I’m in trouble with actuating robot joints in isaac sim with graph nodes followed with this tutorial 1. Migration Tutorial — Omniverse Robotics documentation
but maybe due to the heavy of robot links, the controller cannot move joints. How can I solve it ? For example, is there any way to change pid parameters of the position control?
Thank you.
Hi - Sorry for the delay in the response. Let us know if you still having this issue/question with the latest Isaac Sim 2022.2.1 release.
Please take a look at this doc page
Joint Drives
Many joints support adding drives so you can physically actuate a mechanism (vs. kinematic animation). For example, you can add a drive to a revolute joint that connects a wheel to a car to make it move. Add the drive with Add > Physics > (type) Drive where the type will be context-sensitive and describing the motion of the drive (e.g. angular for a revolute joint).
Drives apply a force to the joint to maintain a position and/or a velocity that is proportional to
stiffness * (position - target_position) + damping * (velocity - target_velocity)
so the stiffer you configure the drive, the harder it will push the bodies to satisfy a given target position for the drive. Damping is analogous for the joint velocity, and you can implement a velocity drive by setting stiffness to zero.
In the UI, it will look like this:
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