I am using the GitHub - NVIDIA-Omniverse/OmniIsaacGymEnvs: Reinforcement Learning Environments for Omniverse Isaac Gym Framework right now. Running the example “AnymalTerrain” works perfectly. I therefore tried adapting the Task so that I am not using the Anymal Robot but rather the Unitree A1. However when I do so I get the following error:
> RuntimeError: CUDA error: CUBLAS_STATUS_EXECUTION_FAILED when calling
cublasSgemmStridedBatched( handle, opa, opb, m, n, k, &alpha, a, lda, stridea, b, ldb, strideb, &beta, c, ldc, stridec, num_batches)
This error occurs in line 335 of file https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs/blob/main/omniisaacgymenvs/tasks/anymal_terrain.py (Adapted to my Unitree A1 Robot; again, there is no such problem with the Example File “anymal_terrain.py”). The error occurs in “quat_rotate_inverse”.
I tried printing “self.base_quat” and “self.base_velocities”, obtaining the following error:
> RuntimeError: numel: integer multiplication overflow
The assignment statement does not yield any error message.
By “adapting” I mean that I changed nothing . I just changed the usd Files and renamed everything from “anymal” to “unitree” where appropriate. My Unitree A1 Files (config, robot, view and task files) are identical to AnymalTerrain; except for that my A1 is not an instanceable file.