# 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
