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isaac-sim / OmniIsaacGymEnvs

Reinforcement Learning Environments for Omniverse Isaac Gym
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set_local_poses not working #129

Open xieleo5 opened 5 months ago

xieleo5 commented 5 months ago

When I tried to use ArticulationView.set_local_poses(), it works the same as ArticulationView.set_world_poses(). Code to reproduce:

robots = ArticulationView(
   prim_paths_expr="/World/envs/.*/robot", reset_xform_properties=False
) # 32 cloned envs in total
position = robots.get_local_poses()[0] # original positions all set to 0
position = torch.zeros_like(position)
robots.set_local_poses(position, orientation) # All robots go to the center of the world

What I did for work around is:

ori_world_pos = robots.get_world_poses()[0]
position = target_local_position + ori_world_pos
robots.set_local_poses(position, orientation)