Hello.
I am currently trying to use particle cloth and articulations at the same time.
However, when I turn on gpu pipeline with “backend=‘torch’, device=‘cuda’”, the program can not run due to an error.
This seems to be a problem on the articulations side.
For example, the following program also causes the error.
from omni.isaac.kit import SimulationApp
simulation_app = SimulationApp({"headless": False})
import numpy as np
import time
from omni.isaac.core import World
from omni.isaac.franka.controllers.pick_place_controller import PickPlaceController
from omni.isaac.franka.tasks import PickPlace
my_world = World(stage_units_in_meters=1.0, backend='torch', device='cuda')
# my_world = World(stage_units_in_meters=1.0)
my_task = PickPlace()
my_world.add_task(my_task)
my_world.reset()
task_params = my_task.get_params()
my_franka = my_world.scene.get_object(task_params["robot_name"]["value"])
my_controller = PickPlaceController(
name="pick_place_controller", gripper=my_franka.gripper, robot_articulation=my_franka
)
articulation_controller = my_franka.get_articulation_controller()
i = 0
while simulation_app.is_running():
my_world.step(render=True)
if my_world.is_playing():
if my_world.current_time_step_index == 0:
my_world.reset()
my_controller.reset()
observations = my_world.get_observations()
actions = my_controller.forward(
picking_position=observations[task_params["cube_name"]["value"]]["position"],
placing_position=observations[task_params["cube_name"]["value"]]["target_position"],
current_joint_positions=observations[task_params["robot_name"]["value"]]["joint_positions"],
end_effector_offset=np.array([0, 0.005, 0]),
)
if my_controller.is_done():
print("done picking and placing")
my_world.reset()
my_controller.reset()
time.sleep(1.0)
articulation_controller.apply_action(actions)
simulation_app.close()
Is there a way to use articulations with gpu pipeline in standalone python, or is there another way to use particle cloth and articulations simultaneously in standalone python?
isaac sim version: 2023.1.1
Thanks in advance