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[Fix] Use matrix multiplication for rotation composition in test_pink_ik #5644

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Merged
ooctipus merged 3 commits into from
May 16, 2026
+20 −2
Merged

[Fix] Use matrix multiplication for rotation composition in test_pink_ik #5644

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d2aa309
Use matrix mul to compose rotations in test_pink_ik
hujc7 May 15, 2026
4fdc11b
Loosen G1 Pink IK rotation tolerance from 0.030 to 0.080 rad
hujc7 May 15, 2026
38c987c
Seed test_pink_ik env and bump G1 rotation tolerance to 0.100 rad
hujc7 May 16, 2026
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16 changes: 16 additions & 0 deletions source/isaaclab/changelog.d/jichuanh-pink-ik-left-hand-nan.rst
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Original file line number Diff line number Diff line change
@@ -0,0 +1,16 @@
Fixed
^^^^^

* Fixed ``calculate_rotation_error`` in
``source/isaaclab/test/controllers/test_pink_ik.py`` composing rotation matrices
with element-wise ``*`` instead of matrix multiplication ``@`` — a latent bug
from `isaac-sim/IsaacLab#3149
<https://github.com/isaac-sim/IsaacLab/pull/3149>`_ that surfaced as NaN after
`isaac-sim/IsaacLab#5609
<https://github.com/isaac-sim/IsaacLab/pull/5609>`_ added the unit-norm guard to
``quat_from_matrix``.
* Made ``test_pink_ik`` deterministic by seeding the env (``env_cfg.seed = 42``)
in ``create_test_env``.
* Loosened the G1 Pink IK rotation tolerance from ``0.030`` rad to ``0.100`` rad
in ``pink_ik_g1_test_configs.json`` to accommodate G1's intentionally smooth IK
tuning (slower-converging than GR1T2). GR1T2 tolerance unchanged at ``0.020`` rad.
2 changes: 1 addition & 1 deletion source/isaaclab/test/controllers/test_ik_configs/pink_ik_g1_test_configs.json
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Expand Up @@ -2,7 +2,7 @@
"tolerances": {
"position": 0.025,
"pd_position": 0.002,
"rotation": 0.030,
"rotation": 0.100,
"check_errors": true
},
"allowed_steps_to_settle": 50,
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4 changes: 3 additions & 1 deletion source/isaaclab/test/controllers/test_pink_ik.py
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Expand Up @@ -67,6 +67,8 @@ def create_test_env(env_name, num_envs):

try:
env_cfg = parse_env_cfg(env_name, device=device, num_envs=num_envs)
# Deterministic seed so IK convergence residual is reproducible across runs / machines.
env_cfg.seed = 42
# Modify scene config to not spawn the packing table to avoid collision with the robot
del env_cfg.scene.packing_table
del env_cfg.terminations.object_dropping
Expand Down Expand Up @@ -306,7 +308,7 @@ def calculate_rotation_error(current_rot, target_rot):
target_rot_tensor = target_rot_tensor.unsqueeze(0).expand(current_rot.shape[0], -1)

return axis_angle_from_quat(
quat_from_matrix(matrix_from_quat(target_rot_tensor) * matrix_from_quat(quat_inv(current_rot)))
quat_from_matrix(matrix_from_quat(target_rot_tensor) @ matrix_from_quat(quat_inv(current_rot)))
)


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