There is also a workaround for the tuning issue if you remove the mimic joint and use an additional drive instead where you implement the mimic joint yourself through appropriate drive position targets.
There are multiple ways to control the robot - through USD, isaac core articulationview - i’m not too familiar with the omnigraph approach.
sorry, I didn’t know exactly, but I think gain is unstable. I will try to remove the mimic joint and use an additional drive.
I will try to control the robot with the above methods, and drives from force to acceleration. I will try all the suggestions you mentioned and let you know on Monday.
Once again Thank you so much and Happy weekend @philipp.reist .
Thanks for your messages, I removed the mimic joints in urdf and imported to add drive, but by defualtly after removing mimic joints those joints had drives.
Now Robot is moving fine ( controlling from omnigraph). But its throwing these kind of warnings in terminal.
How should we solve this warnings or should we neglect these ??
[Warning] [omni.isaac.articulation_inspector.extension] value -8.6775742147438e-09 doesn’t respect the dof index 11 joint limits
and for controlling the robot and setting the drive gains, I have to load everything from code, right ??
I will start doing code now.
Hope you are doing fine. I can able to load and move the robot from the code. I have implemented RMPflow to move the robot with urdf, and 2 yaml files (from gui).
Now I want to implement this RMPflow solver from the code, I saw implementing these solvers only for supported robots. I want to implement it for my custom robot. Any ideas or leads to go further ?