From 3a674dd43e47286630971301da0d815e3f068e50 Mon Sep 17 00:00:00 2001 From: James Tigue Date: Thu, 5 Sep 2024 10:57:47 -0400 Subject: [PATCH] fix ground truth acceleration calculations --- .../test/deps/isaacsim/urdf_importer_zero_mass.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/source/extensions/omni.isaac.lab/test/deps/isaacsim/urdf_importer_zero_mass.py b/source/extensions/omni.isaac.lab/test/deps/isaacsim/urdf_importer_zero_mass.py index 4056e179ac..802f0e3bbc 100644 --- a/source/extensions/omni.isaac.lab/test/deps/isaacsim/urdf_importer_zero_mass.py +++ b/source/extensions/omni.isaac.lab/test/deps/isaacsim/urdf_importer_zero_mass.py @@ -153,11 +153,12 @@ def main(): vz = -joint1_vel * PEND_POS_OFFSET[0] * torch.cos(joint1_pos) gt_linear_vel = torch.cat([vx, vy, vz], dim=-1) - ax = -joint1_vel * PEND_POS_OFFSET[0] * torch.sin(joint1_pos) - joint1_vel**2 * PEND_POS_OFFSET[0] * torch.cos( + + ax = -joint1_acc * PEND_POS_OFFSET[0] * torch.sin(joint1_pos) - joint1_vel**2 * PEND_POS_OFFSET[0] * torch.cos( joint1_pos ) ay = torch.zeros_like(ax, device=world.device) - az = -joint1_vel * PEND_POS_OFFSET[0] * torch.cos(joint1_pos) + joint1_vel**2 * PEND_POS_OFFSET[0] * torch.sin( + az = -joint1_acc * PEND_POS_OFFSET[0] * torch.cos(joint1_pos) + joint1_vel**2 * PEND_POS_OFFSET[0] * torch.sin( joint1_pos ) gt_linear_acc = torch.cat([ax, ay, az], dim=-1)