.. _isaacsim_robot_wheeled_robots_HolonomicRobotUsdSetup_1:

.. _isaacsim_robot_wheeled_robots_HolonomicRobotUsdSetup:

.. ================================================================================
.. THIS PAGE IS AUTO-GENERATED. DO NOT MANUALLY EDIT.
.. ================================================================================

:orphan:

.. meta::
    :title: Usd Setup Holonomic Robot
    :keywords: lang-en omnigraph node isaacWheeledRobots wheeled_robots holonomic-robot-usd-setup


Usd Setup Holonomic Robot
=========================

.. <description>

setup any robot to be ready to be used by the holonomic controller by extract attributes from USD

.. </description>


Installation
------------

To use this node enable :ref:`isaacsim.robot.wheeled_robots.nodes<ext_isaacsim_robot_wheeled_robots_nodes>` in the Extension Manager.


Inputs
------
.. csv-table::
    :header: "Name", "Type", "Descripton", "Default"
    :widths: 20, 20, 50, 10

    "Com Prim (*inputs:comPrim*)", "``target``", "prim for the center of mass xform", "None"
    "Com Prim Path (*inputs:comPrimPath*)", "``token``", "prim path to the robot's center of mass xform", ""
    "Robot Prim (*inputs:robotPrim*)", "``target``", "prim for the robot's articulation root", "None"
    "Robot Prim Path (*inputs:robotPrimPath*)", "``token``", "prim path to the robot's articulation root link when usdPath is true", ""
    "Use Path (*inputs:usePath*)", "``bool``", "use prim path instead of prim target", "False"


Outputs
-------
.. csv-table::
    :header: "Name", "Type", "Descripton", "Default"
    :widths: 20, 20, 50, 10

    "Mecanum Angles (*outputs:mecanumAngles*)", "``double[]``", "angles of the mechanum wheels with respect to wheel's rotation axis", "None"
    "Up Axis (*outputs:upAxis*)", "``double[3]``", "the rotation axis of the vehicle", "None"
    "Wheel Axis (*outputs:wheelAxis*)", "``double[3]``", "the rotation axis of the wheels, assuming all wheels have the same", "None"
    "Wheel Dof Names (*outputs:wheelDofNames*)", "``token[]``", "name of the left wheel joint", "None"
    "Wheel Orientations (*outputs:wheelOrientations*)", "``double[4][]``", "orientation of the wheel with respect to chassis' center of mass frame ", "None"
    "Wheel Positions (*outputs:wheelPositions*)", "``double[3][]``", "position of the wheel with respect to chassis' center of mass", "None"
    "Wheel Radius (*outputs:wheelRadius*)", "``double[]``", "an array of wheel radius", "None"


Metadata
--------
.. csv-table::
    :header: "Name", "Value"
    :widths: 30,70

    "Unique ID", "isaacsim.robot.wheeled_robots.HolonomicRobotUsdSetup"
    "Version", "1"
    "Extension", "isaacsim.robot.wheeled_robots.nodes"
    "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.nodes"

