[Bug Report] Issue with DifferentialIKController Not Working After Adding rot to InitialStateCfg

[amatsukaze233]

Describe the bug

I've encountered an issue where the IK controller stops working after adding the rot attribute to InitialStateCfg when setting up DifferentialIKController. Based on the question in IsaacLab Issue #1350

Steps to reproduce

After adding the rot attribute to the initialstatecfg of the differentialikcontroller, the IK controller fails to function correctly. Adding fix_root_link=True to ArticulationRootPropertiesCfg also does not resolve the issue. There are no errors reported in the terminal. Below is my code
`
#function to get target position and rotation
def get_local_transform_xform(prim: Usd.Prim) -> typing.Tuple[Gf.Vec3d, Gf.Rotation]:#, Gf.Vec3d]:
xform = UsdGeom.Xformable(prim)
local_transformation: Gf.Matrix4d = xform.GetLocalTransformation()
translation: Gf.Vec3d = local_transformation.ExtractTranslation()
rotation: Gf.Rotation = local_transformation.ExtractRotation()
#scale: Gf.Vec3d = Gf.Vec3d(*(v.GetLength() for v in local_transformation.ExtractRotationMatrix()))
return translation, rotation#, scale
#ik target asset config
target2 = AssetBaseCfg(
prim_path="{ENV_REGEX_NS}/hsrTarget",
spawn=sim_utils.UsdFileCfg(usd_path="C:/Users/Administrator/IsaacLab/source/standalone/mydemo/data/frame_prim.usd",
visible=True,collision_props=CollisionPropertiesCfg(collision_enabled=False), scale=(0.07, 0.07, 0.07)),
init_state=AssetBaseCfg.InitialStateCfg(pos=( 1, 3.5, 1),rot=(0,-7.07,-0.707,0)),
debug_vis=True
)
#robot config
robot2 = HSR2_CFG.replace(prim_path="{ENV_REGEX_NS}/HSR1",
init_state=ArticulationCfg.InitialStateCfg(pos=(1,3.5,0),rot=(0.707,0,0,0.707),
joint_pos={"carriage": 0.0,"joint1": 0.0,"joint2": 0.0,"joint3": 0.0,"joint4": 0.0,
"joint5": 1.57,"joint6": 0.0,"hsr_finger1": 0.0,"hsr_finger2": 0.0,},
joint_vel={"carriage":0.5}
))

#Code Outside the while simulation_app.is_running(): Loop:
robot2= scene["robot2"]
diff_ik_cfg2 = DifferentialIKControllerCfg(command_type="pose", use_relative_mode=False, ik_method="dls")
diff_ik_controller2 = DifferentialIKController(diff_ik_cfg2, num_envs=scene.num_envs, device=sim.device)
frame_marker_cfg2 = VisualizationMarkersCfg(
markers={"frame2": sim_utils.UsdFileCfg(
usd_path="C:/Users/Administrator/IsaacLab/source/standalone/mydemo/data/frame_prim.usd",
scale=(0.5, 0.5, 0.5), )})
frame_marker_cfg2.markers["frame2"].scale = (0.07, 0.07, 0.07)
ee_marker2 = VisualizationMarkers(frame_marker_cfg2.replace(prim_path="/Visuals/ee_current2"))
goal_marker2 = VisualizationMarkers(frame_marker_cfg2.replace(prim_path="/Visuals/ee_goal2"))
ik_commands2 = torch.zeros(scene.num_envs, diff_ik_controller2.action_dim, device=robot2.device)
robot_entity_cfg2 = SceneEntityCfg("robot2", joint_names=["carriage","joint.*"], body_names=["gripcenter"])
robot_entity_cfg2.resolve(scene)
ee_jacobi_idx2 = robot_entity_cfg2.body_ids[0] - 1
joint_pos2 = robot2.data.default_joint_pos.clone()
joint_vel2 = robot2.data.default_joint_vel.clone()
robot2.write_joint_state_to_sim(joint_pos2, joint_vel2)

#Code Inside the Loop:
jacobian2 = robot2.root_physx_view.get_jacobians()[:, ee_jacobi_idx2, :, robot_entity_cfg2.joint_ids]
ee_pose_w2 = robot2.data.body_state_w[:, robot_entity_cfg2.body_ids[0], 0:7]
root_pose_w2 = robot2.data.root_state_w[:, 0:7]
joint_pos2 = robot2.data.joint_pos[:, robot_entity_cfg2.joint_ids]
translation2, rotation2 =get_local_transform_xform (sim_utils.utils.find_first_matching_prim("/World/envs/env_0/hsrTarget"))
target_tensor2 = torch.tensor([translation2[0]-1, translation2[1]-3.5, translation2[2],rotation2.GetQuat().GetReal(),
rotation2.GetQuat().GetImaginary()[0], rotation2.GetQuat().GetImaginary()[1],
rotation2.GetQuat().GetImaginary()[2]], device=sim.device)
ee_pos_b2, ee_quat_b2 = subtract_frame_transforms(root_pose_w2[:, 0:3], root_pose_w2[:, 3:7], ee_pose_w2[:, 0:3],
ee_pose_w2[:, 3:7])
joint_pos_des2= joint_pos2[:, robot_entity_cfg2.joint_ids].clone()
ik_commands2[:] = target_tensor2
diff_ik_controller2.reset()
diff_ik_controller2.set_command(ik_commands2)
robot2.reset()
joint_pos_des2 = diff_ik_controller2.compute(ee_pos_b2, ee_quat_b2, jacobian2, joint_pos2)
robot2.set_joint_position_target(joint_pos_des2, joint_ids=robot_entity_cfg2.joint_ids)
ee_marker2.visualize(ee_pose_w2[:, 0:3], ee_pose_w2[:, 3:7])
goal_marker2.visualize(ik_commands2[:, 0:3] + scene.env_origins+root_pose_w2[:, 0:3], ik_commands2[:, 3:7])
`
With rot:

Without rot:

There is still a bug in asset display. It returns to normal after moving the asset.

System Info

Describe the characteristic of your environment:

• Commit: [e.g. 8f3b9ca]
• Isaac Sim Version: [4.2.0]
• OS: [win10]
• GPU: [2080ti]
• CUDA: [12.7]
• GPU Driver: [565.9]

Additional context

Add any other context about the problem here.

Checklist

• I have checked that there is no similar issue in the repo (required)
• I have checked that the issue is not in running Isaac Sim itself and is related to the repo

Acceptance Criteria

Add the criteria for which this task is considered done. If not known at issue creation time, you can add this once the issue is assigned.

• Criteria 1
• Criteria 2

[RandomOakForest]

Thanks for filing this. We will investigate.

[Privilger]

I met the same problem. Just modify the rot in the given example: run_diff_ik.py(path: IsaacLab/source/standalone/tutorials/05_controllers/run_diff_ik.py) can reproduce the bug.

    # articulation
    if args_cli.robot == "franka_panda":
        robot = FRANKA_PANDA_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
    elif args_cli.robot == "ur10":
        robot = UR10_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
    else:
        raise ValueError(f"Robot {args_cli.robot} is not supported. Valid: franka_panda, ur10")
    # add these lines
    robot.init_state.pos = (1.0, 0.5, 0.0)
    robot.init_state.rot = (0.707, 0.0, 0.0, 0.707)