Articulation Controller

Controller for articulated robots. The controller takes either joint names or joint indices, and move them by the given position/velocity/effort commands. Note angular units are expressed in radians while angles in USD are expressed in degrees and will be adjusted accordingly by the articulation controller.

Installation

To use this node enable omni.isaac.core_nodes in the Extension Manager.

Inputs

Name	Type	Descripton	Default
Effort Command (inputs:effortCommand)	double[]	effort commands Force Units: linear (kg*m/s^2) i.e. a force angular (kg*m^2/s^2) i.e. a torque Acceleration Units: linear (m/s^2), i.e. a linear acceleration angular (rad/s^2) i.e. an angular acceleration	[]
Exec In (inputs:execIn)	execution	The input execution	None
Joint Indices (inputs:jointIndices)	int[]	commanded joint indices, use either Joint Names or Joint Indices, if neither is given, default to all joints	[]
Joint Names (inputs:jointNames)	token[]	commanded joint names, use either Joint Names or Joint Indices, if neither is given, default to all joints	[]
Position Command (inputs:positionCommand)	double[]	position commands Units: linear (m) angular (rad)	[]
Robot Path (inputs:robotPath)	string	path to the robot articulation root. If this is populated, targetPrim is ignored.
Target Prim (inputs:targetPrim)	target	The target robot prim with robot articulation root. Ensure robotPath is empty for this to be considered.	None
Velocity Command (inputs:velocityCommand)	double[]	velocity commands Units: linear (m/s) angular (rad/s)	[]

Metadata

Name	Value
Unique ID	omni.isaac.core_nodes.IsaacArticulationController
Version	1
Extension	omni.isaac.core_nodes
Has State?	False
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Articulation Controller
Categories	isaacSim
__categoryDescriptions	isaacSim,robot controller inside Isaac Sim
Generated Class Name	OgnIsaacArticulationControllerDatabase
Python Module	omni.isaac.core_nodes