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IsaacLocomotion

Inherits from: RosAgent

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IsaacLocomotion

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

Initialize an IsaacLocomotion robot instance.

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Arguments
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config (optional, dict)
required

defaults to default isaac config. Configuration dictionary containing camera and sensor settings. Defaults to default isaac config.

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clients (optional, dict)
required

defaults to None. Dictionary of ROS clients. Defaults to None.

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Returns

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moveByVelocity

IsaacLocomotion.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, duration: float | None, name: str)

Move the 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), optional

Duration of motion in seconds

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name (str), optional

Name of velocity command, default is cmd_vel

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getImage (inherited)

IsaacLocomotion.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
​
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)

IsaacLocomotion.run()

Run all ROS clients

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