Pick-and-Place Controller
Pick-and-Place Controller for Articulated Robots
Installation
To use this Node, you must enable omni.isaac.examples_nodes
in the Extension Manager.
Inputs
Name |
Type |
Description |
Default |
---|---|---|---|
execIn |
|
The input execution |
|
targetPrim |
|
The target robot prim |
|
usePath |
|
use robot and com path instead of selecting them from stage tree |
False |
robotModel |
|
type of robot. Options are: UR, Franka, or Dofbot |
|
robotPrimPath |
|
path to the robot articulation root |
|
pickingPosition |
|
XYZ location to pick from |
[0.25, 0.25, 0.0] |
placingPosition |
|
XYZ location to place at |
[0.25, -0.25, 0.0] |
endEffectorOffset |
|
XYZ offset of end-effector from flange |
[0.0, 0.0, 0.0] |
eventsDT |
|
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] |