Jetbot Robot [omni.isaac.jebot]

Jetbot

class Jetbot(prim_path: str, name: str = 'jetbot', usd_path: Optional[str] = None, position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None)

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Parameters

• stage (Usd.Stage) – [description]

• prim_path (str) – [description]

• name (str) – [description]

• usd_path (str, optional) – [description]

• position (Optional[np.ndarray], optional) – [description]. Defaults to None.

• orientation (Optional[np.ndarray], optional) – [description]. Defaults to None.

apply_action(control_actions: omni.isaac.core.utils.types.ArticulationAction, indices: Optional[Union[List, numpy.ndarray]] = None) → None

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Parameters

• control_actions (ArticulationAction) – actions to be applied for next physics step.

• indices (Optional[Union[list, np.ndarray]], optional) – degree of freedom indices to apply actions to. Defaults to all degrees of freedom.

Raises

Exception – [description]

apply_visual_material(visual_material: omni.isaac.core.materials.visual_material.VisualMaterial, weaker_than_descendants: bool = False) → None

Used to apply visual material to the held prim and optionally its descendants.

Parameters

• visual_material (VisualMaterial) – visual material to be applied to the held prim. Currently supports PreviewSurface, OmniPBR and OmniGlass.

• weaker_than_descendants (bool, optional) – True if the material shouldn’t override the descendants materials, otherwise False. Defaults to False.

apply_wheel_actions(actions: omni.isaac.core.utils.types.ArticulationAction) → None

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Parameters

actions (ArticulationAction) – [description]

property articulation_handle

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Returns

[description]

Return type

int

change_prim_path(new_prim_path: str) → None

Moves prim from the old path to a new one.

Parameters

new_prim_path (str) – new path of the prim to be moved to.

disable_gravity() → None

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property dof_properties

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Returns

[description]

Return type

np.ndarray

get_angular_velocity() → numpy.ndarray

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Returns

[description]

Return type

np.ndarray

get_applied_action() → omni.isaac.core.utils.types.ArticulationAction

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Raises

Exception – [description]

Returns

[description]

Return type

ArticulationAction

get_applied_visual_material() → omni.isaac.core.materials.visual_material.VisualMaterial

Returns the current applied visual material in case it was applied using apply_visual_material OR

it’s one of the following materials that was already applied before: PreviewSurface, OmniPBR and OmniGlass.

Returns

the current applied visual material if its type is currently supported.

Return type

VisualMaterial

get_articulation_body_count() → int

[summary]

Returns

[description]

Return type

int

get_articulation_controller() → omni.isaac.core.controllers.articulation_controller.ArticulationController

Returns

PD Controller of all degrees of freedom of an articulation, can apply position targets, velocity targets and efforts.

Return type

ArticulationController

get_default_state() → omni.isaac.core.utils.types.XFormPrimState

Returns

returns the default state of the prim (position and orientation) that is used after each reset.

Return type

XFormPrimState

get_dof_index(dof_name: str) → int

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Parameters

dof_name (str) – [description]

Returns

[description]

Return type

int

get_enabled_self_collisions() → bool

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Returns

[description]

Return type

bool

get_joint_efforts() → numpy.ndarray

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Raises

Exception – [description]

Returns

[description]

Return type

np.ndarray

get_joint_positions() → numpy.ndarray

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Raises

Exception – [description]

Returns

[description]

Return type

np.ndarray

get_joint_velocities() → numpy.ndarray

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Raises

Exception – [description]

Returns

[description]

Return type

np.ndarray

get_joints_state() → omni.isaac.core.utils.types.JointsState

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Returns

[description]

Return type

JointsState

get_linear_velocity() → numpy.ndarray

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Returns

[description]

Return type

np.ndarray

get_local_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the local frame (the prim’s parent frame).

Returns

first index is position in the local frame of the prim. shape is (3, ).

second index is quaternion orientation in the local frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_local_scale() → numpy.ndarray

Gets prim’s scale with respect to the local frame (the parent’s frame).

Returns

scale applied to the prim’s dimensions in the local frame. shape is (3, ).

Return type

np.ndarray

get_sleep_threshold() → float

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Returns

[description]

Return type

float

get_solver_position_iteration_count() → int

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Returns

[description]

Return type

int

get_solver_velocity_iteration_count() → int

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Returns

[description]

Return type

int

get_stabilization_threshold() → float

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Returns

[description]

Return type

float

get_visibility() → bool

Returns

true if the prim is visible in stage. false otherwise.

Return type

bool

get_wheel_positions() → Tuple[float, float]

[summary]

Returns

[description]

Return type

Tuple[float, float]

get_wheel_velocities() → Tuple[float, float]

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Returns

[description]

Return type

Tuple[np.ndarray, np.ndarray]

get_world_pose() → Tuple[numpy.ndarray, numpy.ndarray]

Gets prim’s pose with respect to the world’s frame.

Returns

first index is position in the world frame of the prim. shape is (3, ).

second index is quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ).

Return type

Tuple[np.ndarray, np.ndarray]

get_world_scale() → numpy.ndarray

Gets prim’s scale with respect to the world’s frame.

