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IsaacArm

Inherits from: RosAgent

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IsaacArm

IsaacArm(config, clients: Union[dict, None])
Initialize an IsaacArm robot instance.
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Arguments
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config (dict), optional
Configuration dictionary containing ROS topics and settings. Defaults to default_isaac_config.
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clients (dict), optional
Dictionary of ROS clients. If provided, uses these clients instead of creating new ones. Defaults to None.

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moveByVelocity

IsaacArm.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, duration: Union[float, None], name: str)
Move robot by specifying linear and angular velocities.
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Arguments
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linear_velocity (Velocity)
required
VelocityLinear velocity components
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angular_velocity (Velocity)
required
VelocityAngular velocity components
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duration (float|None), optional
defaults to None. Duration of movement in seconds. Defaults to None.
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name (str), optional
defaults to “cmd_vel”. Topic name for velocity commands. Defaults to “cmd_vel”.

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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.

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moveToDeltaPose

IsaacArm.moveToDeltaPose(position: Position, orientation: Orientation, name: Union[str, None])
Move the robot to a specified pose.
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Arguments
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position (Position)
required
PositionDesired position of the robot
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orientation (Orientation)
required
OrientationDesired orientation of the robot
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name (str), optional
defaults to “cmd_delta_pose”. Name of pose command. Defaults to “cmd_delta_pose”.

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getPosition

IsaacArm.getPosition(name: Union[str, None])
Get the current position of the robot.
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Arguments
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name (str), optional
defaults to “robot_pose”. Name of the pose client. Defaults to “robot_pose”.
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Returns
PositionCurrent position of the robot

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getOrientation

IsaacArm.getOrientation(name: Union[str, None])
Get the current orientation of the robot.
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Arguments
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name (str), optional
defaults to “robot_pose”. Name of the pose client. Defaults to “robot_pose”.
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Returns
OrientationCurrent orientation of the robot

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grasp

IsaacArm.grasp(name: Union[str, None])
Grasp with the end effector.
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Arguments
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name (str), optional
defaults to “gripper_cmd”. Name of the gripper client. Defaults to “gripper_cmd”.

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release

IsaacArm.release(name: Union[str, None])
Release with the end effector.
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Arguments
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name (str), optional
defaults to “gripper_cmd”. Name of the gripper client. Defaults to “gripper_cmd”.

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getImage (inherited)

IsaacArm.getImage(name: str, image_type: str)
Get image from named image client.
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Arguments
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name (str), optional
Name of image client
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image_type (str), optional
Unused
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Returns
ImageImage object

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getPosition (inherited)

IsaacLocomotion.getPosition(name: str)
Get position from named pose client.
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Arguments
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name (str), optional
Name of pose client
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Returns
Position | list: Position object or raw position data

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getOrientation (inherited)

IsaacLocomotion.getOrientation(name: str)
Get orientation from named pose client.
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Arguments
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name (str), optional
Name of pose client
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Returns
OrientationOrientation of agent as a quaternion

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run (inherited)

IsaacArm.run()
Run all ROS clients