GymGetActorDofStates cannot be used with the GPU pipeline after simulation starts

Autonomous Machines Robotics - Isaac Isaac Gym
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Error] [carb.gym.plugin] Function GymGetActorDofStates 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 am getting this error after starting training

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Hi, I am getting this same error with training, found a way around it?

@kellyg , @gstate, anything you could say about this? Thank you!

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The error you get stems from the fact that you are trying to call (directly or indirectly) a method (get_actor_dof_states) which is not compatible with the GPU pipeline. If you set the argument use_gpu_pipeline to false, the error should disappear. If you cannot avoid the use of the GPU pipeline, then you should look at the acquire_dof_state_tensor method from the TensorAPI. You can find the documentation of the API by opening the isaacgym/docs/api/python/gym_py.html document.

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