Check Goal 2D

Check if wheeled robot has reached goal

Installation

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

Inputs

Name	Type	Description	Default
execIn	execution	The input execution
currentPosition	vectord[3]	Current position of the robot (recommended to use Get Prim Local to World Transform node)
currentOrientation	quatd[4]	Current rotation of the robot as a quaternion (recommended to use Get Prim Local to World Transform node)
target	double[3]	Target position and orientation	[0, 0, 0]
targetChanged	bool	Target position/orientation has changed	False
thresholds	double[2]	Position and orientation thresholds at target	[0.1, 0.1]

Outputs

Name	Type	Description	Default
execOut	execution	The output execution
reachedGoal	bool[]	Reached position and orientation goals