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[Bug Report] Keyboard controller and IK controller #78
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Mayankm96
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May 31, 2024
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
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Aug 8, 2024
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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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:
orbit_keyboard_problem.mp4
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