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tud-airlab / mppi-isaac

Model Predictive Path Integral Control using isaacgym for rollouts, gpu-accelerated
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Cannot set initial position nor reset states while using Heijn #33

Closed cpezzato closed 1 year ago

cpezzato commented 1 year ago

In branch ft-add-push, the pushing examples with Heijn cannot be run because the robot is spawned inside the ground floor and cannot move.

Spawning there would be okay if we could reset the intitial pose, but it looks like the init pose provided in the config file is ignored as well as the position reset from isaawgym wrapper.

When the robot is spawned inside the x-y coordinates the robot cannon move. It looks like there is a possible collision with those even though the parameter for x-y is set to "collision": False in isaacgym_wrapper.py

cpezzato commented 1 year ago

Addressed in 2f8775ae29020250dd6f58c480d0dbd5221e43bc