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IsaacLocomotion

Inherits from: RosAgent

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IsaacLocomotion

IsaacLocomotion(config, clients: Union[dict, None])
Initialize an IsaacLocomotion robot instance.
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Arguments
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config (optional, dict)
required
defaults to default isaac config. Configuration dictionary containing camera and sensor settings. Defaults to default isaac config.
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clients (optional, dict)
required
defaults to None. Dictionary of ROS clients. Defaults to None.
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Returns

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moveByVelocity

IsaacLocomotion.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, duration: float | None, name: str)
This command will latch the velocity command to the robot causing it to move with the specified velocity indefinitely. Using duration will cause this command to block until the motion is complete.
Move the 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), optional
Duration of motion in seconds, this will cause this command to block until the motion is complete.
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name (str), optional
Name of velocity command, default is cmd_vel

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getImage (inherited)

IsaacLocomotion.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)

IsaacLocomotion.run()
Run all ROS clients