I substitures the original Franka arm with a self-designed 7DOF one, and modify numObservations, numActions and robot-related parameters with the IsaacGymEnvs.
ValueError: The parameter loc has invalid values with CPU pipeline. With GPU pipeline, there are more problems related with memory allocation.
The default dof configuration has been tested with jointmonkey.py. After printing tensors, I found that after using gym.acquire_rigid_body_state_tensor, tensors related to the robot arm are filled with “nan”.