Isaac SDK Bridge [REB] Commands

Commands

class RobotEngineBridgeCreateCamera(path: str = '/REB_Camera', parent=None, enabled: bool = True, rgb_output_component: str = 'output', rgb_output_channel: str = 'color', depth_output_component: str = 'output', depth_output_channel: str = 'depth', segmentation_output_component: str = 'output', segmentation_output_channel: str = 'segmentation', bbox2d_output_component: str = 'output', bbox2d_output_channel: str = 'bbox', bbox2d_class_list: str = '', bbox3d_output_component: str = 'output', bbox3d_output_channel: str = 'bbox3d', bbox3d_class_list: str = '', rgb_enabled: bool = True, depth_enabled: bool = False, segmentaion_enabled: bool = False, bbox2d_enabled: bool = False, bbox3d_enabled: bool = False, camera_prim_rel=None, resolution: pxr.Gf.Vec2i = Gf.Vec2i(1280, 720))

Bases: omni.kit.commands.command.Command

class RobotEngineBridgeCreateCommand(path: str = '/REB_Command', parent=None, enabled: bool = True, input_component: str = 'command', input_channel: str = 'input')

Bases: omni.kit.commands.command.Command

class RobotEngineBridgeCreateContactMonitor(path: str = '/REB_ContactMonitor', parent=None, enabled: bool = True, output_component: str = 'output', output_channel: str = 'collision', target_prim_rel=None, ignored_prims_rel=None, force_threshold: float = 1000.0)

Bases: omni.kit.commands.command.Command

class RobotEngineBridgeCreateDifferentialBase(path: str = '/REB_DifferentialBase', parent=None, enabled: bool = True, input_component: str = 'input', input_channel: str = 'base_command', output_component: str = 'output', output_channel: str = 'base_state', chassis_prim_rel=None, left_wheel_joint_name: str = '', right_wheel_joint_name: str = '', robot_front: pxr.Gf.Vec2f = Gf.Vec3f(1.0, 0.0, 0.0), wheel_radius: float = 0.1, wheel_base: float = 0.5, max_speed: pxr.Gf.Vec2f = Gf.Vec2f(1.5, 1.0), time_without_command: float = 0.2, acceleration_smoothing: float = 1.0)

Bases: omni.kit.commands.command.Command

class RobotEngineBridgeCreateHolonomicBase(path: str = '/REB_HolonomicBase', parent=None, enabled: bool = True, input_component: str = 'input', input_channel: str = 'base_command', output_component: str = 'output', output_channel: str = 'base_state', articulation_prim_rel=None, wheel_1_joint_name: str = '', wheel_2_joint_name: str = '', wheel_3_joint_name: str = '', robot_front: pxr.Gf.Vec3f = Gf.Vec3f(1.0, 0.0, 0.0), wheel_radius: float = 0.1, wheel_base: float = 0.5, max_speed: pxr.Gf.Vec2f = Gf.Vec2f(1.5, 1.0), time_without_command: float = 0.2, acceleration_smoothing: float = 1.0)

Bases: omni.kit.commands.command.Command

class RobotEngineBridgeCreateJointControl(path: str = '/REB_JointControl', parent=None, enabled: bool = True, input_component: str = 'input', input_channel: str = 'joint_position', output_component: str = 'output', output_channel: str = 'joint_state', articulation_prim_rel=None)

Bases: omni.kit.commands.command.Command

class RobotEngineBridgeCreateLidar(path: str = '/REB_Lidar', parent=None, enabled: bool = True, output_component: str = 'output', output_channel: str = 'rangescan', lidar_prim_rel=None)

Bases: omni.kit.commands.command.Command

class RobotEngineBridgeCreateOccupancyGridMap(path: str = '/REB_OccupancyGridMap', parent=None, enabled: bool = True, output_component: str = 'output', output_channel: str = 'occupancy_map', parent_prim_rel=None, offset: pxr.Gf.Vec3f = Gf.Vec3f(0.0, 0.0, 0.0), cell_size: float = 0.1, degrees_per_ray: float = 5, surface_offset: float = 0.02, occupancy_threshold: float = 1.0, max_rays: int = 1000000, map_size: pxr.Gf.Vec2i = Gf.Vec2i(32, 32), debug_draw: bool = False, occupied_value: float = 1.0, unoccupied_value: float = 0.0, unknown_value: float = 0.5)

