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IsaacArm

Inherits from: Arm, ZenohAgent Isaac Sim arm implementation backed by Zenoh. This class provides an interface to control a simulated arm in Isaac Sim using Zenoh clients for poses, joints, and gripper control.

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Inherited methods

  • From Arm: setNamedPose, removeNamedPose, getNamedPose
  • From Robot: addSensor, cleanup
  • From ZenohAgent: create_clients, getForce, getTorque, sendVelocity, sendPose, publishMsg, getMsg, getJointVelocities, getJointStates, getObjectPose, setObjectPose, run, prompt, reset

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init

IsaacArm.__init__(config = default_isaac_config, clients: Optional[dict] = None)
Initialize an Isaac Sim arm interface.
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Arguments
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config (dict)
dict
Configuration dictionary containing Zenoh topics and settings. (default: default_isaac_config)
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clients (Optional[dict])
Optional[dict]
Pre-created Zenoh clients to reuse instead of creating new ones. (default: None)

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getImage

IsaacArm.getImage(camera_name: str = '', image_type: Optional[str] = 'rgb') -> Image
Get an image from a camera client.
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Arguments
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camera_name (str)
str
Name of the image client to read from. If empty, selects the default camera based on image_type. (default: "")
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image_type (Optional[str])
Optional[str]
Image type used to select the default camera. Accepts “rgb” or “depth”. (default: “rgb”)
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Returns
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Image
Image
Captured image wrapped in the project’s Image type.
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Raises
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ValueError
If an invalid image_type is provided.

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moveByVelocity

IsaacArm.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, frame: str = 'body')
Move the arm by specifying linear and angular velocities.
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Arguments
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linear_velocity (Velocity)
Velocity
required
Linear velocity components.
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angular_velocity (Velocity)
Velocity
required
Angular velocity components.
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frame (str)
str
Reference frame for the velocity command. (default: “body”)

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moveToPose

IsaacArm.moveToPose(position: Position, orientation: Orientation, blocking: bool = True, moving_time: float = 0.3, accel_time: float = 0.15)
Move the end effector to an absolute pose. This method sends a single command to move the end effector to the specified absolute position and orientation.
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Arguments
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position (Position)
Position
required
Target position in meters (x, y, z).
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orientation (Orientation)
Orientation
required
Target orientation as a quaternion (x, y, z, w).
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blocking (bool)
bool
Whether to block until the move completes. (unused) (default: True)
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moving_time (float)
float
Time allowed for movement in seconds. (unused) (default: 0.3)
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accel_time (float)
float
Acceleration time in seconds. (unused) (default: 0.15)

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moveToDeltaPose

IsaacArm.moveToDeltaPose(position: Position, orientation: Orientation, blocking: bool = True, moving_time: float = 0.3, accel_time: float = 0.15)
Move the end effector to a relative pose.
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Arguments
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position (Position)
Position
required
Desired relative position of the end effector.
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orientation (Orientation)
Orientation
required
Desired relative orientation of the end effector.
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blocking (bool)
bool
Whether to block until the move completes. (unused) (default: True)
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moving_time (float)
float
Time allowed for movement in seconds. (unused) (default: 0.3)
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accel_time (float)
float
Acceleration time in seconds. (unused) (default: 0.15)

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getState

IsaacArm.getState() -> dict
Get the current state of the arm.
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Returns
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dict
dict
Current state including position, orientation, and joint positions.

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getPosition

IsaacArm.getPosition() -> Optional[Position]
Get the current position of the end effector.
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Returns
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Optional[Position]
Optional[Position]
Current position of the end effector.

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getOrientation

IsaacArm.getOrientation() -> Orientation
Get the current orientation of the end effector.
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Returns
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Orientation
Orientation
Current orientation of the end effector as a quaternion (x, y, z, w).

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grasp

IsaacArm.grasp()
Close the gripper.

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release

IsaacArm.release()
Open the gripper.

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getJointAngles

IsaacArm.getJointAngles() -> Optional[list]
Get the current joint angles of the arm.
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Returns
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Optional[list]
Optional[list]
List of current joint angles in radians.

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setJointAngles

IsaacArm.setJointAngles(joint_positions: list, blocking: bool = True, moving_time: float = 2.0, accel_time: float = 0.5) -> None
Set the joint angles of the arm.
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Arguments
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joint_positions (list)
list
required
List of joint angles for the robot in radians.
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blocking (bool)
bool
Whether to block until the move completes. (unused) (default: True)
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moving_time (float)
float
Time allowed for movement in seconds. (unused) (default: 2.0)
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accel_time (float)
float
Acceleration time in seconds. (unused) (default: 0.5)
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Returns
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returns
None

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stop

IsaacArm.stop(immediate: bool = False)
Stop the robot.
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Arguments
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immediate (bool)
bool
Whether to stop immediately. (unused) (default: False)