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Public API for module isaacsim.robot_motion.lula_test_widget:#

Classes#

  • class LulaTestScenarios

    • def init(self)

    • def visualize_ee_frame(self, articulation: object, ee_frame: str)

    • def stop_visualize_ee_frame(self)

    • def toggle_rmpflow_debug_mode(self)

    • def initialize_ik_solver(self, robot_description_path: str, urdf_path: str)

    • def get_ik_frames(self) -> list

    • def on_ik_follow_target(self, articulation: object, ee_frame_name: str)

    • def on_custom_trajectory(self, robot_description_path: str, urdf_path: str)

    • def create_trajectory_controller(self, articulation: object, ee_frame: str)

    • def delete_waypoint(self)

    • def add_waypoint(self)

    • def on_rmpflow_follow_target_obstacles(self, articulation: object, **rmp_config: object)

    • def on_rmpflow_follow_sinusoidal_target(self, articulation: object, **rmp_config: object)

    • def get_rmpflow(self) -> RmpFlow | None

    • def set_use_orientation(self, use_orientation: bool)

    • def full_reset(self)

    • def scenario_reset(self)

    • def update_scenario(self, **scenario_params: object)

    • def get_next_action(self, **scenario_params: object) -> ArticulationAction

Functions#

  • def is_yaml_file(path: str) -> bool

  • def is_urdf_file(path: str) -> bool

  • def on_filter_yaml_item(item: object) -> bool

  • def on_filter_urdf_item(item: object) -> bool

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