Error : Getting errors when applying forces/torques on a rigid body using GPU

Omniverse Isaac Sim
,
1

problem_cube.zip (14.7 MB)
Hello,
Use case :
I am trying to apply forces/torques on a custom rigid body while only using GPU
Scenario :
In simulation I apply 0.01 or -0.01 torques every 1000 steps in simulation
When using CPU : I get no errors ( I just comment device=“cuda” and backend=“torch” in World and simulation context in intialization)
When using GPU : I get :

  • PhysX error: PxRigidDynamic::setGlobalPose()
  • PhysX error: PxRigidDynamic::setLinearVelocity()
  • PhysX error: PxRigidDynamic::setAngularVelocity()
    Hardware :
    CPU : 13th Gen Intel(R) Core™ i7-13700KF
    GPU : NVIDIA GeForce RTX 4070, Driver Version: 535.183.01 CUDA Version: 12.2
    Software :
    OS : ubuntu 20.04
    isaac-sim-4.0.0
    I attached error.txt file to illustrate the display of the error on output, code.py for the actual code I used and demo_of_wanted_behavior.mkv to illustrate a video of the desired behavior using GPU