Based on this website, may I know how should I modified the code to make it run on GPU?
By copying how Orbit env does, which is adding these code into the base code:
sim_params = {'dt': 0.01, 'substeps': 1, 'gravity': (0.0, 0.0, -9.81), 'enable_scene_query_support': False,
'replicate_physics': True, 'use_flatcache': True, 'disable_contact_processing': False,
'use_gpu_pipeline': True, 'device': 'cuda:0'}
# Load kit helper
sim = SimulationContext(physics_dt=0.01, rendering_dt=0.01, backend="torch", sim_params=sim_params)
I got this error:
Traceback (most recent call last):
File "/home/bernard/Documents/HSR/My_Code/gpu_testing.py", line 189, in <module>
main()
File "/home/bernard/Documents/HSR/My_Code/gpu_testing.py", line 131, in main
robot.initialize("/World/envs/env_.*/Robot")
File "/home/bernard/Documents/Orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/robots/single_arm/single_arm.py", line 97, in initialize
super().initialize(prim_paths_expr)
File "/home/bernard/Documents/Orbit/source/extensions/omni.isaac.orbit/omni/isaac/orbit/robots/robot_base.py", line 173, in initialize
self.articulations.post_reset()
File "/home/bernard/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation_view.py", line 1316, in post_reset
XFormPrimView.post_reset(self)
File "/home/bernard/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.isaac.core/omni/isaac/core/prims/xform_prim_view.py", line 277, in post_reset
self.set_world_poses(self._default_state.positions, self._default_state.orientations)
File "/home/bernard/.local/share/ov/pkg/isaac_sim-2022.2.1/exts/omni.isaac.core/omni/isaac/core/articulations/articulation_view.py", line 940, in set_world_poses
old_pose[indices] = new_pose
RuntimeError: Expected all tensors to be on the same device, but found at least two devices, cuda:0 and cpu!
Exception ignored in: <function _make_registry.<locals>._Registry.__del__ at 0x7fce206545f0>
Traceback (most recent call last):
File "/home/bernard/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__
File "/home/bernard/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy
TypeError: 'NoneType' object is not callable
Exception ignored in: <function _make_registry.<locals>._Registry.__del__ at 0x7fce206545f0>
Traceback (most recent call last):
File "/home/bernard/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 103, in __del__
File "/home/bernard/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/extscore/omni.kit.viewport.registry/omni/kit/viewport/registry/registry.py", line 98, in destroy
TypeError: 'NoneType' object is not callable
Exception ignored in: <function SettingChangeSubscription.__del__ at 0x7fd1174e0cb0>
Traceback (most recent call last):
File "/home/bernard/.local/share/ov/pkg/isaac_sim-2022.2.1/kit/kernel/py/omni/kit/app/_impl/__init__.py", line 114, in __del__
AttributeError: 'NoneType' object has no attribute 'get_settings'
Exception ignored in: <function RegisteredActions.__del__ at 0x7fcd1fb33a70>
Traceback (most recent call last):
File "/home/bernard/.local/share/ov/pkg/isaac_sim-2022.2.1/extscache/omni.kit.viewport.menubar.lighting-104.0.9/omni/kit/viewport/menubar/lighting/actions.py", line 347, in __del__
File "/home/bernard/.local/share/ov/pkg/isaac_sim-2022.2.1/extscache/omni.kit.viewport.menubar.lighting-104.0.9/omni/kit/viewport/menubar/lighting/actions.py", line 352, in destroy
TypeError: 'NoneType' object is not callable
/home/bernard/.local/share/ov/pkg/isaac_sim-2022.2.1/python.sh: line 41: 206222 Segmentation fault (core dumped) $python_exe "$@" $args
There was an error running python
How should I fix it? Or what should I do make make the robot articulation runs on GPU as well?
Thank you