Shadow Hand Joint State Control (Articulation controller not working)

Omniverse Isaac Sim
1

I am trying to control the JointState of the Shadow Hand. When publishing messages, I see an error in my Isaac Sim console:

2024-08-18 12:42:39 [Warning] [omni.graph.core.plugin] /World/ActionGraph/articulation_controller: [/World/ActionGraph] OmniGraph Warning: Prim path expression is invalid, a prim matching the expression needs to created before wrapping it as view 2024-08-18 12:42:39 [Warning] [omni.graph.core.plugin] (from compute() at line 112 in /home/dstokes/.local/share/ov/pkg/isaac-sim-2023.1.1/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/python/nodes/OgnIsaacArticulationController.py) 2024-08-18 12:42:40 [Warning] [omni.usd] Warning: in SdfPath at line 81 of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error2024-08-18 12:42:39 [Warning] [omni.graph.core.plugin] /World/ActionGraph/articulation_controller: [/World/ActionGraph] OmniGraph Warning: Prim path expression is invalid, a prim matching the expression needs to created before wrapping it as view 2024-08-18 12:42:39 [Warning] [omni.graph.core.plugin] (from compute() at line 112 in /home/dstokes/.local/share/ov/pkg/isaac-sim-2023.1.1/exts/omni.isaac.core_nodes/omni/isaac/core_nodes/ogn/python/nodes/OgnIsaacArticulationController.py) 2024-08-18 12:42:40 [Warning] [omni.usd] Warning: in SdfPath at line 81 of /buildAgent/work/ac88d7d902b57417/USD/pxr/usd/sdf/path.cpp – Ill-formed SdfPath <>: syntax error

This is my currently graph and world:

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image1920×1080 263 KB

3

Hi @dstokes181 Welcome to our community!

I noticed that you are using Isaac Sim 2023.1.1. Have you tried this with the latest version Isaac Sim 4.1.0?

4

It work! Thank you.

5

I am trying to understand the balance between velocity, effort, and position. I do not seem to quiet understand it yet, is there anywhere or anyway for me to understand this?

6

Hey @dstokes181 . Since this post has a solution, I created a new post for your follow-up question.

7

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