Open JunweiLiang opened 3 months ago
In FrankaCabinet, there seems to be a obvious bug that the left finger pose is assigned to the right finger:
self.franka_lfinger_pos, self.franka_lfinger_rot = self._frankas._lfingers.get_world_poses(clone=False) # shouldn't it be getting rfingers pose? self.franka_rfinger_pos, self.franka_rfinger_rot = self._frankas._lfingers.get_world_poses(clone=False)
In https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs/blob/main/omniisaacgymenvs/tasks/franka_cabinet.py#L277
In FrankaCabinet, there seems to be a obvious bug that the left finger pose is assigned to the right finger:
In https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs/blob/main/omniisaacgymenvs/tasks/franka_cabinet.py#L277