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)

double

angular gain

1

Exec In (inputs:execIn)

execution

The input execution

None

Velocity Commands for the vehicle (inputs:inputVelocity)

double[3]

velocity in x and y and rotation

[0.0, 0.0, 0.0]

Linear Gain (inputs:linearGain)

double

linear gain

1

Max Angular Speed (inputs:maxAngularSpeed)

double

maximum angular rotation speed allowed for the vehicle

100000

Max Linear Speed (inputs:maxLinearSpeed)

double

maximum speed allowed for the vehicle

100000

Max Wheel Speed (inputs:maxWheelSpeed)

double

maximum rotation speed allowed for the wheel joints

100000

Mecanum Angles (inputs:mecanumAngles)

double[]

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

[]

Up Axis (inputs:upAxis)

double[3]

the rotation axis of the vehicle

[0.0, 0.0, 1.0]

Wheel Axis (inputs:wheelAxis)

double[3]

the rotation axis of the wheels

[1.0, 0.0, 0.0]

Wheel Orientations (inputs:wheelOrientations)

double[4][]

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

[]

Wheel Positions (inputs:wheelPositions)

double[3][]

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

[]

Wheel Radius (inputs:wheelRadius)

double[]

an array of wheel radius

[]

Outputs

Name

Type

Descripton

Default

Joint Velocity Command (outputs:jointVelocityCommand)

double[]

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