Isaac Sim Version
4.2.0
Operating System
Ubuntu 22.04
Detailed Description
How to turn off PxSceneFlag::eENABLE_DIRECT_GPU_API? I can’t find any relevant information in the following documents:
Steps to Reproduce
https://docs.omniverse.nvidia.com/isaacsim/latest/how_to_guides/robots_simulation.html#
Referring to the position-control code in the link above, I was able to run it normally in the script editor of isaac sim4.2. When I tried to embed this code block in a standalone script in the isaac lab environment, an error was reported at the dc.set_articulation_dof_position_targets stage
from omni.isaac.dynamic_control import _dynamic_control
import numpy as np
dc = _dynamic_control.acquire_dynamic_control_interface()
articulation = dc.get_articulation("/Franka")
# Call this each frame of simulation step if the state of the articulation is changing.
dc.wake_up_articulation(articulation)
joint_angles = [np.random.rand(9) * 2 - 1]
dc.set_articulation_dof_position_targets(articulation, joint_angles)
Error Messages
PhysX error: PxArticulationJointReducedCoordinate::setDriveTarget(): it is illegal to call this method if PxSceneFlag::eENABLE_DIRECT_GPU_API is enabled!, FILE /builds/omniverse/physics/physx/source/physx/src/NpArticulationJointReducedCoordinate.cpp, LINE 304
Startup process log：
[INFO] Using python from: /home/zme/Software/miniconda3/envs/isaaclab/bin/python
[WARN][AppLauncher]: There are no arguments attached to the ArgumentParser object. If you have your own arguments, please load your own arguments before calling the `AppLauncher.add_app_launcher_args` method. This allows the method to check the validity of the arguments and perform checks for argument names.
[INFO][AppLauncher]: Loading experience file: /home/zme/Software/IsaacLab/source/apps/isaaclab.python.kit
[Warning] [omni.isaac.kit.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Loading user config located at: '/home/zme/Software/miniconda3/envs/isaaclab/lib/python3.10/site-packages/omni/data/Kit/Isaac-Sim/4.2/user.config.json'
[Info] [carb] Logging to file: /home/zme/Software/miniconda3/envs/isaaclab/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim/4.2/kit_20250122_104628.log
2025-01-22 02:46:28 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
|---------------------------------------------------------------------------------------------|
| Driver Version: 565.57.01 | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name | Active | LDA | GPU Memory | Vendor-ID | LUID |
| | | | | | Device-ID | UUID |
| | | | | | Bus-ID | |
|---------------------------------------------------------------------------------------------|
| 0 | NVIDIA GeForce RTX 3090 | Yes: 0 | | 24576 MB | 10de | 0 |
| | | | | | 2204 | fd6d171d.. |
| | | | | | 1 | |
|=============================================================================================|
| OS: 12 (rabbit) atzlinux, Version: 12.1919248483.1162426938, Kernel: 6.8.0-51-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12101004 (1.21.1.4)
| Processor: 12th Gen Intel(R) Core(TM) i7-12700KF | Cores: 12 | Logical: 24
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 64157 | Free Memory: 59121
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
2025-01-22 02:46:50 [22,525ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
2025-01-22 02:46:55 [27,045ms] [Warning] [omni.kit.widget.cache_indicator.cache_state_menu] Unable to detect Omniverse Cache Server. Consider installing it for better IO performance.
Thank you for posting this. It has been addressed under the Isaac Lab issues. Let’s continue the conversation there. Thanks.