IsaacArm
Inherits from: RosAgent
IsaacArm
IsaacArm(config, clients: Union[dict, None])
Configuration dictionary containing ROS topics and settings.
Defaults to default_isaac_config.
Dictionary of ROS clients. If provided, uses these clients
instead of creating new ones. Defaults to None.
moveByVelocity
IsaacArm.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, duration: Union[float, None], name: str)
linear_velocity (Velocity)
angular_velocity (Velocity)
duration (float|None), optional
defaults to None.
Duration of movement in seconds. Defaults to None.
defaults to “cmd_vel”.
Topic name for velocity commands. Defaults to “cmd_vel”.
moveToPose
IsaacArm.moveToPose(position: Position, orientation: Orientation, relative: bool, blocking: bool, moving_time: float, accel_time: float, relative_offset: list, name: Union[str, None])
This currently is not implemented. Please use moveToDeltaPose instead.
moveToDeltaPose
IsaacArm.moveToDeltaPose(position: Position, orientation: Orientation, name: Union[str, None])
orientation (Orientation)
defaults to “cmd_delta_pose”.
Name of pose command. Defaults to “cmd_delta_pose”.
getPosition
IsaacArm.getPosition(name: Union[str, None])
defaults to “robot_pose”.
Name of the pose client. Defaults to “robot_pose”.
getOrientation
IsaacArm.getOrientation(name: Union[str, None])
defaults to “robot_pose”.
Name of the pose client. Defaults to “robot_pose”.
grasp
IsaacArm.grasp(name: Union[str, None])
defaults to “gripper_cmd”.
Name of the gripper client. Defaults to “gripper_cmd”.
release
IsaacArm.release(name: Union[str, None])
defaults to “gripper_cmd”.
Name of the gripper client. Defaults to “gripper_cmd”.
getImage (inherited)
IsaacArm.getImage(name: str, image_type: str)
image_type (str), optional
Unused
getPosition (inherited)
IsaacLocomotion.getPosition(name: str)
Position | list: Position object or raw position data
getOrientation (inherited)
IsaacLocomotion.getOrientation(name: str)
run (inherited)
Run all ROS clients
