Joint torque readings are wrong

Omniverse Isaac Sim
1

I’m comparing IsaacSim 4.2 joint torques from 3 different sources:

  • The dynamic_control module with get_dof_effort()
  • The ROS2 topic, ros2 topic echo /isaac_joint_states
  • The Articulation Inspector

dynamic_control agrees with the ROS2 topic, unfortunately they’re both wrong. The Articulation Inspector seems to be correct. The difference becomes worse if I change the mass of one of the robot links; it updates properly in the Articulation Inspector but the other 2 ways don’t get updated, it seems.

Here’s an image to verify. It shows the Articulation Inspector on the left, ros2 topic on the right. They’re different.

wrong_joint_torques
wrong_joint_torques835×537 50.6 KB

Fix your software, Nvidia.

4

Hi @andyzelenak! Sorry for my late reply. Thanks for pointing out this issue. Our engineer has already worked on a fix for it and this issue will be resolved in Isaac Sim 4.5.0.

5

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