Public API for module isaacsim.replicator.mobility_gen.examples:#
Classes#
class HawkCamera(Module)
usd_url: str
resolution: Tuple[int, int]
left_camera_path: str
right_camera_path: str
def init(self, left: MobilityGenCamera, right: MobilityGenCamera)
class def build(cls, prim_path: str) -> HawkCamera
class def attach(cls, prim_path: str) -> HawkCamera
class WheeledMobilityGenRobot(MobilityGenRobot)
wheel_dof_names: List[str]
usd_url: str
chassis_subpath: str
wheel_radius: float
wheel_base: float
def init(self, prim_path: str, articulation: Articulation, controller: DifferentialController, front_camera: Module | None = None)
class def build(cls, prim_path: str) -> WheeledRobot
def write_action(self, step_size: float)
class PolicyMobilityGenRobot(MobilityGenRobot)
usd_url: str
articulation_path: str
def init(self, prim_path: str, articulation: Articulation, controller: Union[H1FlatTerrainPolicy, SpotFlatTerrainPolicy], front_camera: Module | None = None)
class def build_policy(cls, prim_path: str)
class def build(cls, prim_path: str)
def write_action(self, step_size: float)
def set_pose_2d(self, pose: Pose2d)
class JetbotRobot(WheeledMobilityGenRobot)
physics_dt: float
z_offset: float
chase_camera_base_path: str
chase_camera_x_offset: float
chase_camera_z_offset: float
chase_camera_tilt_angle: float
occupancy_map_radius: float
occupancy_map_z_min: float
occupancy_map_z_max: float
occupancy_map_cell_size: float
occupancy_map_collision_radius: float
front_camera_base_path: str
front_camera_rotation: Tuple
front_camera_translation: Tuple
front_camera_type: HawkCamera
keyboard_linear_velocity_gain: float
keyboard_angular_velocity_gain: float
gamepad_linear_velocity_gain: float
gamepad_angular_velocity_gain: float
random_action_linear_velocity_range: Tuple[float, float]
random_action_angular_velocity_range: Tuple[float, float]
random_action_linear_acceleration_std: float
random_action_angular_acceleration_std: float
random_action_grid_pose_sampler_grid_size: float
path_following_speed: float
path_following_angular_gain: float
path_following_stop_distance_threshold: float
path_following_forward_angle_threshold: Unknown
path_following_target_point_offset_meters: float
wheel_dof_names: List[str]
usd_url: str
chassis_subpath: str
wheel_base: float
wheel_radius: float
class CarterRobot(WheeledMobilityGenRobot)
physics_dt: float
z_offset: float
chase_camera_base_path: str
chase_camera_x_offset: float
chase_camera_z_offset: float
chase_camera_tilt_angle: float
occupancy_map_radius: float
occupancy_map_z_min: float
occupancy_map_z_max: float
occupancy_map_cell_size: float
occupancy_map_collision_radius: float
front_camera_base_path: str
front_camera_rotation: Tuple
front_camera_translation: Tuple
front_camera_type: HawkCamera
keyboard_linear_velocity_gain: float
keyboard_angular_velocity_gain: float
gamepad_linear_velocity_gain: float
gamepad_angular_velocity_gain: float
random_action_linear_velocity_range: Tuple[float, float]
random_action_angular_velocity_range: Tuple[float, float]
random_action_linear_acceleration_std: float
random_action_angular_acceleration_std: float
random_action_grid_pose_sampler_grid_size: float
path_following_speed: float
path_following_angular_gain: float
path_following_stop_distance_threshold: float
path_following_forward_angle_threshold: Unknown
path_following_target_point_offset_meters: float
wheel_dof_names: List[str]
usd_url: str
chassis_subpath: str
wheel_base: float
wheel_radius: float
class H1Robot(PolicyMobilityGenRobot)
physics_dt: float
z_offset: float
chase_camera_base_path: str
chase_camera_x_offset: float
chase_camera_z_offset: float
chase_camera_tilt_angle: float
occupancy_map_radius: float
occupancy_map_z_min: float
occupancy_map_z_max: float
occupancy_map_cell_size: float
occupancy_map_collision_radius: float
front_camera_base_path: str
front_camera_rotation: Tuple
front_camera_translation: Tuple
front_camera_type: HawkCamera
keyboard_linear_velocity_gain: float
keyboard_angular_velocity_gain: float
gamepad_linear_velocity_gain: float
gamepad_angular_velocity_gain: float
random_action_linear_velocity_range: Tuple[float, float]
random_action_angular_velocity_range: Tuple[float, float]
random_action_linear_acceleration_std: float
random_action_angular_acceleration_std: float
random_action_grid_pose_sampler_grid_size: float
path_following_speed: float
path_following_angular_gain: float
path_following_stop_distance_threshold: float
path_following_forward_angle_threshold: Unknown
path_following_target_point_offset_meters: float
usd_url: Unknown
articulation_path: str
controller_z_offset: float
class def build_policy(cls, prim_path: str)
class SpotRobot(PolicyMobilityGenRobot)
physics_dt: float
z_offset: float
chase_camera_base_path: str
chase_camera_x_offset: float
chase_camera_z_offset: float
chase_camera_tilt_angle: float
occupancy_map_radius: float
occupancy_map_z_min: float
occupancy_map_z_max: float
occupancy_map_cell_size: float
occupancy_map_collision_radius: float
front_camera_base_path: str
front_camera_rotation: Tuple
front_camera_translation: Tuple
front_camera_type: HawkCamera
keyboard_linear_velocity_gain: float
keyboard_angular_velocity_gain: float
gamepad_linear_velocity_gain: float
gamepad_angular_velocity_gain: float
random_action_linear_velocity_range: Tuple[float, float]
random_action_angular_velocity_range: Tuple[float, float]
random_action_linear_acceleration_std: float
random_action_angular_acceleration_std: float
random_action_grid_pose_sampler_grid_size: float
path_following_speed: float
path_following_angular_gain: float
path_following_stop_distance_threshold: float
path_following_forward_angle_threshold: Unknown
path_following_target_point_offset_meters: float
usd_url: Unknown
articulation_path: str
controller_z_offset: float
class def build_policy(cls, prim_path: str) -> SpotFlatTerrainPolicy
class KeyboardTeleoperationScenario(MobilityGenScenario)
def init(self, robot: MobilityGenRobot, occupancy_map: OccupancyMap)
def reset(self)
def step(self, step_size: float)
class GamepadTeleoperationScenario(MobilityGenScenario)
def init(self, robot: MobilityGenRobot, occupancy_map: OccupancyMap)
def reset(self)
def step(self, step_size: float) -> bool
class RandomAccelerationScenario(MobilityGenScenario)
def init(self, robot: MobilityGenRobot, occupancy_map: OccupancyMap)
def reset(self)
def step(self, step_size: float) -> bool
class RandomPathFollowingScenario(MobilityGenScenario)
def init(self, robot: MobilityGenRobot, occupancy_map: OccupancyMap)
def set_random_target_path(self)
def reset(self)
def step(self, step_size: float) -> bool
def get_visualization_image(self) -> PIL.Image.Image