Note: For any Isaac Lab topics, please submit your topic to its GitHub repo (GitHub - isaac-sim/IsaacLab: Unified framework for robot learning built on NVIDIA Isaac Sim) following the instructions provided on Isaac Lab’s Contributing Guidelines (Contribution Guidelines — Isaac Lab Documentation).
Please provide all relevant details below before submitting your post. This will help the community provide more accurate and timely assistance. After submitting, you can check the appropriate boxes. Remember, you can always edit your post later to include additional information if needed.
Isaac Sim Version
[*] 4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):
Operating System
[*] Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
- Model: RTX 4060
- Driver Version: 535.183.01
Topic Description
Detailed Description
Expected result
Overcome gravity
Actual result
Can’t overcome gravity, keep going down
Steps to Reproduce
- Make simple 1-dof robot using revolute joint
- Set articulation control mode to “effort” using “switch_dof_control_mode” API
- Get the generalized gravity force using “get_generalized_gravity_forces” API
- Get the Coriolis and centrifugal force using “get_coriolis_and_centrifugal_forces” API
- Add the values, set joint_efforts using “ArticulationAction” API
- Apply action using “apply_action” API
3-6 is repeated every physics step.