecker#

RelativeBboxDetector#

Relative3DSphereDetector#

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