How to apply torque to each joint of an articulated robot in Isaac Sim 4.5?

Omniverse Isaac Sim
1

I am working on a torque-based control system. I want to apply controlled torque as an input to each joint of an articulated robot and also obtain the actual joint positions required for the control system. Is this possible in Isaac Sim?

2

To apply torque to each joint of an articulated robot in Isaac Sim 4.5, you can use the ArticulationController class, which provides low-level control over joint positions, velocities, and efforts (torques). Please refer to the official documentation here:

3

Thank you

4

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