[isaacsim.robot.wheeled_robots.ui] Wheeled Robots UI

Version: 2.3.2

Overview

The Wheeled Robots UI extension provides a user interface for creating and configuring differential drive controllers for wheeled robots in Isaac Sim. It adds a specialized window accessible through the menu system that allows users to generate OmniGraph controllers for differential drive systems.

UI Components

Differential Controller Window

The DifferentialControllerWindow serves as the primary interface for setting up differential drive robot controllers. This window provides a form-based interface where users can configure parameters for wheeled robot control systems.

Graph Generation: The window’s main functionality centers around the make_graph() method, which creates complete OmniGraph networks for differential drive control. The generated graphs include:

• Differential controller nodes for processing drive commands

• Articulation controller nodes for robot joint management

• Optional keyboard control nodes for manual robot operation

• Proper node connections and parameter configurations based on user input

The window handles both creating new graphs and extending existing ones, allowing users to iteratively build complex control systems.

Functionality

Menu Integration

The extension integrates with Isaac Sim’s menu system by adding a “Differential Controller” entry under “Tools/Robotics/OmniGraph Controllers”. This provides users with easy access to the differential drive configuration tools from the main application interface.

Controller Configuration

The extension focuses specifically on differential drive systems, which are common in wheeled mobile robots. Users can configure wheel parameters, joint mappings, and control logic through the provided interface. The resulting OmniGraph networks can then be used to control actual wheeled robots in simulation.

Integration

The extension works closely with the core isaacsim.robot.wheeled_robots extension to provide UI access to wheeled robot functionality. It uses **omni.graph** and **omni.graph.tools** to create and manage the OmniGraph networks that control robot behavior, while **omni.kit.menu.utils** provides the menu integration framework for accessing the differential controller window.

Enable Extension

The extension can be enabled (if not already) in one of the following ways:

Command-line interface

Define the next entry as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --enable isaacsim.robot.wheeled_robots.ui

Experience/extension configuration

Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.

[dependencies]
"isaacsim.robot.wheeled_robots.ui" = {}

Extension Manager UI

Open the Window > Extensions menu in a running application instance and search for isaacsim.robot.wheeled_robots.ui. Then, toggle the enable control button if it is not already active.