Octi Zhang

I get this problem as well

I think you can put it outside of isaac lab. this template allows you to develop the project using isaac lab as a package instead of modifying isaac lab

same issue exporting to usdc or with --omniverse arguments

Let me give a try!

@Mayankm96 @jtigue-bdai _gif that shows franka, base rotated 90 degrees, can be stably controlled with teleoperation_  _Screenshot of edit that fix the bug_  I got...

Thanks for such a comprehensive response! I love the philosophy went behind the implementation, I learned a lot! below are my new implementations  ![Screenshot from 2024-09-06...

Thanks for the discussion, This is good point, though I suppose this change of frame can be done outside of ActionManager? so input actions are always in robot's base frame?

A pull request has been submitted, which I believe to resolved the issue and added a test unit to test against it. But hasn't been accepted yet.

I have encountered something similar before as well. From my experience with those issues, object or robots disappear usually caused by physics instability, the solution diverged and value exploded. You...

Good job in found out that learning rate seems to be somewhat helpful! Physic dt of 0.005 is usually an ok value, though I do see some of my environment...