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[Bug Report] Keyboard controller and IK controller #78

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amandlek opened this issue Apr 27, 2023 · 0 comments
Open

[Bug Report] Keyboard controller and IK controller #78

amandlek opened this issue Apr 27, 2023 · 0 comments
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bug Something isn't working

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@amandlek
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Describe the bug

Depending on the configuration of the robot, it seems like translation keyboard commands affect the orientation of the robot. In my attached video, I only press the "A" and "D" keys in the collect demonstration script, but the eef orientation also moves.

Steps to reproduce

I have attached a video, but the issue can be reproduced by moving the arm around using the keyboard controller, using the collect human demos script.

System Info

Describe the characteristic of your environment:

  • Commit: master
  • Isaac Sim Version: 2022.2.1
  • OS: Ubuntu 20.04
  • GPU: RTX 3090
  • CUDA: 11.7
  • GPU Driver: 515.43.04
orbit_keyboard_problem.mp4
@Mayankm96 Mayankm96 added the bug Something isn't working label Apr 27, 2023
Mayankm96 pushed a commit that referenced this issue Jul 24, 2023
@nikitardn
Merge pull request #78 from isaac-orbit/dev/nikita/action_manager
c1bce56 
Dev/nikita/action manager
Mayankm96 added a commit that referenced this issue May 31, 2024
@Nemantor @Mayankm96
Fixes RSL-RL ONNX exporter for empirical normalization (#78)
7af7aa8 
The current onnx exporter does not export the empirical normalization
layer. This MR adds the empirical normalization exporting to the JIT
and ONNX exporters for RSL-RL.

- Bug fix (non-breaking change which fixes an issue)

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have run all the tests with `./orbit.sh --test` and they pass
(some did timeout)
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Co-authored-by: Mayank Mittal <[email protected]>
fatimaanes pushed a commit to fatimaanes/omniperf that referenced this issue Aug 8, 2024
@Nemantor @Mayankm96
Fixes RSL-RL ONNX exporter for empirical normalization (isaac-sim#78)
0957262 
The current onnx exporter does not export the empirical normalization
layer. This MR adds the empirical normalization exporting to the JIT
and ONNX exporters for RSL-RL.

- Bug fix (non-breaking change which fixes an issue)

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have run all the tests with `./orbit.sh --test` and they pass
(some did timeout)
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Co-authored-by: Mayank Mittal <[email protected]>
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@amandlek @Mayankm96