Understanding the balance between velocity, effort, and position

Omniverse Isaac Sim
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Continuing the discussion from Shadow Hand Joint State Control (Articulation controller not working):

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Hi @dstokes181

Here is the documentation about articulation controller: ArticulationController API
You can use the API get_gains() to check what are the gains for the PD controller.

Here is the document about how to use python scripting with omni graph.

I hope this is helpful for your case.

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