Holonomic Controller#

Holonomic Controller

Installation#

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

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 (m/s) and rotation (rad/s)	[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 in rad/s	100000
Max Linear Speed (inputs:maxLinearSpeed)	`double`	Maximum speed allowed for the vehicle in m/s	100000
Max Wheel Speed (inputs:maxWheelSpeed)	`double`	Maximum rotation speed allowed for the wheel joints in rad/s	100000
Mecanum Angles (inputs:mecanumAngles)	`double[]`	Angles of the mecanum wheels with respect to wheel’s rotation axis in radians	[]
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 in meters	[]
Wheel Radius (inputs:wheelRadius)	`double[]`	An array of wheel radius in meters	[]

Name	Type	Descripton	Default
Joint Velocity Command (outputs:jointVelocityCommand)	`double[]`	Velocity commands for the wheels joints	None

Name	Value
Unique ID	isaacsim.robot.wheeled_robots.HolonomicController
Version	2
Extension	isaacsim.robot.wheeled_robots
Has State?	False
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Holonomic Controller
Categories	isaacWheeledRobots
__categoryDescriptions	isaacWheeledRobots,robot controller inside Isaac Sim
Generated Class Name	OgnHolonomicControllerDatabase
Python Module	isaacsim.robot.wheeled_robots