[Question] Best ActuatorCfg or Sim-to-Real Techniques for Torque Control

[Jdowdy05]

Question

I've recently been trying to produce a torque control policy but have not achieved usable results on physical hardware. The results in sim look great; however, when the policy is put on hardware, it doesn't work. When actions are in position control, the transition to physical hardware is fine; however, when switching the actions to joint effort, I don't receive the same results.

I wanted to see if there is a specific actuator config made for using joint effort actions or if there are any sim-to-real techniques I should use for this.

Thanks!

[RandomOakForest]

Thanks for posting this. I'll move the post to our Discussions for the team to follow up.

[VoytekK]

Were you able to resolve your issues? I have been trying to track down issues with Torque (effort) in Isaac Sim and wonder if your issue is similar. I minimized the problem to the simplest I could run in Isaac Sim, however, what it came down to is that torque is not properly being represented, which makes it very difficult for simulation to learn the torque required in the real world.
I posted my issue here, let me know if it might relate to what you were doing, or if you found a solution or tweaked a setting that changed it.
#2307