Confusion on control mode

[changhaonan]

Hi,
I am currently reading your implementation of shadow_hand_push_block.py.
I am kind of confused about the control mode of the control mode. In line 299, you write: asset_options.default_dof_drive_mode = gymapi.DOF_MODE_NONE. But in pre_physics_step, in line 1169, you are using self.gym.set_dof_position_target_tensor_indexed, which infers that you are using POS control. I read for multiple times, still very confused about where did you set the control mode to POS control??

[cypypccpy]

Hi @changhaonan,

But in pre_physics_step, in line 1169, you are using self.gym.set_dof_position_target_tensor_indexed, which infers that you are using POS control

Yeah we are using the POS control.

I read for multiple times, still very confused about where did you set the control mode to POS control??

In fact, the DOF mode is set in the MJCF file and loaded by Isaac Gym:

So this overrides the previous DOF_MODE_NONE. I'm sorry for confusing you and will add a comment in the code here later.

Hope this can help you.

[changhaonan]

OK. Thanks. That explains.