Pick-and-Place Controller

Pick-and-Place Controller for Articulated Robots

Installation

To use this Node, you must enable omni.isaac.examples_nodes in the Extension Manager.

Inputs

Name

Type

Description

Default

execIn

execution

The input execution

targetPrim

bundle

The target robot prim

usePath

bool

use robot and com path instead of selecting them from stage tree

False

robotModel

string

type of robot. Options are: UR, Franka, or Dofbot

robotPrimPath

string

path to the robot articulation root

pickingPosition

double[3]

XYZ location to pick from

[0.25, 0.25, 0.0]

placingPosition

double[3]

XYZ location to place at

[0.25, -0.25, 0.0]

endEffectorOffset

double[3]

XYZ offset of end-effector from flange

[0.0, 0.0, 0.0]

eventsDT

double[]

timing between pick and place events

[0.01, 0.01, 1.0, 0.01, 0.01, 0.01, 0.01, 0.05, 0.01, 0.08]