Isaac Sim Version
[v] 4.5.0
Operating System
Windows 10
GPU Information
- Model: RTX 2070 super
Content
I’m running an experiment in Isaac Sim where I’m trying to verify the meaning of the velocityCommand
input in the ArticulationController
.
Here’s what I did:
- The simulation unit is set to meters (confirmed via default scene scale).
- I placed a cube at position
(1, 0, 0)
and my AGV at(0, 0, 0)
. - I applied
velocityCommand = [1.0, 0.0]
expecting the AGV to move forward at 1 meter per second. - However, instead of taking 1 second to reach the cube, it took about 12 seconds in simulation time.
This leads me to wonder:
- Is
1.0
invelocityCommand
really interpreted as 1 m/s in the simulation? - If not, what does this value actually represent?
- Are there other scaling factors (e.g., Drive parameters, physics timestep, articulation constraints) that affect how the velocity is applied?
I’d appreciate clarification on how the unit of velocityCommand
is applied in practice, and how to accurately predict AGV motion based on it.