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IsaacArm

Inherits from: RosAgent

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IsaacArm

IsaacArm(config, clients: Union[dict, None])

Initialize an IsaacArm robot instance.

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Arguments
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config (dict), optional

Configuration dictionary containing ROS topics and settings. Defaults to default_isaac_config.

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clients (dict), optional

Dictionary of ROS clients. If provided, uses these clients instead of creating new ones. Defaults to None.

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moveByVelocity

IsaacArm.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, duration: Union[float, None], name: str)

Move robot by specifying linear and angular velocities.

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Arguments
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linear_velocity (Velocity)
required

Velocity

Linear velocity components

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angular_velocity (Velocity)
required

Velocity

Angular velocity components

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duration (float|None), optional

defaults to None. Duration of movement in seconds. Defaults to None.

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name (str), optional

defaults to “cmd_vel”. Topic name for velocity commands. Defaults to “cmd_vel”.

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moveToPose

IsaacArm.moveToPose(position: Position, orientation: Orientation, relative: bool, blocking: bool, moving_time: float, accel_time: float, relative_offset: list, name: Union[str, None])

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moveToDeltaPose

IsaacArm.moveToDeltaPose(position: Position, orientation: Orientation, name: Union[str, None])

Move the robot to a specified pose.

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Arguments
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position (Position)
required

Position

Desired position of the robot

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orientation (Orientation)
required

Orientation

Desired orientation of the robot

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name (str), optional

defaults to “cmd_delta_pose”. Name of pose command. Defaults to “cmd_delta_pose”.

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getPosition

IsaacArm.getPosition(name: Union[str, None])

Get the current position of the robot.

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Arguments
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name (str), optional

defaults to “robot_pose”. Name of the pose client. Defaults to “robot_pose”.

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Returns

Position

Current position of the robot

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getOrientation

IsaacArm.getOrientation(name: Union[str, None])

Get the current orientation of the robot.

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Arguments
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name (str), optional

defaults to “robot_pose”. Name of the pose client. Defaults to “robot_pose”.

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Returns

Orientation

Current orientation of the robot

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grasp

IsaacArm.grasp(name: Union[str, None])

Grasp with the end effector.

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Arguments
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name (str), optional

defaults to “gripper_cmd”. Name of the gripper client. Defaults to “gripper_cmd”.

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release

IsaacArm.release(name: Union[str, None])

Release with the end effector.

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Arguments
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name (str), optional

defaults to “gripper_cmd”. Name of the gripper client. Defaults to “gripper_cmd”.

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getImage (inherited)

IsaacArm.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

Image

Image 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

Orientation

Orientation of agent as a quaternion

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run (inherited)

IsaacArm.run()

Run all ROS clients

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