Stanley Control PID
Drive to Target Steering
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] |
Current Speed (inputs:currentSpeed) |
|
Current linear velocity of the robot |
[0.0, 0.0, 0.0] |
Draw Path (inputs:drawPath) |
|
Draw the provided path curve onto the stage |
False |
Exec In (inputs:execIn) |
|
The input execution |
None |
Gains (inputs:gains) |
|
control, velocity and steering gains |
[0.5, 0.1, 0.0872665] |
Max Velocity (inputs:maxVelocity) |
|
Maximum linear velocity of the robot |
1.5 |
Path Arrays (inputs:pathArrays) |
|
The path v, x, y, and yaw arrays |
[] |
Reached Goal (inputs:reachedGoal) |
|
Position and orientation thresholds at target |
[False, False] |
Step (inputs:step) |
|
Step |
0.16666666667 |
Target (inputs:target) |
|
Target position and orientation |
[0, 0, 0] |
Target Changed (inputs:targetChanged) |
|
Target position/orientation has changed |
False |
Thresholds (inputs:thresholds) |
|
Position and orientation thresholds at target |
[0.1, 0.1] |
Wheel Base (inputs:wheelBase) |
|
Distance between the centers of the front and rear wheels |
0.4132 |
Outputs
Name |
Type |
Descripton |
Default |
---|---|---|---|
Angular Velocity (outputs:angularVelocity) |
|
Current angular speed for robot drive |
None |
Exec Out (outputs:execOut) |
|
The output execution |
None |
Linear Velocity (outputs:linearVelocity) |
|
Current forward speed for robot drive |
None |
Metadata
Name |
Value |
---|---|
Unique ID |
omni.isaac.wheeled_robots.StanleyControlPID |
Version |
1 |
Extension |
omni.isaac.wheeled_robots |
Has State? |
False |
Implementation Language |
Python |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
Stanley Control PID |
Categories |
isaacSim |
__categoryDescriptions |
isaacSim,robot path planning inside Isaac Sim |
Generated Class Name |
OgnStanleyControlPIDDatabase |
Python Module |
omni.isaac.wheeled_robots |