Single DOF Robot Arm Controller

Omniverse Isaac Sim
1

Hi Team,

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As depicted in the image,

I intend to move these two highlighted joints simultaneously. In the initial position of the robot, as shown in the image, I can achieve simultaneous movement of the highlighted joints using a Single Degree of Freedom (DOF) controller Python code.

However, in the subsequent image, at this stage…

image
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We cannot move the joint simultaneously in the correct manner using a Single Degree of Freedom (DOF) controller Python code.

Expected Movement:

Our objective is to move the highlighted joints in a manner where they move synchronously, but with joint 1 moving at a slower speed and joint 2 moving at a faster speed, utilizing Python code.

I am using Ubuntu 20.04 with Isaac Sim version 2023.1.1.
I am using this link as the referral: Robot Simulation — Omniverse IsaacSim latest documentation

Could someone please suggest a suitable solution?

3

on Isaac Sim 4.0 there’s the introduction of Mimic Joints - you can set the appropriate gear ratio to it so that they behave as you describe.

https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_rigging_complex_structures.html?highlight=mimic%2520joint#adding-mimic-joint