Isaac Sim 4.2.0: Articulation not working with torch backend

Omniverse Isaac Sim
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1

Isaac Sim Version [
] 4.2.0

Operating System

Ubuntu 22.04

GPU Information

  • Model: RTX4090
  • Driver Version:

Topic Description

Detailed Description

Hello,

I am using Isaac Sim 4.2.0 which I would use with torch backend on the gpu (“cuda:0”) .

Here the code to instantiate the articulation prim object:

        from omni.isaac.core.simulation_context import SimulationContext
        simulation_context = SimulationContext.instance()
        print("at the articulation constructor")

        self.world.scene.add(Articulation(robot_prim_path))
        world.reset()
        self._articulation.initialize(simulation_context.physics_sim_view)
        self._kinematics_solver = LulaKinematicsSolver(
            robot_description_path = "lula_description.yaml",
            urdf_path = "GEN3-7DOF-VISION_ARM_URDF_V12.urdf",
        )
        end_effector_name = "end_effector_link"
        
        self._articulation_kinematics_solver = ArticulationKinematicsSolver(self._articulation,self._kinematics_solver, end_effector_name)
        self.brush_prim_path = brush_prim_path

Here the code instantiating the world, physics and simulation context:

            #instanciate the world
            self.physics_scene = PhysicsContext(
                prim_path = self.app_config["app"]["physics_context"]["prim_path"],
                set_defaults = self.app_config["app"]["physics_context"]["set_defaults"],
                device = self.app_config["app"]["world"]["device"],
                backend = self.app_config["app"]["world"]["backend"],
            )
            self.physics_scene.enable_gpu_dynamics(True)
            self.physics_scene.enable_ccd(True)
            self.world = World(
                physics_prim_path = self.app_config["app"]["physics_context"]["prim_path"],
                physics_dt = self._physics_dt,
                rendering_dt = self.rendering_dt,
                set_defaults = self.app_config["app"]["physics_context"]["set_defaults"],
                stage_units_in_meters = self.app_config["app"]["world"]["stage_unit_in_meters"],
                device = self.app_config["app"]["world"]["device"], # cuda:0
                backend = self.app_config["app"]["world"]["backend"], # torch
                )
            #omni.timeline.get_timeline_interface().play()
            self.physics_scene = self.world.get_physics_context()

            print("device used in context: " + self.world.device)

            self.physics_scene.enable_fabric(False)
            self.world.step(render=True)
            self.world.step(render=True)
            self.world.step(render=True)
            self.world.reset()
            self.physics_scene.enable_gpu_dynamics(True)
            self.physics_scene.enable_ccd(True)
            self.physics_scene.set_gravity(-9.81)

            simulation_context = SimulationContext.instance()
            print("simulation context device: " + simulation_context.device)
        
        self.world.reset()

When I want to instantiate the Articulation object, an error occurs which is given below:

### Error Messages
Error executing job with overrides: []
Traceback (most recent call last):
  File "/home/btabia/git/new/Malleabot/./script/train.py", line 134, in main
    env = gymnasium.make(env_name, cfg_env = wandb.config["env"], cfg_task  = wandb.config["tasks"] ,world = app.get_world(), app = app.get_sim_app())
  File "/home/btabia/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.ml_archive/pip_prebundle/gymnasium/envs/registration.py", line 802, in make
    env = env_creator(**env_spec_kwargs)
  File "/home/btabia/git/new/Malleabot/envs/baseenv.py", line 63, in __init__
    self.task.set_up_task(self.world)
  File "/home/git/new/tasks/baseline.py", line 106, in set_up_task
    self.robot_interface =  RobotInterfacePositionControl(self.cfg["task"]["robot"]["prim_path"],
  File "/home/git/new/tasks/utils/RobotPositionControl.py", line 27, in __init__
    world.reset()
  File "/home/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.core/omni/isaac/core/world/world.py", line 390, in reset
    self.scene.post_reset()
  File "/home/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.core/omni/isaac/core/scenes/scene.py", line 324, in post_reset
    prim_registery[prim_name].post_reset()
  File "/home/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.core/omni/isaac/core/prims/_impl/single_prim_wrapper.py", line 131, in post_reset
    self._prim_view.post_reset()
  File "/home/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.core/omni/isaac/core/articulations/articulation_view.py", line 2453, in post_reset
    XFormPrimView.post_reset(self)
  File "/homelocal/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.core/omni/isaac/core/prims/xform_prim_view.py", line 407, in post_reset
    self.set_world_poses(self._default_state.positions, self._default_state.orientations)
  File "/home/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.core/omni/isaac/core/articulations/articulation_view.py", line 1754, in set_world_poses
    current_positions, current_orientations = self.get_world_poses(clone=False)
  File "/home/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.core/omni/isaac/core/articulations/articulation_view.py", line 1834, in get_world_poses
    pos = pose[indices, 0:3]
RuntimeError: indices should be either on cpu or on the same device as the indexed tensor (cpu)

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