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tud-airlab / mppi-isaac

Model Predictive Path Integral Control using isaacgym for rollouts, gpu-accelerated
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Bug: Omnipanda spawned with some initial velocity #40

Open cpezzato opened 1 year ago

cpezzato commented 1 year ago

When running omnipanda_isaacgym_server and client, the robot is spawned with some initial velocity. Reproduce the bug in branch ft-add-pushing by running the omnipanda examples.

This happened after merging the last changes from main. It can be seen also by setting the actions sent to 0 and starting the example.

c-salmi commented 1 year ago

This is likely because you're setting the initial dof_state of the prismatic joints to [-1, -1] here But the actor is already loaded at initial location [-1, -1] so the whole reference frame for the joints has shifted there. So you should pass [0.0, 0.0] to the initial dof_state instead.