Inverse Kinematics for Forklift Using Omnigraph Script Node in Isaac Sim

Omniverse Isaac Sim
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1

Isaac Sim Version

4.2.0
4.1.0
4.0.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
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I have created an Action Graph in my Isaac Sim application using Omnigraph to handle the kinematics of a forklift from Isaac Sim Assets. In this Action Graph, I implemented a script node intended to solve the inverse kinematics of the forklift given two points: an initial position and a target.

However, the steering angle values generated are incorrect. Depending on the target, the forklift enters a loop and fails to reach the desired position. Has anyone implemented a solution for an Ackermann Controller to accurately solve the inverse kinematics between two points?

Any advice or examples would be greatly appreciated.

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2

I think this would be easier to do with a ROS2 node rather than an action graph. Are you still working on this problem?

3

I know it would be much easier with ROS, but I’ve been asked for an alternative without implementing ROS. I found in Omnigraph that there is a ‘Stanley Controller PID’ node that could work for tracking the generated trajectory, right?

Also, is there any library that generates a trajectory for the movement of mobile robots in the scene while avoiding static and dynamic objects?