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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)

This command will latch the velocity command to the robot causing it to move with the specified velocity indefinitely. Using duration will cause this command to block until the motion is complete.

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, this will cause this command to block until the motion is complete.

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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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