How to implement torque controller

Omniverse Isaac Sim
1

Hi,

I wonder how to implement the torque controller. I used the code below.

from omni.isaac.core.utils.types import ArticulationActions
            control_action = ArticulationActions(joint_efforts=result)
            self._robots.apply_action(control_action)

But the robot never moves. How should I solve this? Thank you