Isaac Locomotion

IsaacLocomotion

Inherits from: RosAgent

IsaacLocomotion

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

Initialize an IsaacLocomotion robot instance.

Arguments

config (optional, dict) · required

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

clients (optional, dict) · required

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

Returns

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.

Arguments

linear_velocity (Velocity) · required

Velocity

Linear velocity components

angular_velocity (Velocity) · required

Velocity

Angular velocity components

duration (float), optional

Duration of motion in seconds, this will cause this command to block until the motion is complete.

name (str), optional

Name of velocity command, default is cmd_vel

getImage (inherited)

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

Get image from named image client.

Arguments

name (str), optional

Name of image client

image_type (str), optional

Unused

Returns

Image

Image object

getPosition (inherited)

IsaacLocomotion.getPosition(name: str)

Get position from named pose client.

Arguments

name (str), optional

Name of pose client

Returns

Position | list: Position object or raw position data

getOrientation (inherited)

IsaacLocomotion.getOrientation(name: str)

Get orientation from named pose client.

Arguments

name (str), optional

Name of pose client

Returns

Orientation

Orientation of agent as a quaternion

run (inherited)

IsaacLocomotion.run()

Run all ROS clients