Question1
The page here:
https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.dynamic_control/docs/index.html
Contains this line in the example:
dof_state = dc.get_dof_state(dof_ptr)
However the API listing below shows the API as taking (int, int).
I had to add a “0” argument to make things work, so it looks like the example is wrong. But what is this second argument supposed to represent?
Question 2
When using set_def_position on my simple 1-joint robot, I can get my joint to move. However with set_dof_position_target it does not move. What is needed for this to work? A drive? Or … ?
Thanks!
Hi @dan.sandberg
According to code and release notes (see omni.isaac.dynamic_control/docs/CHANGELOG.md file, section [0.1.6] - 2021-08-04), the second argument is a State Flags.
As far as I know, yes… the joint needs a Joint Driver.
Btw, Have you tried the Isaac Sim Core Articulation API?
It provides a provide high-level functionalities to manipulate articulation using Python… and it is more documented :)
Thanks Toni! I’ve played around a bit with the articulation API but will give it another look.