Terrain Deformation Fixes #44
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AntoineRichard
requested changes
Jan 29, 2025
| @@ -457,7 +466,7 @@ def get_net_contact_forces(self) -> np.ndarray: | |||
| n_links = len(self.target_links) | |||
| contact_forces = np.zeros((n_links, 3)) | |||
| for i, prim_view in enumerate(self.prim_views): | |||
| contact_force = prim_view.get_net_contact_forces().squeeze() | |||
| contact_force = prim_view.get_net_contact_forces(dt = 1/60).squeeze() | |||
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Anychances we could get the dt parameter from the config?
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| quaternion = [orientation[1], orientation[2], orientation[3], orientation[0]] | ||
| rotation = R.from_quat(quaternion) | ||
| pitch_angle = 2 * np.arctan2(rotation.as_quat()[1], rotation.as_quat()[3]) | ||
| pitch_correction_quat = [0, -np.sin(pitch_angle / 2), 0, np.cos(pitch_angle / 2)] | ||
| inverse_pitch_rotation = R.from_quat(pitch_correction_quat) | ||
| rotation_corrected = rotation * inverse_pitch_rotation | ||
| quaternion_corrected = rotation_corrected.as_quat() | ||
| orientation_corrected = [quaternion_corrected[3], quaternion_corrected[0], quaternion_corrected[1], quaternion_corrected[2]] |
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Are you removing the pitch from the quaternion here?
|
The new traces looks amazing! Thanks a lot for making these mods! |
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Fixed issues related to contact forces, wheeltrace amplitude, and wheeltrace orientation.
Contact Forces:
Added the dt parameter; without this parameter, the values were being treated as contact impulses instead of contact forces https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#rigid-prim:~:text=999.99994%20999.99994%20999.99994%5D-,get_net_contact_forces,-(indices%3A
Wheeltrace Amplitude:
Corrected a discrepancy in the calculation method between the simulation and the published paper
Wheeltrace Orientation:
The wheeltrace orientation was not correctly aligned to the actual wheel orientation while turning
I’ll send you more details via Slack.