[isaacsim.robot.wheeled_robots.nodes] Wheeled Robots Nodes#

Version: 0.1.3

Extension: {{ extension_version }}

Documentation Generated: Jun 05, 2026

Overview#

The isaacsim.robot.wheeled_robots.nodes extension provides OmniGraph nodes for wheeled robot controllers in Isaac Sim. These nodes can be placed in Action Graphs to control differential-drive, holonomic, and Ackermann-steered robots, as well as perform path planning and goal checking.

Functionality#

The extension registers OmniGraph nodes that wrap the controller classes from isaacsim.robot.wheeled_robots. Available nodes include DifferentialController (C++), HolonomicController, AckermannController, QuinticPathPlanner, StanleyControlPID, CheckGoal2D, and HolonomicRobotUsdSetup.

Integration#

The extension depends on isaacsim.robot.wheeled_robots for the underlying controller implementations, isaacsim.core.nodes for OGN base classes, and omni.graph for the OmniGraph framework.

Enable Extension#

The extension can be enabled (if not already) in one of the following ways:

Command-line interface

Define the next entry as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --enable isaacsim.robot.wheeled_robots.nodes

Experience/extension configuration

Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.

[dependencies]
"isaacsim.robot.wheeled_robots.nodes" = {}

Extension Manager UI

Open the Window > Extensions menu in a running application instance and search for isaacsim.robot.wheeled_robots.nodes. Then, toggle the enable control button if it is not already active.

Omnigraph Nodes#

The extension exposes the following Omnigraph nodes:

Python API