IsaacSim 4.5.0 Lula Inverse Kinematics Example Not Working

[ps_acc]

Hi,

I am trying to reproduce the Lula Inverse Kinematics example described here:
Lula Inverse Kinematics

I get a series of of errors, some of which I am able to work my way around:

self._target = XFormPrim("/World/target", scale=[0.04, 0.04, 0.04])

TypeError: XFormPrim.__init__() got an unexpected keyword argument 'scale'

omitting scale=...

target_position, target_orientation = self._target.get_world_pose()

AttributeError: 'XFormPrim' object has no attribute 'get_world_pose'

replacing get_world_pose() with get_world_poses()
leaves me with

Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

• Model: RTX A2000
• Driver Version: 550.120

[zhengwang]

Also you GPU doesn’t satisfy the minimum requirement for Isaac Sim 4.5.0. Please check Isaac Sim Requirements — Isaac Sim Documentation

You can also check the output of Isaac Sim Compatibility Checker Isaac Sim Requirements — Isaac Sim Documentation

I will reach out to our internal team about the tutorial Lula Kinematics Solver — Isaac Sim Documentation because I am also experiencing some error when following the tutorial.