Bases: omni.kit.commands.command.Command

class RobotEngineBridgeCreatePolylineVisualizer(path: str = '/REB_PolylineVisualizer', parent=None, enabled: bool = True, input_component: str = 'input', input_channel: str = 'sight_plan', parent_prim_rel=None, width: float = 0.1, color: pxr.Gf.Vec4f = Gf.Vec4f(1.0, 1.0, 1.0, 1.0), offset: pxr.Gf.Vec3f = Gf.Vec3f(0.0, 0.0, 0.0))

Bases: omni.kit.commands.command.Command

class RobotEngineBridgeCreatePoseTree(path: str = '/REB_PoseTree', parent=None, enabled: bool = True, node_name: str = 'atlas', output_component: str = '', output_channel: str = 'frontend', prims_rel: [] = None, depth_limits: [<class 'int'>] = [], prim_regex: str = '')

Bases: omni.kit.commands.command.Command

class RobotEngineBridgeCreateRigidBodySink(path: str = '/REB_RigidBodySink', parent=None, enabled: bool = True, output_component: str = 'output', output_channel: str = 'bodies', rigid_body_prims_rel=None)

Bases: omni.kit.commands.command.Command

class RobotEngineBridgeCreateScenarioFromMessage(path: str = '/REB_ScenarioFromMessage', parent=None, enabled: bool = True, input_component: str = 'input', input_channel: str = 'scenario_actors', teleport_input_component: str = 'input', teleport_input_channel: str = 'teleport', rigid_body_sink_output_component: str = 'output', rigid_body_sink_output_channel: str = 'bodies')

Bases: omni.kit.commands.command.Command

class RobotEngineBridgeCreateScissorLift(path: str = '/REB_ScissorLift', parent=None, enabled: bool = True, input_component: str = 'input', input_channel: str = 'joint_position', output_component: str = 'output', output_channel: str = 'joint_state', articulation_prim_rel=None, lift_joint_name: str = 'lift_joint', lift_speed: float = 0.02)

Bases: omni.kit.commands.command.Command

class RobotEngineBridgeCreateSurfaceGripper(path: str = '/REB_SurfaceGripper', parent=None, enabled: bool = True, input_component: str = 'input', input_channel: str = 'io_command', output_component: str = 'output', output_channel: str = 'io_state', d6_joint_prim_rel=None, parent_prim_rel=None, gripper_entity: str = 'gripper', grip_threshold: float = 1, force_limit: float = 10000000000.0, torque_limit: float = 10000000000.0, bend_angle: float = 0, stiffness: float = 10000000000.0, damping: float = 1000.0, offset_position: pxr.Gf.Vec3f = Gf.Vec3f(0.0, 0.0, 0.0), offset_rotation: pxr.Gf.Quatf = Gf.Quatf(1.0, Gf.Vec3f(0.0, 0.0, 0.0)))

Bases: omni.kit.commands.command.Command

class RobotEngineBridgeCreateTeleport(path: str = '/REB_Teleport', parent=None, enabled: bool = True, input_component: str = 'input', input_channel: str = 'teleport', teleport_prims_rel=None)

Bases: omni.kit.commands.command.Command

class RobotEngineBridgeCreateTwoFingerGripper(path: str = '/REB_TwoFingerGripper', parent=None, enabled: bool = True, input_component: str = 'input', input_channel: str = 'io_command', output_component: str = 'output', output_channel: str = 'io_state', articulation_prim_rel=None, left_finger_joint: str = 'left_finger', right_finger_joint: str = 'right_finger', gripper_entity: str = 'gripper', closed_distance: float = 0, open_distance: float = 0.04)

Bases: omni.kit.commands.command.Command

class RobotEngineBridgeCreateUltrasonic(path: str = '/REB_Ultrasonic', parent=None, enabled: bool = True, output_component: str = 'output', output_channel: str = 'uss_envelopes', ultrasonic_prim_rel=None)

Bases: omni.kit.commands.command.Command

class RobotEngineBridgeCreateVehicle(path: str = '/REB_Vehicle', parent=None, enabled: bool = True, input_component: str = 'input', input_channel: str = 'vehicle_command', output_component: str = 'output', output_channel: str = 'vehicle_state', vehicle_prim_rel=None, history_length=100, use_pid=False, controller_pid_values=(1, 1, 1))

