Holonomic Controller
Holonomic Controller
Installation
To use this node enable omni.isaac.wheeled_robots in the Extension Manager.
Inputs
Name |
Type |
Descripton |
Default |
---|---|---|---|
Angular Gain (inputs:angularGain) |
|
angular gain |
1 |
Exec In (inputs:execIn) |
|
The input execution |
None |
Velocity Commands for the vehicle (inputs:inputVelocity) |
|
velocity in x and y and rotation |
[0.0, 0.0, 0.0] |
Linear Gain (inputs:linearGain) |
|
linear gain |
1 |
Max Angular Speed (inputs:maxAngularSpeed) |
|
maximum angular rotation speed allowed for the vehicle |
100000 |
Max Linear Speed (inputs:maxLinearSpeed) |
|
maximum speed allowed for the vehicle |
100000 |
Max Wheel Speed (inputs:maxWheelSpeed) |
|
maximum rotation speed allowed for the wheel joints |
100000 |
Mecanum Angles (inputs:mecanumAngles) |
|
angles of the mecanum wheels with respect to wheel’s rotation axis |
[] |
Up Axis (inputs:upAxis) |
|
the rotation axis of the vehicle |
[0.0, 0.0, 1.0] |
Wheel Axis (inputs:wheelAxis) |
|
the rotation axis of the wheels |
[1.0, 0.0, 0.0] |
Wheel Orientations (inputs:wheelOrientations) |
|
orientation of the wheel with respect to chassis’ center of mass frame |
[] |
Wheel Positions (inputs:wheelPositions) |
|
position of the wheel with respect to chassis’ center of mass |
[] |
Wheel Radius (inputs:wheelRadius) |
|
an array of wheel radius |
[] |
Outputs
Name |
Type |
Descripton |
Default |
---|---|---|---|
Joint Velocity Command (outputs:jointVelocityCommand) |
|
velocity commands for the wheels joints |
None |
Metadata
Name |
Value |
---|---|
Unique ID |
omni.isaac.wheeled_robots.HolonomicController |
Version |
2 |
Extension |
omni.isaac.wheeled_robots |
Has State? |
False |
Implementation Language |
Python |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
Holonomic Controller |
Categories |
isaacSim |
__categoryDescriptions |
isaacSim,robot controller inside Isaac Sim |
Generated Class Name |
OgnHolonomicControllerDatabase |
Python Module |
omni.isaac.wheeled_robots |