Isaac Sim Version
[+] 4.2.0
Operating System
[+] Ubuntu 22.04
GPU Information
- Model: NVIDIA GeForce RTX 4090
- Driver Version: 535.216.03
Topic Description
Detailed Description
Hello! I would like to know about velocity controller through Articulation Action. I am using curobo package to solve MPC problem for UR5e robot manipulator. In Curobo developers mostly used position controller to send the commands. When I change the controller to velocity through: “articulation_controller.switch_control_mode(“velocity”)”, in the IsaacSim environment the robot falls down, by just ignoring the given velocities, even if they were just zeros. Visually it seems like that the problem related with the gravity issues. Does anyone used articulation controller with velocity control only? Is it possible?
