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Isaac Sim Version
4.2.0
4.1.0
4.0.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):
Isaac Lab Version (if applicable)
1.2
1.1
1.0
Other (please specify):
Operating System
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
- Model: RTX 4090
- Driver Version: 550.107.02
Topic Description
Detailed Description
For an unactuated joint (a joint without drive), we can still configure stiffness and damping settings (In Revolute Joint > Advanced API).
I initially thought that these were meant to produce the soft-limit behavior as described in the (PhysX documentation. However, I didn’t see any noticeable difference in the simulator.
For example, in the [Isaac Sim Assets Path]/Isaac/Robots/Cartpole/cartpole.usd asset, setting the joint limit to (-90, 90) for the poleJoint results in the same hard limit behavior regardless of the values set in RevoluteJoint > Advanced API.
Does the current version not support soft limits, or is there another method to enable soft limit functionality?