Object default state changes while running simulation

Omniverse Isaac Sim
1

The name and docstring says the default state will be used after world.reset()
However, default state is changed inside initialize() function to reflect current pose, which makes the default state I set completely ignored.
How do I set default state properly?
I attach the code and paste the log here for reproducible.

create_new_stage()
world = World(physics_dt=1.0/30, rendering_dt=1.0/30)
cube = DynamicCuboid('/World/cube')
world.scene.add(cube)

cube.set_default_state([0, 0, 10], [1, 0, 0, 0], [0, 0, 0], [0, 0, 0])
print('before hard_reset: default', str(cube.get_default_state()))

world.reset(soft=False)
print('after hard_reset: default', str(cube.get_default_state()))
print('after hard_reset: current', str(cube.get_current_dynamic_state()))

world.reset(soft=True)
print('after soft reset, default:', str(cube.get_default_state()))
print('after soft reset, current:', str(cube.get_current_dynamic_state()))
for _ in range(5):
  world.step()

world.reset(soft=True)
print('after soft reset, default:', str(cube.get_default_state()))
print('after soft reset, current: ', str(cube.get_current_dynamic_state()))
for _ in range(5):
  world.step()
=========
before hard_reset: default DynamicState(pos=[ 0.  0. 10.], rot=[1. 0. 0. 0.], lin_vel=[0. 0. 0.], ang_vel=[0. 0. 0.])
after hard_reset: default DynamicState(pos=[ 0.      0.     -0.0327], rot=[1. 0. 0. 0.], lin_vel=[ 0.          0.         -0.65400004], ang_vel=[0. 0. 0.])
after hard_reset: current DynamicState(pos=[ 0.      0.     -0.0327], rot=[1. 0. 0. 0.], lin_vel=[ 0.          0.         -0.65400004], ang_vel=[0. 0. 0.])
after soft reset, default: DynamicState(pos=[ 0.      0.     -0.0327], rot=[1. 0. 0. 0.], lin_vel=[ 0.          0.         -0.65400004], ang_vel=[0. 0. 0.])
after soft reset, current: DynamicState(pos=[ 0.      0.     -0.0327], rot=[1. 0. 0. 0.], lin_vel=[ 0.          0.         -0.65400004], ang_vel=[0. 0. 0.])
after soft reset, default: DynamicState(pos=[ 0.      0.     -0.3052], rot=[1. 0. 0. 0.], lin_vel=[ 0.     0.    -2.289], ang_vel=[0. 0. 0.])
after soft reset, current:  DynamicState(pos=[ 0.      0.     -0.3052], rot=[1. 0. 0. 0.], lin_vel=[ 0.     0.    -2.289], ang_vel=[0. 0. 0.])

Thank you.
test_rigid.py.txt (1.5 KB)

3

This behavior, where the default state changes during simulation, has indeed been reported by other users as well. I appreciate you bringing this to our attention with a clear, reproducible example.

I’ve forwarded your report to our development team for investigation. They will look into why the set_default_state() method isn’t persisting through resets as it should.

We’ll update this thread as soon as we have more information or a solution. If you discover any additional insights or workarounds, please feel free to share them here.