Stanley Control PID#

Drive to Target Steering

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]
Current Speed (inputs:currentSpeed)	`vectord[3]`	Current linear velocity of the robot	[0.0, 0.0, 0.0]
Draw Path (inputs:drawPath)	`bool`	Draw the provided path curve onto the stage	False
Exec In (inputs:execIn)	`execution`	The input execution	None
Gains (inputs:gains)	`double[3]`	control, velocity and steering gains	[0.5, 0.1, 0.0872665]
Max Velocity (inputs:maxVelocity)	`double`	Maximum linear velocity of the robot	1.5
Path Arrays (inputs:pathArrays)	`double[]`	The path v, x, y, and yaw arrays	[]
Reached Goal (inputs:reachedGoal)	`bool[]`	Position and orientation thresholds at target	[False, False]
Step (inputs:step)	`double`	Step	0.16666666667
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]
Wheel Base (inputs:wheelBase)	`double`	Distance between the centers of the front and rear wheels	0.4132

Name	Type	Descripton	Default
Angular Velocity (outputs:angularVelocity)	`double`	Current angular speed for robot drive	None
Exec Out (outputs:execOut)	`execution`	The output execution	None
Linear Velocity (outputs:linearVelocity)	`double`	Current forward speed for robot drive	None

Name	Value
Unique ID	isaacsim.robot.wheeled_robots.StanleyControlPID
Version	1
Extension	isaacsim.robot.wheeled_robots
Has State?	False
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Stanley Control PID
Categories	isaacWheeledRobots
__categoryDescriptions	isaacWheeledRobots,robot path planning inside Isaac Sim
Generated Class Name	OgnStanleyControlPIDDatabase
Python Module	isaacsim.robot.wheeled_robots