Bricks connected to Core influence position measurement of Core

ci-group / revolve2

A python library for optimization, geared towards modular robots and evolutionary computing.

https://ci-group.github.io/revolve2

GNU Lesser General Public License v3.0

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Open surgura opened 1 year ago

surgura commented 1 year ago

Both isaac and mujoco. Afaik the center of mass is used in isaac for the first body position and bricks influence that.

surgura commented 1 year ago

Once this has been fixed for mujoco it is resolved for the beta2 milestone and we can move it to the isaac gym tracker milestone.

surgura commented 1 year ago

Turns out there is no issue. However two issues were found that will be resolved in this issue.

[x] PosedActor orientation does not orient the robot as expected (axes are messed up).
[x] Create function that maps ActorState back to some newly defined ModularRobotState.

surgura commented 1 year ago

Move to isaac milestone once done. we only fix for mujoco

surgura commented 1 year ago

Done for mujoco. moved.