Hello there,
As anyone had success adapting the Kaya or O3dyn models to match their custom holonomical robot? I have my custom robot, with only the mesh. What I want to do is integrate the mecanum/omniwheels to it, so I can control it though ROS. I know my robots wheels positions and radius, I want to add the wheels from other modeled assets to perform its motion.
I tried to manually copy and update the wheels from Kaya, to match my robot’s configuration but a lot of the transforms would be degraded, which would be problematic for the performance.
Thanks
@ph.silva1 , what exact issue are you facing? Is the physics not correct on adding the wheels?
Yes, I am struggling to make the robot move with the wheels. I basically have my robot mesh, where I copied the O3dyn omniwheels to the base_link. I then created the revolute joints, to connect the base_link and the wheels. I also added the joint state angular, angular drive and also the attributes isaacmecanumwheel:radius and isaacmecanumwheel:angle to the joints. Since I want to run the Move the robot with ROS through the twist message from other packages to calculate trajectory, the robots characteristics such as wheel distance and radius must match.
robot_env.zip (4.2 MB)
In the action graph I added all the necessary components to make the robot move, I tried this with the O3dyn model and worked, what differed was only the wheel’s position that I inputted through a fixed array. Since I did not rearrange the robot’s wheels orientations and radius all the other inputs for the Holonomic Controller match the readings in the USD Setup Holonomic Robot output form the O3dyn model.
Any help would be great
hi @ph.silva1 , thank you for providing more details. I’ll take a look at the USD, in the meanwhile just want to understand if the issue is potentially from the ROS side or robot setup side (the actual physics)
From the ROS side, Isaac Sim only gets the /cmd_vel, which is a Twist Message so it is not that, it must be something regarding the physics.
Another question I wanted to asked, was about your suggestion on how to allow my robot to carry cargo? I can add collision to the mesh of the robot, but it seems the weight of the cargo, weighs on the overall robot and changes its movement. Any idea on how to establish a fix collision box that does not impact the overall movement?
