Articulation - set instant joint position w/o physics or collision

Omniverse Isaac Sim
,
1

Isaac Sim Version

4.0.0

Operating System

Windows 11

Topic Description

Trying to set the position of a robot arm without any physics simulation

Detailed Description

I’m trying to replay specific frames of a recorded set of joint positions for a robot arm. The original recording was made using Articulation and joint positions dumped to ROS. I want to force the arms to move to the recorded position instantly with no physics or collision so I can record a camera vier. However, I can’t seem to find a way to do this with Articulation. It wants to simulate and moves the joints around. Any suggestions would be greatly appreciated! Thank you!

2

Is this helpful?
https://docs.omniverse.nvidia.com/isaacsim/latest/how_to_guides/robots_simulation.html?highlight=set_joint_positions#create-articulations-and-articulationview

3

The only solution I found that worked was to reset them every frame by setting their default state:

cell.robot_arm_left.articulation.set_joints_default_state(
                positions=joint_positions
            )
cell.robot_arm_left.articulation.post_reset()
cell.robot_arm_left.articulation.initialize()