Bases: omni.kit.commands.command.Command

Generated USD Schema API

class RobotEngineBridgeComponent

Bases: pxr.Usd.Typed

CreateEnabledAttr()

CreateNodeNameAttr()

CreateTimeOffsetAttr()

static Get()

GetEnabledAttr()

GetNodeNameAttr()

static GetSchemaAttributeNames()

GetTimeOffsetAttr()

class RobotEngineCamera

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateBoundingBox2DClassListAttr()

CreateBoundingBox2DEnabledAttr()

CreateBoundingBox2DOutputChannelAttr()

CreateBoundingBox2DOutputComponentAttr()

CreateBoundingBox3DClassListAttr()

CreateBoundingBox3DEnabledAttr()

CreateBoundingBox3DOutputChannelAttr()

CreateBoundingBox3DOutputComponentAttr()

CreateCameraPrimRel()

CreateDepthEnabledAttr()

CreateDepthOutputChannelAttr()

CreateDepthOutputComponentAttr()

CreateResolutionAttr()

CreateRgbEnabledAttr()

CreateRgbOutputChannelAttr()

CreateRgbOutputComponentAttr()

CreateSegmentationEnabledAttr()

CreateSegmentationOutputChannelAttr()

CreateSegmentationOutputComponentAttr()

static Define()

static Get()

GetBoundingBox2DClassListAttr()

GetBoundingBox2DEnabledAttr()

GetBoundingBox2DOutputChannelAttr()

GetBoundingBox2DOutputComponentAttr()

GetBoundingBox3DClassListAttr()

GetBoundingBox3DEnabledAttr()

GetBoundingBox3DOutputChannelAttr()

GetBoundingBox3DOutputComponentAttr()

GetCameraPrimRel()

GetDepthEnabledAttr()

GetDepthOutputChannelAttr()

GetDepthOutputComponentAttr()

GetResolutionAttr()

GetRgbEnabledAttr()

GetRgbOutputChannelAttr()

GetRgbOutputComponentAttr()

static GetSchemaAttributeNames()

GetSegmentationEnabledAttr()

GetSegmentationOutputChannelAttr()

GetSegmentationOutputComponentAttr()

class RobotEngineCommand

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateInputChannelAttr()

CreateInputComponentAttr()

static Define()

static Get()

GetInputChannelAttr()

GetInputComponentAttr()

static GetSchemaAttributeNames()

class RobotEngineContactMonitor

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateForceThresholdAttr()

CreateIgnoredPrimsRel()

CreateOutputChannelAttr()

CreateOutputComponentAttr()

CreateTargetPrimRel()

static Define()

static Get()

GetForceThresholdAttr()

GetIgnoredPrimsRel()

GetOutputChannelAttr()

GetOutputComponentAttr()

static GetSchemaAttributeNames()

GetTargetPrimRel()

class RobotEngineDifferentialBase

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateAccelerationSmoothingAttr()

CreateChassisPrimRel()

CreateInputChannelAttr()

CreateInputComponentAttr()

CreateLeftWheelJointNameAttr()

CreateMaxSpeedAttr()

CreateMaxTimeWithoutCommandAttr()

CreateOutputChannelAttr()

CreateOutputComponentAttr()

CreateRightWheelJointNameAttr()

CreateRobotFrontAttr()

CreateWheelBaseAttr()

CreateWheelRadiusAttr()

static Define()

static Get()

GetAccelerationSmoothingAttr()

GetChassisPrimRel()

GetInputChannelAttr()

GetInputComponentAttr()

GetLeftWheelJointNameAttr()

GetMaxSpeedAttr()

GetMaxTimeWithoutCommandAttr()

GetOutputChannelAttr()

GetOutputComponentAttr()

GetRightWheelJointNameAttr()

GetRobotFrontAttr()

static GetSchemaAttributeNames()

GetWheelBaseAttr()

GetWheelRadiusAttr()

class RobotEngineHolonomicBase

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateAccelerationSmoothingAttr()

CreateArticulationPrimRel()

CreateInputChannelAttr()

CreateInputComponentAttr()

CreateMaxSpeedAttr()

CreateMaxTimeWithoutCommandAttr()

CreateOutputChannelAttr()

CreateOutputComponentAttr()

