Articulation Controller

Controller for articulated robots

Installation

To use this Node, you must enable omni.isaac.core_nodes in the Extension Manager.

Inputs

Name	Type	Description	Default
execIn	execution	The input execution
targetPrim	bundle	The target robot prim
usePath	bool	use robot and com path instead of selecting them from stage tree	True
robotPath	string	path to the robot articulation root
jointNames	token[]	commanded joint names
jointIndices	int[]	commanded joint indices
positionCommand	double[]	position commands
velocityCommand	double[]	velocity commands
effortCommand	double[]	effort commands