Spatial tendon ArticulationCfg

Omniverse Isaac Sim
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1

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Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

  • Model: 4090
  • Driver Version:

Topic Description

Detailed Description

I am a new developer working with Isaac Sim and aiming to train a reinforcement learning (RL) policy using a self-designed robot that includes both angular and linear motors.

I discovered that while angular motors are well-documented, there are no clear examples or guidance on using linear motors with closed-loop control. In my search for alternatives, I came across the concept of spatial tendons as a potential substitute for linear actuators.

However, I have not found any examples or documentation detailing how to configure the articulationCfg for spatial tendons, similar to how it is done for the Unitree H1 in RL locomotion examples.

I would greatly appreciate any guidance on whether it is possible to simulate and train a policy using either linear motors or spatial tendons in Isaac Sim, and how to properly configure them in the RL pipeline.

Thank you!

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2

Hi @worldrescue for RL training, please check out IsaacLab, which is a framework for robotics RL training. For any IsaacLab related questions, please post them in IsaacLab github.