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IsaacBimanual

Inherits from: ZenohAgent Isaac Sim bimanual arm implementation backed by Zenoh. This class provides an interface to control left and right arms in Isaac Sim through Zenoh clients configured for side-specific topics.

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Inherited methods

  • From ZenohAgent: create_clients, getForce, getTorque, getImage, getPosition, getOrientation, sendVelocity, sendPose, publishMsg, getMsg, getJointAngles, setJointAngles, getJointVelocities, getJointStates, getObjectPose, setObjectPose, run, stop, prompt, reset
  • From Robot: addSensor, cleanup

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init

IsaacBimanual.__init__(config = default_isaac_config)
Initialize an IsaacBimanual robot instance. This initializes a bimanual robot in Isaac Sim through zenoh. For arm control, it sets up left and right arms with appropriate zenoh topics.
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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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getState

IsaacBimanual.getState()
Get the current state of the bimanual arms.
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Returns
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dict
Current state including left and right arm states.

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moveByVelocity

IsaacBimanual.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, frame: str = 'body') -> None
Move the robot base 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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Returns
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returns
None
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Raises
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NotImplementedError
This robot does not support base velocity control.