Recently, I have encountered some problems while controlling the z1 arm independently.
Specifically, when I sent torque commands to the six joints of the z1 arm using the "self.gym.set_dof_actuation_force_tensor(self.sim, gymtorch.unwrap_tensor(self.torques))" after fixing the base_link, I found that the order in which the torque commands were sent did not match the actual movement order of z1.
For example, when I set all other joint torques to zero and only set "self. torques [:, -7]" as sinusoidal torque, there is no joint moving. When "self. torques [:, -3]" is set as sinusoidal torque, it is found that the "z1_waist" joint is rotating. The other joints did not correspond to the expected joints when setting torque values.
Have you all encountered this kind of problem before?
Hi all,
Recently, I have encountered some problems while controlling the z1 arm independently.
Specifically, when I sent torque commands to the six joints of the z1 arm using the "self.gym.set_dof_actuation_force_tensor(self.sim, gymtorch.unwrap_tensor(self.torques))" after fixing the base_link, I found that the order in which the torque commands were sent did not match the actual movement order of z1.
For example, when I set all other joint torques to zero and only set "self. torques [:, -7]" as sinusoidal torque, there is no joint moving. When "self. torques [:, -3]" is set as sinusoidal torque, it is found that the "z1_waist" joint is rotating. The other joints did not correspond to the expected joints when setting torque values.
Have you all encountered this kind of problem before?