Closed mikelasa closed 6 months ago
I found the issue. I implemented a torque controller and thus, disabled the PD gains from the franka model that the teleop tutorial needs for the IK controller that uses.
The solution was to restore the original values
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Describe the bug
The teleoperation example is not working (source/standalone/environments/teleoperation/teleop_se3_agent.py). Happens the same in this closed issue: https://github.com/NVIDIA-Omniverse/orbit/issues/46, the teleop only close and opens the gripper but the robot is not moving, just selecting different options from the left panel. I tried to use the solution of that issue, that is, using a big sensitivity with the keyboard and it doesn't work. Apart from that, I tried with the spacemouse compact too and the robot wont move, just close and open the gripper.
I created a new issue cause the solution of this issue and mine are slightly different (task differs, sim version...) when launching the demo:
old issue:
./orbit.sh -p source/standalone/environments/teleoperation/teleop_se3_agent.py --task Isaac-Lift-Franka-v0 --num_envs 1 --cpu --device keyboard
my launch:
./orbit.sh -p source/standalone/environments/teleoperation/teleop_se3_agent.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --num_envs 1 --device keyboard --sensitivity 1000.0
Steps to reproduce
Just launch the teleop demo:
./orbit.sh -p source/standalone/environments/teleoperation/teleop_se3_agent.py --task Isaac-Lift-Cube-Franka-IK-Rel-v0 --num_envs 1 --device keyboard --sensitivity 1000.0
The terminal log
System Info
Describe the characteristic of your environment:
Additional context
I'm running the simulations on a laptop too (alienware area 51m r1). The previous reported bugs were: https://github.com/NVIDIA-Omniverse/Orbit/issues/1 https://github.com/NVIDIA-Omniverse/orbit/issues/46
Checklist
Acceptance Criteria
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