Isaac Sim Version
4.5.0
Operating System
Windows 10
GPU Information
- Model: 4080
- Driver Version: 576.52
Topic Description
Detailed Description
Hey lovely people!
In the last couple of days I’ve been trying to achieve something that sounded simple, but that is proving harder than I could possibly think.
I have imported the forklift_b_sensors into an empty scene with just the default plane, and attached an Action Graph to it. The graph takes WASD inputs and applies them as forces to back_wheel_drive and back_wheel_swivel, and it mostly works, with just one exception: regardless of the sign on the swivel, it always turns the forklift in the same direction.
The forklift setup is as provided, no modification has been done. The Action Graph setup is very standard and reflects what the examples on the website show. I’ve tried building other robots and managed to get them all to work, with the caveat that they all had two-wheels inputs, so I am a bit confused by the fact that values with opposite signs would lead to similar results?
Steps to Reproduce
- Create a new Scene, add the forklift_b_sensor and a ground plane.
- Create an Action Graph with an articulation controller that targets the forklift and the back_wheel_swivel joint
- Connect Tick to Exec
- Create a Constant Double, put it in an array, and connect the array to Velocity Command.
- Change between 15 and -15 on your constant double. You’ll see that the forklift will rotate in the same direction regardless, with a few jumps here and there.
Screenshots or Videos
(If applicable, add screenshots or links to videos that demonstrate the issue)
I’m at a loss here, any help would be greatly appreciated!