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, you must enable omni.isaac.wheeled_robots
in the Extension Manager.
Inputs
Name |
Type |
Description |
Default |
---|---|---|---|
robotPrim |
|
prim for the robot’s articulation root |
|
comPrim |
|
prim for the center of mass xform |
|
usePath |
|
use prim path instead of prim bundles |
False |
robotPrimPath |
|
prim path to the robot’s articulation root link when usdPath is true |
|
comPrimPath |
|
prim path to the robot’s center of mass xform |
Outputs
Name |
Type |
Description |
Default |
---|---|---|---|
wheelRadius |
|
an array of wheel radius |
|
wheelPositions |
|
position of the wheel with respect to chassis’ center of mass |
|
wheelOrientations |
|
orientation of the wheel with respect to chassis’ center of mass frame |
|
mecanumAngles |
|
angles of the mechanum wheels with respect to wheel’s rotation axis |
|
wheelAxis |
|
the rotation axis of the wheels, assuming all wheels have the same |
|
upAxis |
|
the rotation axis of the vehicle |
|
wheelDofNames |
|
name of the left wheel joint |