Documentation Index
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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.
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
init
IsaacArm.__init__(config = default_isaac_config, clients: Optional[dict] = None)
Configuration dictionary containing Zenoh topics and settings. (default: default_isaac_config)
Pre-created Zenoh clients to reuse instead of creating new ones. (default: None)
getImage
IsaacArm.getImage(camera_name: str = '', image_type: Optional[str] = 'rgb') -> Image
Name of the image client to read from. If empty, selects the default camera based on image_type. (default: "")
image_type (Optional[str])
Image type used to select the default camera. Accepts “rgb” or “depth”. (default: “rgb”)
Captured image wrapped in the project’s Image type.
If an invalid image_type is provided.
moveByVelocity
IsaacArm.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, frame: str = 'body')
linear_velocity (Velocity)
Linear velocity components.
angular_velocity (Velocity)
Angular velocity components.
Reference frame for the velocity command. (default: “body”)
moveToPose
IsaacArm.moveToPose(position: Position, orientation: Orientation, blocking: bool = True, moving_time: float = 0.3, accel_time: float = 0.15)
Target position in meters (x, y, z).
orientation (Orientation)
Target orientation as a quaternion (x, y, z, w).
Whether to block until the move completes. (unused) (default: True)
Time allowed for movement in seconds. (unused) (default: 0.3)
Acceleration time in seconds. (unused) (default: 0.15)
moveToDeltaPose
IsaacArm.moveToDeltaPose(position: Position, orientation: Orientation, blocking: bool = True, moving_time: float = 0.3, accel_time: float = 0.15)
Desired relative position of the end effector.
orientation (Orientation)
Desired relative orientation of the end effector.
Whether to block until the move completes. (unused) (default: True)
Time allowed for movement in seconds. (unused) (default: 0.3)
Acceleration time in seconds. (unused) (default: 0.15)
getState
IsaacArm.getState() -> dict
Current state including position, orientation, and joint positions.
getPosition
IsaacArm.getPosition() -> Optional[Position]
Current position of the end effector.
getOrientation
IsaacArm.getOrientation() -> Orientation
Current orientation of the end effector as a quaternion (x, y, z, w).
grasp
Close the gripper.
release
Open the gripper.
getJointAngles
IsaacArm.getJointAngles() -> Optional[list]
List of current joint angles in radians.
setJointAngles
IsaacArm.setJointAngles(joint_positions: list, blocking: bool = True, moving_time: float = 2.0, accel_time: float = 0.5) -> None
List of joint angles for the robot in radians.
Whether to block until the move completes. (unused) (default: True)
Time allowed for movement in seconds. (unused) (default: 2.0)
Acceleration time in seconds. (unused) (default: 0.5)
stop
IsaacArm.stop(immediate: bool = False)
Whether to stop immediately. (unused) (default: False)
