Hello!
When reading the Isaac Sim API documentation about set_joint_efforts, it mentions the following:
This method can be used for effort control. For this purpose, there must be no joint drive or the stiffness and damping must be set to zero.
Core [omni.isaac.core] — isaac_sim 4.0.0-beta.90 documentation
However, when I use this function, the gripper closes automatically due to gravity. Why is it designed this way?
Indeed, when setting the stiffness and damping of the relevant joints of the gripper to 0.0 as described, and then applying commands to the joints using set_joint_efforts, the effort control works as expected. However, when the stiffness and damping are set to their default values, set_joint_efforts executes without errors, but the simulation exhibits strange behavior.
Thank you.