Attractors with tensor API

Autonomous Machines Robotics - Isaac Isaac Gym
1

Hi,

I have some attractors in my environments but they can not be controlled (modify the attractor target) with the GPU pipeline after simulation starts.

[Error] [carb.gym.plugin] Function GymSetAttractorTarget cannot be used with the GPU pipeline after simulation starts.  Please use the tensor API if possible.  See docs/programming/tensors.html for more info.

I can not find any information about how to set the target of the attractors using the tensor API.
Any ideas on this?

Kinldy,
Toni

3 Likes
2

hI,
have you solved this problem?

best regard,
xiaolin

3

Hi,

Nop. There is no tensor API for attractors in the current version (preview 3) .
I don’t know if the Isaac Gym team will include it in futures releases…

@vmakoviychuk, @kellyg, @gstate any information on this, please?

4

hi,
Thank you very much for your reply.

5

Hi,

Please do you know if there’s a solution to the above error now?

Thank you!

6

Hi @bioduncollins

I don’t know a solution for it.
And, as far as I know as a user, there will be no more releases of Isaac Gym previews (at least with new features)

1 Like
7

I really hope dev would make it functional, I’m working on robots with loop, so I have to use attractor to connect some joint , now I have to work on cpu, take literally 2 days to finish 1 training.