Init Pose which configuration in yaml file is NOT initialize the Robot dof pos when use Isaaclab as backend.

[RealTaseny]

Hi, is someone else has the same affected on this issue.
When I use isaaclab as the mimickit backend engine, I suffer this error:

ValueError: The following joints have default positions out of the limits: 
	- 'FL_calf_joint': 0.000 not in [-2.723, -0.838]
	- 'FR_calf_joint': 0.000 not in [-2.723, -0.838]
	- 'RL_calf_joint': 0.000 not in [-2.723, -0.838]
	- 'RR_calf_joint': 0.000 not in [-2.723, -0.838]

I got this trace on debug, it finally into this file ${ISAACLAB}/source/isaaclab/isaaclab/assets/articulation/articulation.py

# check that the default values are within the limits
        joint_pos_limits = self.root_physx_view.get_dof_limits()[0].to(self.device)
        out_of_range = self._data.default_joint_pos[0] < joint_pos_limits[:, 0]
        out_of_range |= self._data.default_joint_pos[0] > joint_pos_limits[:, 1]

At first, I didn't encount this error when I use humanoid as play or train agents, but when I change into quadruped, the error happening. So I check the Go2 usd file, I found the default joint pose is all zero, so if the init pose configuration in the yaml file didn't change the agent default dof pos, the error occurring. Finally I change usd file default pos into the joint limit range, the error disappered.

I think the ideal logic is that when the backend engine initialize API is called, the init pose configuration also change into the agent default dof pos, cause if you use the python script convert_urdf in the isaaclab, you will always get the usd file which agent default dof pos all zero. I will try to solve the problem by my self, I am so appreciate that if someone else has the same problem too and can share you solution.

Here's my run command

python3 run.py --arg_file args/deepmimic_go2_ppo_args.txt --visualize true --num_envs 4 --mode test --model_file data/models/deepmimic_go2_pace_model.pt

Here's my yaml file:

o upload "deepmimic_go2_env.yaml" -->

[xbpeng]

This is the same issue as the one mentioned here:
#52
The TLDR is that due to the way that Isaaclab orders joints, we aren't able to set the initial pose of the robot before the simulation has been initialized. The current work around is to comment out this error in IsaacLab:
https://github.com/isaac-sim/IsaacLab/blob/017a1ee3068bd60c9290ca6d7f93469cf8f7ca63/source/isaaclab/isaaclab/assets/articulation/articulation.py#L1907
It's very hacky, but it seems to work for now. We set the initial pose after the simulation has been initialized, so ignoring this error should be safe. If you find a better fix, please do let us know! We are currently working with the IsaacLab devs to implemented a better solution in the long term.