Examples of Using Python API to Set Steering Angles

Omniverse Isaac Sim
1

I would like to control vehicles with steering capabilities, such as Forklift_c or nova_carter, by setting the angles.
Are there any examples available?
I have tried setting the position as shown below, but it does not move as expected.

        self._robot.apply_wheel_actions(ArticulationAction(joint_positions=np.array([0, 0, np.pi/4, np.pi/4, 0, 0]),
                                                           joint_efforts=np.array([0, 0, 0, 0, 0, 0]),
                                                           joint_velocities=np.array([2, 2, 0, 0, 0, 0])))
3

Yes! Check out this sample: GitHub - NVIDIA-Omniverse/sample-ackermann-amr

It’s for a remote control car but has similar steering to a forklift.

If you are more interested in a differential robot; take a look at this sample:

https://docs.omniverse.nvidia.com/isaacsim/latest/ros2_tutorials/tutorial_ros2_navigation.html

4

Thank you.
I’ll refer to the sample you provided.
If I have any more questions, I’ll be sure to ask!

5

Please do, that’s what we’re here for :)

7

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