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 isaacsim.robot.wheeled_robots in the Extension Manager.
Inputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Com Prim (inputs:comPrim) |
|
prim for the center of mass xform |
None |
Com Prim Path (inputs:comPrimPath) |
|
prim path to the robot’s center of mass xform |
|
Robot Prim (inputs:robotPrim) |
|
prim for the robot’s articulation root |
None |
Robot Prim Path (inputs:robotPrimPath) |
|
prim path to the robot’s articulation root link when usdPath is true |
|
Use Path (inputs:usePath) |
|
use prim path instead of prim target |
False |
Outputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Mecanum Angles (outputs:mecanumAngles) |
|
angles of the mechanum wheels with respect to wheel’s rotation axis |
None |
Up Axis (outputs:upAxis) |
|
the rotation axis of the vehicle |
None |
Wheel Axis (outputs:wheelAxis) |
|
the rotation axis of the wheels, assuming all wheels have the same |
None |
Wheel Dof Names (outputs:wheelDofNames) |
|
name of the left wheel joint |
None |
Wheel Orientations (outputs:wheelOrientations) |
|
orientation of the wheel with respect to chassis’ center of mass frame |
None |
Wheel Positions (outputs:wheelPositions) |
|
position of the wheel with respect to chassis’ center of mass |
None |
Wheel Radius (outputs:wheelRadius) |
|
an array of wheel radius |
None |
Metadata#
Name |
Value |
|---|---|
Unique ID |
isaacsim.robot.wheeled_robots.HolonomicRobotUsdSetup |
Version |
1 |
Extension |
isaacsim.robot.wheeled_robots |
Has State? |
False |
Implementation Language |
Python |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
Usd Setup Holonomic Robot |
Categories |
isaacWheeledRobots |
__categoryDescriptions |
isaacWheeledRobots,robot controller prep inside Isaac Sim |
Generated Class Name |
OgnHolonomicRobotUsdSetupDatabase |
Python Module |
isaacsim.robot.wheeled_robots |