Isaac Sim Examples Nodes [omni.isaac.examples_nodes]

Omnigraph Nodes


Pick-and-Place Controller for Articulated Robots

The controller takes a robot, pick-place sequence timing, and pick and place targets

  • execIn (execution): The input execution.

  • targetPrim (target, optional): The target robot prim.

  • usePath (bool): use robot and com path instead of selecting them from stage tree. Default to 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. Default to [0.25, 0.25, 0.0].

  • placingPosition (double[3]): XYZ location to place at. Default to [0.25, -0.25, 0.0].

  • endEffectorOffset (double[3]): XYZ offset of end-effector from flange. Default to [0.0, 0.0, 0.0].

  • eventsDT (double[]): timing between pick and place events. Default to [0.01, 0.01, 1.0, 0.01, 0.01, 0.01, 0.01, 0.05, 0.01, 0.08].