4.5.0
24.04
Hello,
I am currently working on robot simulation in Isaac Sim 4.5.0.
I want to implement torque control for robot joints, and I’m wondering if I can use torque control with just only
ArticulationAction(joint_efforts=self.joint_torque)
without setting stiffness to 0?
The robot moves with joint position control, but it doesn’t move with torque control, which is why I’m reaching out.
Thank you.
Hi @heena.hyun, thank you for your question. It is possible to control articulated bodies with only torque control. Have you tried the torque_control.py example? It is located in standalone_examples/testing/isaacsim.robot.manipulators.examples.franka/torque_control.py
PhysX errors occurred.
2025-04-02 04:17:38 [16,748ms] [Error] [omni.physx.plugin] PhysX error: Illegal BroadPhaseUpdateData
, FILE /builds/omniverse/physics/physx/source/lowlevelaabb/src/BpBroadPhaseABP.cpp, LINE 4023
2025-04-02 04:17:38 [16,777ms] [Error] [omni.physx.plugin] PhysX error: Illegal BroadPhaseUpdateData
, FILE /builds/omniverse/physics/physx/source/lowlevelaabb/src/BpBroadPhaseABP.cpp, LINE 4023
2025-04-02 04:17:38 [16,777ms] [Error] [omni.physx.plugin] PhysX error: Exceeding maximum number of PhysX errors (1000). omni.physx will ignore logging subsequent errors to user interface until simulation stop
Seems like an error related to contacts. Could you provide more details of your setup? What environment are you testing? if you can provide a script to reproduce the error I could look into it.