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Isaac Sim Version
4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):
Operating System
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify): Ubuntu 24.04
GPU Information
- Model: RTX5090
- Driver Version: 570.169
Topic Description
Detailed Description
The method ArticulationView.set_dof_positions() has different behavior on a machine with rtx5090. Specifically, the method ArticulationView.set_dof_positions() only overwrites joint positions of a robot without changing the link positions in the scene. To change the link positions of the robot according to the new joint positions in the scene, I have to further run one sim step (e.g. sim.step(render=False)) and then update the scene (e.g. scene.update(dt=physics_dt)).
However, I tried it on 3 other machines with rtx4080 and rtx4090. The method ArticulationView.set_dof_positions() updates not only joint positions of the robot in the scene, but also update link positions correspondingly at the same time.
All the 4 machines have IsaacSim 4.5.0 installed. Only the machine with rtx5090 has Ubuntu 24.04, while all the other 3 machines have Ubuntu 22.04.