I used ArticulationView (omni.isaac.core.articulations.ArticulationView) to control multiple actors in reinforcement learning environment. In every time step, torque is set to the DoF using ArticulationView.set_joint_efforts(efforts).
However, when I tried to read the applied efforts using ArticulationView.get_applied_actions(), the read joint_efforts is always None. Is this a bug?
Btw, what is the unit of effort/torque in the api? I thought it should be Nm (Newton*Meter). But when I apply 1 Nm of torque, it cannot even raise a rod of only 20g. If I scale the torques by 100, it seams normal.
joint efforts api is missing in the current release in the view classes. This will be added in a future release. Its not a bug but a missing feature atm.
The efforts units depends on the drive type (angular, linear…etc) and on the drive mode (acceleration vs force). You can check this through the GUI interface in the property panel or through Core [omni.isaac.core] — isaac_sim 2022.1.1-release.1 documentation
Let us know if you have further questions.
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