Isaac Arm

IsaacArm

Inherits from: RosAgent

IsaacArm

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

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

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

Move robot by specifying linear and angular velocities.

required

VelocityLinear velocity components

required

VelocityAngular velocity components

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

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

This currently is not implemented. Please use moveToDeltaPose instead.

moveToDeltaPose

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

Move the robot to a specified pose.

required

PositionDesired position of the robot

required

OrientationDesired orientation of the robot

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

getPosition

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

Get the current position of the robot.

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

PositionCurrent position of the robot

getOrientation

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

Get the current orientation of the robot.

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

OrientationCurrent orientation of the robot

grasp

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

Grasp with the end effector.

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

release

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

Release with the end effector.

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

getImage (inherited)

IsaacArm.getImage(name: str, image_type: str)

Get image from named image client.

Name of image client

Unused

ImageImage object

getPosition (inherited)

IsaacLocomotion.getPosition(name: str)

Get position from named pose client.

Name of pose client

Position | list: Position object or raw position data

getOrientation (inherited)

IsaacLocomotion.getOrientation(name: str)

Get orientation from named pose client.

Name of pose client

OrientationOrientation of agent as a quaternion

run (inherited)

IsaacArm.run()

Run all ROS clients

Get Started

Open GRID

GRID Enterprise

Robot API

Simulation

AI Layer

Deployment

Data Generation Pipelines

FAQ

IsaacArm

IsaacArm

moveByVelocity

moveToPose

moveToDeltaPose

getPosition

getOrientation

grasp

release

getImage (inherited)

getPosition (inherited)

getOrientation (inherited)

run (inherited)

​IsaacArm

​IsaacArm

​moveByVelocity

​moveToPose

​moveToDeltaPose

​getPosition

​getOrientation

​grasp

​release

​getImage (inherited)

​getPosition (inherited)

​getOrientation (inherited)

​run (inherited)

IsaacArm

IsaacArm

moveByVelocity

moveToPose

moveToDeltaPose

getPosition

getOrientation

grasp

release

getImage (inherited)

getPosition (inherited)

getOrientation (inherited)

run (inherited)