CreateRobotFrontAttr()

CreateWheel1JointNameAttr()

CreateWheel2JointNameAttr()

CreateWheel3JointNameAttr()

CreateWheelBaseAttr()

CreateWheelRadiusAttr()

static Define()

static Get()

GetAccelerationSmoothingAttr()

GetArticulationPrimRel()

GetInputChannelAttr()

GetInputComponentAttr()

GetMaxSpeedAttr()

GetMaxTimeWithoutCommandAttr()

GetOutputChannelAttr()

GetOutputComponentAttr()

GetRobotFrontAttr()

static GetSchemaAttributeNames()

GetWheel1JointNameAttr()

GetWheel2JointNameAttr()

GetWheel3JointNameAttr()

GetWheelBaseAttr()

GetWheelRadiusAttr()

class RobotEngineJointControl

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateArticulationPrimRel()

CreateInputChannelAttr()

CreateInputComponentAttr()

CreateOutputChannelAttr()

CreateOutputComponentAttr()

static Define()

static Get()

GetArticulationPrimRel()

GetInputChannelAttr()

GetInputComponentAttr()

GetOutputChannelAttr()

GetOutputComponentAttr()

static GetSchemaAttributeNames()

class RobotEngineLidar

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateLidarPrimRel()

CreateOutputChannelAttr()

CreateOutputComponentAttr()

static Define()

static Get()

GetLidarPrimRel()

GetOutputChannelAttr()

GetOutputComponentAttr()

static GetSchemaAttributeNames()

class RobotEngineOccupancyGridMap

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateCellSizeAttr()

CreateDebugDrawAttr()

CreateDegreesPerRayAttr()

CreateMapSizeAttr()

CreateMaxRaysAttr()

CreateOccupancyThresholdAttr()

CreateOccupiedValueAttr()

CreateOffsetAttr()

CreateOutputChannelAttr()

CreateOutputComponentAttr()

CreateParentPrimRel()

CreateSurfaceOffsetAttr()

CreateUnknownValueAttr()

CreateUnoccupiedValueAttr()

static Define()

static Get()

GetCellSizeAttr()

GetDebugDrawAttr()

GetDegreesPerRayAttr()

GetMapSizeAttr()

GetMaxRaysAttr()

GetOccupancyThresholdAttr()

GetOccupiedValueAttr()

GetOffsetAttr()

GetOutputChannelAttr()

GetOutputComponentAttr()

GetParentPrimRel()

static GetSchemaAttributeNames()

GetSurfaceOffsetAttr()

GetUnknownValueAttr()

GetUnoccupiedValueAttr()

class RobotEnginePolylineVisualizer

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateColorAttr()

CreateInputChannelAttr()

CreateInputComponentAttr()

CreateOffsetAttr()

CreateParentPrimRel()

CreateWidthAttr()

static Define()

static Get()

GetColorAttr()

GetInputChannelAttr()

GetInputComponentAttr()

GetOffsetAttr()

GetParentPrimRel()

static GetSchemaAttributeNames()

GetWidthAttr()

class RobotEnginePoseTree

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateDepthLimitsAttr()

CreateOutputChannelAttr()

CreateOutputComponentAttr()

CreatePrimRegexAttr()

CreatePrimsRel()

static Define()

static Get()

GetDepthLimitsAttr()

GetOutputChannelAttr()

GetOutputComponentAttr()

GetPrimRegexAttr()

GetPrimsRel()

static GetSchemaAttributeNames()

class RobotEngineRigidBodySink

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateOutputChannelAttr()

CreateOutputComponentAttr()

CreateRigidBodyPrimsRel()

static Define()

static Get()

GetOutputChannelAttr()

GetOutputComponentAttr()

GetRigidBodyPrimsRel()

static GetSchemaAttributeNames()

class RobotEngineScenarioFromMessage

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateInputChannelAttr()

CreateInputComponentAttr()

CreateRigidBodySinkOutputChannelAttr()

CreateRigidBodySinkOutputComponentAttr()

CreateTeleportInputChannelAttr()

CreateTeleportInputComponentAttr()

static Define()

static Get()

GetInputChannelAttr()

GetInputComponentAttr()

GetRigidBodySinkOutputChannelAttr()

GetRigidBodySinkOutputComponentAttr()

static GetSchemaAttributeNames()

