Hi,
I am using the following modified version of the contact_sensor.py example (modified to enable the use of GPU pipeline):
# Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
# Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
from omni.isaac.kit import SimulationApp
simulation_app = SimulationApp({"headless": False})
from omni.isaac.core import World
from omni.isaac.core.articulations import Articulation
from omni.isaac.sensor import ContactSensor
from omni.isaac.core.utils.stage import add_reference_to_stage
from omni.isaac.core.utils.nucleus import get_assets_root_path
import numpy as np
import carb
import argparse
import sys
parser = argparse.ArgumentParser()
parser.add_argument("--test", default=False, action="store_true", help="Run in test mode")
args, unknown = parser.parse_known_args()
assets_root_path = get_assets_root_path()
if assets_root_path is None:
carb.log_error("Could not find Isaac Sim assets folder")
simulation_app.close()
sys.exit()
sim_params = {}
sim_params["use_gpu_pipeline"] = False
sim_params["backend"] = "torch"
# sim_params["integration_dt"] = 1.0/100.0
# sim_params["rendering_dt"] = 1.0/50.0
# sim_params["substeps"] = 1
# sim_params["gravity"] = np.array([0.0, 0.0, -9.81])
sim_params["enable_scene_query_support"] = True
sim_params["replicate_physics"] = True
sim_params["use_flatcache"] = True
sim_params["disable_contact_processing"] = False
if sim_params["use_gpu_pipeline"]:
sim_params["device"] = "cuda"
else:
sim_params["device"] = "cpu"
my_world = World(stage_units_in_meters=1.0, sim_params=sim_params,
backend=sim_params["backend"],
device =sim_params["device"])
my_world.scene.add_default_ground_plane()
asset_path = assets_root_path + "/Isaac/Robots/Ant/ant.usd"
add_reference_to_stage(usd_path=asset_path, prim_path="/World/Ant")
ant = my_world.scene.add(Articulation(prim_path="/World/Ant/torso", name="ant", translation=np.array([0, 0, 1.5])))
ant_foot_prim_names = ["right_back_foot", "left_back_foot", "front_right_foot", "front_left_foot"]
translations = np.array(
[[0.38202, -0.40354, -0.0887], [-0.4, -0.40354, -0.0887], [-0.4, 0.4, -0.0887], [0.4, 0.4, -0.0887]]
)
ant_sensors = []
for i in range(4):
ant_sensors.append(
my_world.scene.add(
ContactSensor(
prim_path="/World/Ant/" + ant_foot_prim_names[i] + "/contact_sensor",
name="ant_contact_sensor_{}".format(i),
min_threshold=0,
max_threshold=10000000,
radius=0.1,
translation=translations[i],
)
)
)
ant_sensors[0].add_raw_contact_data_to_frame()
my_world.reset()
while simulation_app.is_running():
my_world.step(render=True)
if my_world.is_playing():
print(ant_sensors[0].get_current_frame())
if my_world.current_time_step_index == 0:
my_world.reset()
simulation_app.close()
When running with sim_params["use_gpu_pipeline"] = False everything is fine and I get, for instance,
{'time': 16.866667546331882, 'physics_step': 1012.0, 'contacts': [{'body0': '/World/Ant/right_back_foot', 'body1': '/World/defaultGroundPlane/GroundPlane/CollisionPlane', 'position': tensor([ 7.4642e-01, -7.4641e-01, -6.3133e-06]), 'normal': tensor([1.3436e-07, 0.0000e+00, 1.0000e+00]), 'impulse': tensor([5.1907e-09, 0.0000e+00, 3.8633e-02])}], 'in_contact': True, 'force': 2.317972421646118, 'number_of_contacts': 1}
However, when setting sim_params["use_gpu_pipeline"] = True I get nonsense numbers:
{'time': 4.933333590626717, 'physics_step': 296.0, 'contacts': [{'body0': '/World/Ant/right_back_foot', 'body1': '/World/defaultGroundPlane/GroundPlane/CollisionPlane', 'position': tensor([-4.3160e+08, -4.9734e+17, -4.3160e+08], device='cuda:0'), 'normal': tensor([-4.3160e+08, -4.9734e+17, -4.3160e+08], device='cuda:0'), 'impulse': tensor([-1.6929e+07, -1.9507e+16, -1.6929e+07], device='cuda:0')}], 'in_contact': False, 'force': 0.0, 'number_of_contacts': 1}
Can anyone reproduce this or point me to a solution?
Thanks in advance