Check Goal 2D

Check if wheeled robot has reached goal

Installation

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

Inputs

Name	Type	Descripton	Default
Current Orientation (inputs:currentOrientation)	quatd[4]	Current rotation of the robot as a quaternion (recommended to use Get Prim Local to World Transform node)	[0.0, 0.0, 0.0, 0.0]
Current Position (inputs:currentPosition)	vectord[3]	Current position of the robot (recommended to use Get Prim Local to World Transform node)	[0.0, 0.0, 0.0]
Exec In (inputs:execIn)	execution	The input execution	None
Target (inputs:target)	double[3]	Target position and orientation	[0, 0, 0]
Target Changed (inputs:targetChanged)	bool	Target position/orientation has changed	False
Thresholds (inputs:thresholds)	double[2]	Position and orientation thresholds at target	[0.1, 0.1]

Outputs

Name	Type	Descripton	Default
Exec Out (outputs:execOut)	execution	The output execution	None
Reached Goal (outputs:reachedGoal)	bool[]	Reached position and orientation goals	None

Metadata

Name	Value
Unique ID	omni.isaac.wheeled_robots.CheckGoal2D
Version	1
Extension	omni.isaac.wheeled_robots
Has State?	False
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Check Goal 2D
Categories	isaacSim
__categoryDescriptions	isaacSim,robot path planning inside Isaac Sim
Generated Class Name	OgnCheckGoal2DDatabase
Python Module	omni.isaac.wheeled_robots