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grasp_goal

GraspGoal

Bases: SuccessCondition

GraspGoal (success condition)

Source code in omnigibson/termination_conditions/grasp_goal.py 
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class GraspGoal(SuccessCondition):
    """
    GraspGoal (success condition)
    """

    def __init__(self, obj_name):
        self.obj_name = obj_name
        self.obj = None

        # Run super init
        super().__init__()

    def _step(self, task, env, action):
        self.obj = env.scene.object_registry("name", self.obj_name) if self.obj is None else self.obj
        robot = env.robots[0]
        obj_in_hand = robot._ag_obj_in_hand[robot.default_arm]
        return obj_in_hand == self.obj