I’m trying to configure actuators for xArm6 in Isaac Lab for RL training.
I followed the official Franka + Robotiq example and attempted to split the actuators into:
arm actuators
a main gripper_drive joint
additional follower joints (similar to the mimic behavior)
However I’m seeing strange behavior:
If I only configure the drive_joint, the arm behaves normally but the gripper won’t close
If I split the gripper into multiple actuator groups (to mimic how the real parallel gripper works), the whole arm becomes unstable or behaves incorrectly
I am unsure what caused this issue, What is the correct way to configure xarm actuators in Isaac Lab?
Is the official Franka + Robotiq example you mentioned included directly in Isaac Lab, or is it part of the Isaac Sim documentation? Could you clarify which documentation section lists the reference implementation? This will help me find the correct configuration details for actuator grouping, especially for the gripper setup.
Hi! I saw the way the gripper is configured in franka.py under the assets folder in Isaac Lab. Since the gripper of my xArm also has multiple knuckles, I am a bit confused about how to correctly configure the actuator for it.
What I observed is that, in the example, the multi-joint gripper is handled by splitting it into a drive joint, drive finger, and drive passive. Their effort_limit_sim values are also reduced step by step, and both stiffness and damping are set to 0 to ensure they behave as mimic joints — this is my current understanding.
However, I don’t understand why the example sets effort_limit_sim = 5200.0 to such a large value, while my arm’s torque is only 50. So I would like to ask about this. My own attempt at the configuration is shown in the image above. Many thanks!