Returns

scale applied to the prim’s dimensions in the world frame. shape is (3, ).

Return type

np.ndarray

property handles_initialized

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Returns

[description]

Return type

bool

initialize() → None

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is_valid() → bool

Returns

True is the current prim path corresponds to a valid prim in stage. False otherwise.

Return type

bool

is_visual_material_applied() → bool

Returns

True if there is a visual material applied. False otherwise.

Return type

bool

property name

Returns: str: name given to the prim when instantiating it. Otherwise None.

property num_dof

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Returns

[description]

Return type

int

post_reset() → None

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property prim

Returns: Usd.Prim: USD Prim object that this object holds.

property prim_path

Returns: str: prim path in the stage.

read_kinematic_hierarchy() → None

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set_angular_velocity(velocity: numpy.ndarray) → None

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Parameters

velocity (np.ndarray) – [description]

set_default_state(position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None) → None

Sets the default state of the prim (position and orientation), that will be used after each reset.

Parameters

• position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

• orientation (Optional[np.ndarray], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_enabled_self_collisions(flag: bool) → None

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Parameters

flag (bool) – [description]

set_joint_efforts(efforts: numpy.ndarray, indices: Optional[Union[List, numpy.ndarray]] = None) → None

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Parameters

• efforts (np.ndarray) – [description]

• indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.

Raises

Exception – [description]

set_joint_positions(positions: numpy.ndarray, indices: Optional[Union[List, numpy.ndarray]] = None) → None

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Parameters

• positions (np.ndarray) – [description]

• indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.

Raises

Exception – [description]

set_joint_velocities(velocities: numpy.ndarray, indices: Optional[Union[List, numpy.ndarray]] = None) → None

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Parameters

• velocities (np.ndarray) – [description]

• indices (Optional[Union[list, np.ndarray]], optional) – [description]. Defaults to None.

Raises

Exception – [description]

set_joints_default_state(positions: Optional[numpy.ndarray] = None, velocities: Optional[numpy.ndarray] = None, efforts: Optional[numpy.ndarray] = None) → None

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Parameters

• positions (Optional[np.ndarray], optional) – [description]. Defaults to None.

• velocities (Optional[np.ndarray], optional) – [description]. Defaults to None.

• efforts (Optional[np.ndarray], optional) – [description]. Defaults to None.

set_linear_velocity(velocity: numpy.ndarray)

Sets the linear velocity of the prim in stage.

Parameters

velocity (np.ndarray) – linear velocity to set the rigid prim to. Shape (3,).

set_local_pose(translation: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None) → None

Sets prim’s pose with respect to the local frame (the prim’s parent frame).

Parameters

• translation (Optional[np.ndarray], optional) – translation in the local frame of the prim (with respect to its parent prim). shape is (3, ). Defaults to None, which means left unchanged.

• orientation (Optional[np.ndarray], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

set_local_scale(scale: Optional[numpy.ndarray]) → None

Sets prim’s scale with respect to the local frame (the prim’s parent frame).

Parameters

scale (Optional[np.ndarray]) – scale to be applied to the prim’s dimensions. shape is (3, ). Defaults to None, which means left unchanged.

set_sleep_threshold(threshold: float) → None

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Parameters

threshold (float) – [description]

set_solver_position_iteration_count(count: int) → None

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Parameters

count (int) – [description]

set_solver_velocity_iteration_count(count: int)

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Parameters

count (int) – [description]

set_stabilization_threshold(threshold: float) → None

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Parameters

threshold (float) – [description]

set_visibility(visible: bool) → None

Sets the visibility of the prim in stage.

Parameters

visible (bool) – flag to set the visibility of the usd prim in stage.

set_wheel_positions(positions: Tuple[float, float]) → None

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Parameters

positions (Tuple[float, float]) – [description]

set_wheel_velocities(velocities: Tuple[float, float]) → None

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Parameters

velocities (Tuple[float, float]) – [description]

set_world_pose(position: Optional[numpy.ndarray] = None, orientation: Optional[numpy.ndarray] = None) → None

Sets prim’s pose with respect to the world’s frame.

Parameters

• position (Optional[np.ndarray], optional) – position in the world frame of the prim. shape is (3, ). Defaults to None, which means left unchanged.

• orientation (Optional[np.ndarray], optional) – quaternion orientation in the world frame of the prim. quaternion is scalar-first (w, x, y, z). shape is (4, ). Defaults to None, which means left unchanged.

property wheel_dof_indices

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Returns

[description]

Return type

int

Jetbot Controllers

class DifferentialController(name: str, wheel_radius=3, wheel_base=11.25)

Controller uses unicycle model for a diffrential drive

Parameters

• name (str) – [description]

• wheel_radius (float) – Radius of left and right wheels in cms

• wheel_base (float) – Distance between left and right wheels in cms

forward(command: numpy.ndarray) → omni.isaac.core.utils.types.ArticulationAction

[summary]

Parameters

command (np.ndarray) – [description]

Returns

[description]

Return type

ArticulationAction

reset() → None

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