Pick-and-Place Controller

Pick-and-Place Controller for Articulated Robots

Installation

To use this node enable omni.isaac.examples_nodes in the Extension Manager.

Name	Type	Descripton	Default
End Effector Offset (inputs:endEffectorOffset)	`double[3]`	XYZ offset of end-effector from flange	[0.0, 0.0, 0.0]
Events DT (inputs: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]
Exec In (inputs:execIn)	`execution`	The input execution	None
Picking Position (inputs:pickingPosition)	`double[3]`	XYZ location to pick from	[0.25, 0.25, 0.0]
Placing Position (inputs:placingPosition)	`double[3]`	XYZ location to place at	[0.25, -0.25, 0.0]
Robot Model (inputs:robotModel)	`string`	type of robot. Options are: UR or Franka
Robot Prim Path (inputs:robotPrimPath)	`string`	path to the robot articulation root
Target Prim (inputs:targetPrim)	`target`	The target robot prim	None
Use Path (inputs:usePath)	`bool`	use robot and com path instead of selecting them from stage tree	False

Name	Value
Unique ID	omni.isaac.examples_nodes.IsaacPickPlaceController
Version	1
Extension	omni.isaac.examples_nodes
Has State?	False
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Pick-and-Place Controller
Categories	isaacSim
__categoryDescriptions	isaacSim,Robot controller inside Isaac Sim
Generated Class Name	OgnIsaacPickPlaceControllerDatabase
Python Module	omni.isaac.examples_nodes