Isaac Sim Version
4.2.0
Isaac Lab Version (if applicable)
1.2
Operating System
Ubuntu 22.04
GPU Information
- Model: 4090
- Driver Version: 535.129.03
Topic Description
Detailed Description
When I use the RigidObject.set_external_force_and_torque() function in stages according to the simulation time, I can control the object well in the first stage, but when I enter the second stage from the first stage, the object receives the force and torque of the second stage first and can control the movement of the object well. But after a while can not control, the object seems to be subjected to the first stage of the force and torque, and will continue to superimpose this force and torque, making the acceleration of the object more and more. It feels like the cache of forces and moments in this function is not cleared
Screenshots or Videos
Phenomenon vedio:
Specific values (force and torque is input, object velocity is output):
Where 10-30 is the first stage, 30-90 is the second stage
As can be seen from step 50 onwards, the function does not control the object. This feels like a superposition of the first phase values
Additional Information
What I’ve Tried
At first, I thought it was a problem caused by too many decimal places in the input value. Later, after controlling it to 3 decimal places, the phenomenon slowed down, but it still occurred. Then continue to reduce the decimal place, the effect is minimal.