Check Goal 2D#

Check if wheeled robot has reached goal

Installation#

To use this node enable isaacsim.robot.wheeled_robots in the Extension Manager.

Name	Type	Descripton	Default
Current Orientation (inputs:currentOrientation)	`quatd[4]`	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)	`vectord[3]`	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)	`execution`	The input execution	None
Target (inputs:target)	`double[3]`	Target position and orientation	[0, 0, 0]
Target Changed (inputs:targetChanged)	`bool`	Target position/orientation has changed	False
Thresholds (inputs:thresholds)	`double[2]`	Position and orientation thresholds at target	[0.1, 0.1]

Name	Type	Descripton	Default
Exec Out (outputs:execOut)	`execution`	The output execution	None
Reached Goal (outputs:reachedGoal)	`bool[]`	Reached position and orientation goals	None

Name	Value
Unique ID	isaacsim.robot.wheeled_robots.CheckGoal2D
Version	1
Extension	isaacsim.robot.wheeled_robots
Has State?	False
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Check Goal 2D
Categories	isaacWheeledRobots
__categoryDescriptions	isaacWheeledRobots,robot path planning inside Isaac Sim
Generated Class Name	OgnCheckGoal2DDatabase
Python Module	isaacsim.robot.wheeled_robots