Thanks for providing the impressive Isaac Sim. I am still trying to master it, starting from a robot arm’s USD file.
I found that it is possible to control a robot’s articulation in two ways, but I did not figure out the difference.
#assume we have a 7DOF robot joint_angles = np.zeros(7) my_articulated_system.set_joint_positions(joint_angles)
And this way too, but seems more complicated,
#assume we have a 7DOF robot joint_angles = np.zeros(7) my_articulated_system.get_articulation_controller().apply_action(ArticulationAction(joint_positions=joint_angles)
Please tell me the difference between them.
Edit: Maybe the question is better stated if I say what is the difference between controlling an articulation with its
set_joint_positions( ) method, or an articulation’s controller
apply_action( ) method?