Cube position reset failing using GeometryPrimView.set_world_poses()

Omniverse Isaac Sim
1

Hi,
I’m trying to use RL to train pick and place robotic task. For this, I have a robot arm and a cube. At reset, the cube should start in the same position, I’m trying to train a single agent with multiple environments.
I’m using a GeometryPrimView.set_world_poses to move the cubes to the default position.
Am I duoing this right or should use other method?

2

Hi there, the GeometryPrimView class can be used for this use case. To speed up performance, we also provide vectorized APIs in RigidPrimView.set_world_poses, which can set the transforms of multiple rigid bodies at the same time.

3

Thanks, that works.

4

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