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 enable omni.isaac.wheeled_robots in the Extension Manager.

Inputs

Name

Type

Descripton

Default

Com Prim (inputs:comPrim)

target

prim for the center of mass xform

None

Com Prim Path (inputs:comPrimPath)

token

prim path to the robot’s center of mass xform

Robot Prim (inputs:robotPrim)

target

prim for the robot’s articulation root

None

Robot Prim Path (inputs:robotPrimPath)

token

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

Use Path (inputs:usePath)

bool

use prim path instead of prim target

False

Outputs

Name

Type

Descripton

Default

Mecanum Angles (outputs:mecanumAngles)

double[]

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

None

Up Axis (outputs:upAxis)

double[3]

the rotation axis of the vehicle

None

Wheel Axis (outputs:wheelAxis)

double[3]

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

None

Wheel Dof Names (outputs:wheelDofNames)

token[]

name of the left wheel joint

None

Wheel Orientations (outputs:wheelOrientations)

double[4][]

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

None

Wheel Positions (outputs:wheelPositions)

double[3][]

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

None

Wheel Radius (outputs:wheelRadius)

double[]

an array of wheel radius

None

Metadata

Name

Value

Unique ID

omni.isaac.wheeled_robots.HolonomicRobotUsdSetup

Version

1

Extension

omni.isaac.wheeled_robots

Has State?

False

Implementation Language

Python

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

Usd Setup Holonomic Robot

Categories

isaacSim

__categoryDescriptions

isaacSim,robot controller prep inside Isaac Sim

Generated Class Name

OgnHolonomicRobotUsdSetupDatabase

Python Module

omni.isaac.wheeled_robots