GetTeleportInputChannelAttr()

GetTeleportInputComponentAttr()

class RobotEngineSceneLoader

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateInputChannelAttr()

CreateInputComponentAttr()

CreateOutputChannelAttr()

CreateOutputComponentAttr()

static Define()

static Get()

GetInputChannelAttr()

GetInputComponentAttr()

GetOutputChannelAttr()

GetOutputComponentAttr()

static GetSchemaAttributeNames()

class RobotEngineScissorLift

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateArticulationPrimRel()

CreateInputChannelAttr()

CreateInputComponentAttr()

CreateLiftJointNameAttr()

CreateLiftSpeedAttr()

CreateOutputChannelAttr()

CreateOutputComponentAttr()

static Define()

static Get()

GetArticulationPrimRel()

GetInputChannelAttr()

GetInputComponentAttr()

GetLiftJointNameAttr()

GetLiftSpeedAttr()

GetOutputChannelAttr()

GetOutputComponentAttr()

static GetSchemaAttributeNames()

class RobotEngineSurfaceGripper

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateBendAngleAttr()

CreateD6JointPrimRel()

CreateDampingAttr()

CreateForceLimitAttr()

CreateGripThresholdAttr()

CreateGripperEntityAttr()

CreateInputChannelAttr()

CreateInputComponentAttr()

CreateOffsetPositionAttr()

CreateOffsetRotationAttr()

CreateOutputChannelAttr()

CreateOutputComponentAttr()

CreateParentPrimRel()

CreateStiffnessAttr()

CreateTorqueLimitAttr()

static Define()

static Get()

GetBendAngleAttr()

GetD6JointPrimRel()

GetDampingAttr()

GetForceLimitAttr()

GetGripThresholdAttr()

GetGripperEntityAttr()

GetInputChannelAttr()

GetInputComponentAttr()

GetOffsetPositionAttr()

GetOffsetRotationAttr()

GetOutputChannelAttr()

GetOutputComponentAttr()

GetParentPrimRel()

static GetSchemaAttributeNames()

GetStiffnessAttr()

GetTorqueLimitAttr()

class RobotEngineTeleport

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateInputChannelAttr()

CreateInputComponentAttr()

CreateTeleportPrimsRel()

static Define()

static Get()

GetInputChannelAttr()

GetInputComponentAttr()

static GetSchemaAttributeNames()

GetTeleportPrimsRel()

class RobotEngineTwoFingerGripper

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateArticulationPrimRel()

CreateClosedDistanceAttr()

CreateGripperEntityAttr()

CreateInputChannelAttr()

CreateInputComponentAttr()

CreateLeftFingerJointAttr()

CreateOpenDistanceAttr()

CreateOutputChannelAttr()

CreateOutputComponentAttr()

CreateRightFingerJointAttr()

CreateSpeedAttr()

static Define()

static Get()

GetArticulationPrimRel()

GetClosedDistanceAttr()

GetGripperEntityAttr()

GetInputChannelAttr()

GetInputComponentAttr()

GetLeftFingerJointAttr()

GetOpenDistanceAttr()

GetOutputChannelAttr()

GetOutputComponentAttr()

GetRightFingerJointAttr()

static GetSchemaAttributeNames()

GetSpeedAttr()

class RobotEngineUltrasonic

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateOutputChannelAttr()

CreateOutputComponentAttr()

CreateUltrasonicPrimRel()

static Define()

static Get()

GetOutputChannelAttr()

GetOutputComponentAttr()

static GetSchemaAttributeNames()

GetUltrasonicPrimRel()

class RobotEngineVehicle

Bases: omni.isaac.RobotEngineBridgeSchema.RobotEngineBridgeComponent

CreateControllerPIDValuesAttr()

CreateHistoryLengthAttr()

CreateInputChannelAttr()

CreateInputComponentAttr()

CreateOutputChannelAttr()

CreateOutputComponentAttr()

CreateUsePIDAttr()

CreateVehiclePrimRel()

static Define()

static Get()

GetControllerPIDValuesAttr()

GetHistoryLengthAttr()

GetInputChannelAttr()

GetInputComponentAttr()

GetOutputChannelAttr()

GetOutputComponentAttr()

static GetSchemaAttributeNames()

GetUsePIDAttr()

GetVehiclePrimRel()