Keep last joint positions

When the simulation is reset, the robot joint position changes to its default.
Is there a way to keep the actual joint values when resetting the simulation?
Thank you in advance.

assuming you are using articulations its possible to use JointStateAPI for this purpose. If you assign the JointStateAPI to your joints their current state will get stored (position and velocity).
Then if you dont want to reset your transformations (the default) in Edit->Preferences->Physics you can disable the reset on stop behaviour.

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