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IsaacMobileBimanual

Inherits from: IsaacBimanual Isaac Sim mobile bimanual implementation backed by Zenoh. This class extends IsaacBimanual to add locomotion capabilities, providing an interface to control a mobile bimanual robot in Isaac Sim through Zenoh. It combines bimanual arm control with base locomotion.

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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, prompt, reset
  • From Robot: addSensor, cleanup

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init

IsaacMobileBimanual.__init__(config = default_isaac_config)
Initialize an IsaacMobileBimanual robot instance. This initializes a mobile bimanual robot in Isaac Sim through Zenoh. Sets up left and right arms with appropriate Zenoh topics, and adds a locomotion base controller.
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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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moveByVelocity

IsaacMobileBimanual.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, frame: str = 'body', name: str = 'cmd_vel')
Move the robot base by specifying linear and angular velocities. Due to the nature of Isaac Sim, the robot will move in the direction/rotation of the velocity vectors, but exact movement may vary. Use odometry feedback with getPosition and/or getOrientation when you need precise distance or angle control.
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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. (default: “body”)
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name (str)
str
Name of velocity command. (default: “cmd_vel”)

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stop

IsaacMobileBimanual.stop(name: str = 'cmd_vel')
Stop the robot base.
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Arguments
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name (str)
str
Name of velocity command. (default: “cmd_vel”)

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getState

IsaacMobileBimanual.getState() -> dict
Get the complete state of the mobile bimanual robot.
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Returns
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dict
dict
Dictionary containing base position, base orientation, left arm state, and right arm state.