[Question] How should I create an Articulation will unactuated joints? #1148
Replies: 3 comments
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Hi! I am facing a similar problem with a mobile manipulator robot. Did you manage to find any solution? |
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@Ozzey I did find a solution if you are planning to do reinforcement learning on this model. When defining the @configclass
class ActionsCfg:
"""Action specifications for the environment."""
joint_efforts = mdp.JointEffortActionCfg(
asset_name="robot",
joint_names=["actuated_joint_name_1", "actuated_joint_name_2"],
scale=0.25,
) |
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Hello, yes the ActionsCfg will allow you to specify the joint names. If using the direct workflow without ActionsCfg, you can slice the actions buffer to assign values on for the actuated joints. An example of this can be found at https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/inhand_manipulation/inhand_manipulation_env.py#L40. |
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Question
I want to create an RL environment for the Kaya robot, but I noticed that the Kaya robot has 33 joint, only 3 of them should be actuated (I think the ones on the wheels should not be actuated, otherwise the wheel is way too cheap...).
I created the config class
and then I made some changes to the
run_articulation.py
to visualize the articualtionThis works, but for this line
it wants me to make the
efforts
to be of shape(2, 33)
not(2, 3)
, which is a bit odd to me, is this the way I should set up the articulation?Thanks in advance!
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