Inherits from: RosAgentA ROS-based humanoid robot interface for Isaac Sim.This class provides an interface to control a humanoid robot in Isaac Sim through ROS.
It supports both locomotion and arm control modes.
Initialize an IsaacHumanoid robot instance.This initializes either a locomotion-controlled or arm-controlled humanoid robot.
For arm control, it sets up left and right arms with appropriate ROS topics.
For locomotion control, it initializes a single locomotion controller.
Control mode - either “locomotion” or “arm”.
Defaults to “locomotion”.
To use actuate this class please use the IsaacHumanoid.locomotion or IsaacHumanoid.larm and IsaacHumanoid.rarm attributes. See IsaacLocomotion and IsaacArm for more information.
For arm control you will need to specify the arm you want to use. For example:
humanoid = IsaacHumanoid(config, control="arm")humanoid.larm.getPosition() # Get the position of the left armhumanoid.rarm.getPosition() # Get the position of the right armhumanoid.larm.moveToDeltaPose(Position(0, 0, .1), Orientation(0, 0, 0, 1))humanoid.rarm.moveToDeltaPose(Position(0, 0, .1), Orientation(0, 0, 0, 1))
