Source code spell error !!
Should change self._wheel_dof_indicies to self._wheel_dof_indices.
~/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.wheeled_robots/omni/isaac/wheeled_robots/robots/wheeled_robot.py
~/isaac-sim-4.5.0/exts/isaacsim.robot.wheeled_robots/isaacsim/robot/wheeled_robots/robots/wheeled_robot.py
In [25]: self.robot.get_wheel_velocities()
---------------------------------------------------------------------------
AttributeError Traceback (most recent call last)
Cell In[25], line 1
----> 1 self.robot.get_wheel_velocities()
File ~/isaac-sim-4.5.0/exts/isaacsim.robot.wheeled_robots/isaacsim/robot/wheeled_robots/robots/wheeled_robot.py:144, in WheeledRobot.get_wheel_velocities(self)
137 """[summary]
138
139 Returns:
140 Tuple[np.ndarray, np.ndarray]: [description]
141 """
143 full_dofs_velocities = self.get_joint_velocities()
--> 144 wheel_dof_velocities = [full_dofs_velocities[i] for i in self._wheel_dof_indicies]
145 return wheel_dof_velocities
AttributeError: 'WheeledRobot' object has no attribute '_wheel_dof_indicies'
# force set attr `_wheel_dof_indicies`
In [26]: self.robot._wheel_dof_indicies = self.robot._wheel_dof_indices
In [27]: self.robot.get_wheel_velocities()
Out[27]: [12.21436, 12.214684]
def get_wheel_velocities(self):
"""[summary]
Returns:
Tuple[np.ndarray, np.ndarray]: [description]
"""
full_dofs_velocities = self.get_joint_velocities()
wheel_dof_velocities = [full_dofs_velocities[i] for i in self.**_wheel_dof_indicies**]
return wheel_dof_velocities
Isaac Sim Version
[-] 4.5.0
[-] 4.2.0
4.1.0
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2023.1.1
2023.1.0-hotfix.1
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