Quintic Path Planner
Quintic Path Planner For Wheeled robots
Installation
To use this node enable omni.isaac.wheeled_robots in the Extension Manager.
Inputs
Name |
Type |
Descripton |
Default |
---|---|---|---|
Current Orientation (inputs:currentOrientation) |
|
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) |
|
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) |
|
The input execution |
None |
Goal Accel (inputs:goalAccel) |
|
Goal acceleration |
0.02 |
Goal Velocity (inputs:goalVelocity) |
|
Goal velocity |
0.5 |
Initial Accel (inputs:initialAccel) |
|
Initial acceleration |
0.02 |
Initial Velocity (inputs:initialVelocity) |
|
Initial velocity |
0.5 |
Max Accel (inputs:maxAccel) |
|
Max acceleration |
1.5 |
Max Jerk (inputs:maxJerk) |
|
Max jerk |
0.3 |
Step (inputs:step) |
|
Step |
0.16666666667 |
Target Orientation (inputs:targetOrientation) |
|
Target orientation (used if no targetPrim provided) |
[0.0, 0.0, 0.0, 0.0] |
Target Position (inputs:targetPosition) |
|
Target position (used if no targetPrim provided) |
[0.0, 0.0, 0.0] |
Target Prim (inputs:targetPrim) |
|
USD prim reference to the goal position/orientation prim |
None |
Outputs
Name |
Type |
Descripton |
Default |
---|---|---|---|
Exec Out (outputs:execOut) |
|
The output execution |
None |
Path Arrays (outputs:pathArrays) |
|
The path v, x, y, and yaw arrays |
None |
Target (outputs:target) |
|
Target position and orientation |
None |
Target Changed (outputs:targetChanged) |
|
Target position/orientation has changed |
None |
Metadata
Name |
Value |
---|---|
Unique ID |
omni.isaac.wheeled_robots.QuinticPathPlanner |
Version |
1 |
Extension |
omni.isaac.wheeled_robots |
Has State? |
False |
Implementation Language |
Python |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
Quintic Path Planner |
Categories |
isaacSim |
__categoryDescriptions |
isaacSim,robot path planning inside Isaac Sim |
Generated Class Name |
OgnQuinticPathPlannerDatabase |
Python Module |
omni.isaac.wheeled_robots |