Refresh HolonomicController when wheel geometry changes

source/extensions/isaacsim.robot.wheeled_robots.nodes/python/nodes/OgnHolonomicController.py

@@ -132,6 +132,16 @@ def compute(db: OgnHolonomicControllerDatabase) -> bool:
         state = db.per_instance_state
 
         try:
+            if state.initialized and (
+                not np.array_equal(db.inputs.wheelRadius, state.wheel_radius)
+                or not np.array_equal(db.inputs.wheelPositions, state.wheel_positions)
+                or not np.array_equal(db.inputs.wheelOrientations, state.wheel_orientations)
+                or not np.array_equal(db.inputs.mecanumAngles, state.mecanum_angles)
+                or not np.array_equal(db.inputs.wheelAxis, state.wheel_axis)
+                or not np.array_equal(db.inputs.upAxis, state.up_axis)
+            ):
+                state.initialized = False
+
             if not state.initialized:
                 stop = False
                 error_log = ""

source/extensions/isaacsim.robot.wheeled_robots.nodes/python/tests/test_holonomic_controller_input_refresh.py

@@ -0,0 +1,64 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Regression coverage for HolonomicController runtime configuration refresh."""
+
+import isaacsim.core.experimental.utils.app as app_utils
+import isaacsim.core.experimental.utils.stage as stage_utils
+import numpy as np
+import omni.graph.core as og
+import omni.graph.core.tests as ogts
+import omni.kit.stage_templates
+
+
+class TestHolonomicControllerInputRefresh(ogts.OmniGraphTestCase):
+    """Verify changed wheel geometry is applied without resetting the graph."""
+
+    async def setUp(self) -> None:
+        await stage_utils.create_new_stage_async()
+        stage_utils.set_stage_up_axis("Z")
+        stage_utils.set_stage_units(meters_per_unit=1.0)
+        await app_utils.update_app_async()
+
+    async def tearDown(self) -> None:
+        app_utils.stop()
+        await app_utils.update_app_async()
+        await omni.kit.stage_templates.new_stage_async()
+
+    async def test_wheel_radius_change_rebuilds_controller(self) -> None:
+        graph, [controller], _, _ = og.Controller.edit(
+            {"graph_path": "/ActionGraph"},
+            {
+                og.Controller.Keys.CREATE_NODES: [
+                    ("HolonomicController", "isaacsim.robot.wheeled_robots.HolonomicController"),
+                ],
+                og.Controller.Keys.SET_VALUES: [
+                    ("HolonomicController.inputs:wheelRadius", [0.04, 0.04, 0.04]),
+                    (
+                        "HolonomicController.inputs:wheelPositions",
+                        [
+                            [-0.0980432, 0.000636773, -0.050501],
+                            [0.0493475, -0.084525, -0.050501],
+                            [0.0495291, 0.0856937, -0.050501],
+                        ],
+                    ),
+                    (
+                        "HolonomicController.inputs:wheelOrientations",
+                        [[0, 0, 0, 1], [0.866, 0, 0, -0.5], [0.866, 0, 0, 0.5]],
+                    ),
+                    ("HolonomicController.inputs:mecanumAngles", [90, 90, 90]),
+                    ("HolonomicController.inputs:inputVelocity", [1.0, 1.0, 0.1]),
+                ],
+            },
+        )
+
+        await og.Controller.evaluate(graph)
+        first = np.asarray(og.Controller(og.Controller.attribute("outputs:jointVelocityCommand", controller)).get())
+
+        og.Controller.attribute("inputs:wheelRadius", controller).set([0.08, 0.08, 0.08])
+        await og.Controller.evaluate(graph)
+        second = np.asarray(og.Controller(og.Controller.attribute("outputs:jointVelocityCommand", controller)).get())
+
+        self.assertTrue(np.all(np.isfinite(first)))
+        self.assertTrue(np.all(np.isfinite(second)))
+        self.assertTrue(np.allclose(second, first / 2.0, rtol=1e-4, atol=1e-4))