IsaacArm
Inherits from: RosAgent
IsaacArm
Initialize an IsaacArm robot instance.
Configuration dictionary containing ROS topics and settings.
Defaults to default_isaac_config.
Dictionary of ROS clients. If provided, uses these clients
instead of creating new ones. Defaults to None.
moveByVelocity
Move robot by specifying linear and angular velocities.
defaults to None.
Duration of movement in seconds. Defaults to None.
defaults to “cmd_vel”.
Topic name for velocity commands. Defaults to “cmd_vel”.
moveToPose
This currently is not implemented. Please use moveToDeltaPose instead.
moveToDeltaPose
Move the robot to a specified pose.
defaults to “cmd_delta_pose”.
Name of pose command. Defaults to “cmd_delta_pose”.
getPosition
Get the current position of the robot.
defaults to “robot_pose”.
Name of the pose client. Defaults to “robot_pose”.
getOrientation
Get the current orientation of the robot.
defaults to “robot_pose”.
Name of the pose client. Defaults to “robot_pose”.
grasp
Grasp with the end effector.
defaults to “gripper_cmd”.
Name of the gripper client. Defaults to “gripper_cmd”.
release
Release with the end effector.
defaults to “gripper_cmd”.
Name of the gripper client. Defaults to “gripper_cmd”.
getImage (inherited)
Get image from named image client.
Unused
getPosition (inherited)
Get position from named pose client.
Position | list: Position object or raw position data
getOrientation (inherited)
Get orientation from named pose client.
run (inherited)
Run all ROS clients
