[Question] run_diff_ik.py can't work without reset the arm to the default pose

[nolann030628]

Question

I want to write an IK function basd on the tutorial, and I don't want the pos to go back to the default pose so I comment the robot.write_joint_state_to_sim(joint_pos, joint_vel), but the arm seems to can not compute the right joint_pos_des.

 if count % 150 == 0:
            # reset time
            count = 0
        # reset joint state
            joint_pos = robot.data.default_joint_pos.clone()
            joint_vel = robot.data.default_joint_vel.clone()
            # robot.write_joint_state_to_sim(joint_pos, joint_vel)
            robot.reset()

the code I commented is show above, I want to know how to solve this and use this ik controller in my custom env. I would be more than appreciated for any useful suggestions!

[RandomOakForest]

Thanks for posting this. What would be then the pose you expect the robot arm to be at? It seems write_joint_state_to_sim should be used. See the example in this tutorial. I will move this post to a discussion for the team to follow up.