Hi, I am trying to velocity control the RidgebackFranka robot (
RidgebackFranka/ridgeback_franka.usd) in the nvcr.io/nvidia/isaac-sim:2022.1.1 docker image.
In particular I am sending the following:
a = ArticulationAction(joint_velocities=[0.2, 0., 0.], joint_indices=[0,1,2]) self._robots.apply_action(a)
The result is the following:
- the robot over a few timesteps achieves a max. velocity of around 0.15
- as it moves away from the origin, it then slows down. If I change the sign of the commands, it then accelerates again in the other direction, until it is further away from the origin and slows down again
So I have two questions:
- why does it never achieve the actual target velocity but is always a bit slower
- why does it then slow down, even though I continue to apply the same actions at each timestep?
Thank you for your help.