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Potential Bug in FrankaCabinet #151

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JunweiLiang opened this issue Mar 19, 2024 · 0 comments

JunweiLiang commented Mar 19, 2024

In FrankaCabinet, there seems to be a obvious bug that the left finger pose is assigned to the right finger:

        self.franka_lfinger_pos, self.franka_lfinger_rot = self._frankas._lfingers.get_world_poses(clone=False)
        # shouldn't it be getting rfingers pose?
        self.franka_rfinger_pos, self.franka_rfinger_rot = self._frankas._lfingers.get_world_poses(clone=False)

In https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs/blob/main/omniisaacgymenvs/tasks/franka_cabinet.py#L277

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