Isaac Sim Version
[v] 4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):
Operating System
[v] Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
NVIDIA GeForce RTX 4070
NVIDIA-SMI 535.183.01
Topic Description
Detailed Description
There is an " old xy position" in this py file isaac-sim-4.5.0/exts/isaacsim.robot.manipulators/isaacsim/robot/manipulators/controllers/ pick_place_controller.py.
class PickPlaceController(BaseController):
“”"
A simple pick and place state machine for tutorials
Each phase runs for 1 second, which is the internal time of the state machine
Dt of each phase/ event step is defined
- Phase 0: Move end_effector above the cube center at the 'end_effector_initial_height'.
- Phase 1: Lower end_effector down to encircle the target cube
- Phase 2: Wait for Robot's inertia to settle.
- Phase 3: close grip.
- Phase 4: Move end_effector up again, keeping the grip tight (lifting the block).
- Phase 5: Smoothly move the end_effector toward the goal xy, keeping the height constant.
- Phase 6: Move end_effector vertically toward goal height at the 'end_effector_initial_height'.
- Phase 7: loosen the grip.
- Phase 8: Move end_effector vertically up again at the 'end_effector_initial_height'
- Phase 9: Move end_effector towards the old xy position.
But which position is the old xy position,please?
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