Usd Setup Holonomic Robot

setup any robot to be ready to be used by the holonomic controller by extract attributes from USD

Installation

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

Inputs

Name

Type

Description

Default

robotPrim

bundle

prim for the robot’s articulation root

comPrim

bundle

prim for the center of mass xform

usePath

bool

use prim path instead of prim bundles

False

robotPrimPath

token

prim path to the robot’s articulation root link when usdPath is true

comPrimPath

token

prim path to the robot’s center of mass xform

Outputs

Name

Type

Description

Default

wheelRadius

double[]

an array of wheel radius

wheelPositions

double[3][]

position of the wheel with respect to chassis’ center of mass

wheelOrientations

double[4][]

orientation of the wheel with respect to chassis’ center of mass frame

mecanumAngles

double[]

angles of the mechanum wheels with respect to wheel’s rotation axis

wheelAxis

double[3]

the rotation axis of the wheels, assuming all wheels have the same

upAxis

double[3]

the rotation axis of the vehicle

wheelDofNames

token[]

name of the left wheel joint