When I add a phyicsScene while a simulation is running, the robot Xfrom’s are reset so that whatever position the robot was in when the physics scene was added, persists with no way to go back to the original.
Thank you for reporting this bug with Isaac Sim 4.1. Are there any error messages or warnings in the console? To help us investigate and address this issue more effectively, could you please provide more detailed steps to reproduce the problem?
good_robot_stage.zip (457.6 KB)
Step 1: open the stage i provided
Step 2: Press play to start the simulation. Robot falls over.
Step 3: Remove the existing PhysicsScene
Note that the transforms are already screwed up after i added this. If you can get it back to the original that would be nice)
Step 4: Add a new PhysicsScene
At this point, either isaac sim will crash or the transforms will be permanently reset in their current pos and stopping the sim will not reset the bots transform like it should.
@ryleymcc , is there a reason to remove the Physics scene when the simulation is running?