[Question] Torque control robotic arm

[luju97]

Question

Hi,

I would like to train the Franka robot to loft an objects, same as in the example (Franka Isaac-Lift-Cube-Franka-v0). I would like to use force control JointEffortActionCfg rather than position control JointPositionActionCfg..

What I did:

• I used JointEffortActionCfg for all of the joints of the robot:

self.actions.arm_action = mdp.JointEffortActionCfg(
            asset_name="robot",
            joint_names=["panda_joint.*"], 
            scale=1.0,       
            offset=0.0,
        )

• I have enabled gravity compensation.
• I have set the damping and the stiffness to zero:

"panda_shoulder": ImplicitActuatorCfg(
    joint_names_expr=["panda_joint[1-4]"],
    effort_limit=87.0,
    velocity_limit=2.175,
    stiffness=0.0,
    damping=0.0,
),
"panda_forearm": ImplicitActuatorCfg(
    joint_names_expr=["panda_joint[5-7]"],
    effort_limit=12.0,
    velocity_limit=2.61,
    stiffness=0.0,
    damping=0.0,
),

However, I cannot train the robot effectively to lift the cube. Why is it? What am I doing wrong?

Thank you in advance!

[RandomOakForest]

Thanks for posting this. Could you elaborate on what you are seeing and what you mean by "effectively" in this lift task? Thanks.

[fl1ps1de5]

Was this ever answered? I am trying to do something but using velocity actions and would like some guidance - not sure how to devise a suitable config.