Action variable in pre_physics_step() in franka_cabinet.py

Autonomous Machines Robotics - Isaac Isaac Gym
1

Hi all,

I want to change how the action variable in def pre_physics_step(self, actions): from franka_cabinet.py is computed. Right now, effort values in the range [-1, 1] are computed and further used in franka_cabinet.py.

  1. Where exactly are these values computed? Which class in which file?
  2. For example, I want that the action values represent PWM values in the range [-127, 127], which are in integer. Any advice on this, how to adapt the code at best?