Robot on Isaac Gym env with GPU-accelerated scenes

Omniverse Isaac Sim
1

Hi,

I have an issue with the GPU-accelerated scene for my UR5e robot gym.env.

With CPU, the robot moves normally, starting by going to the joint default positions. However, when I enable the GPU-accelerated scene the robot stops moving from its zero joint position.

This video illustrates the issue

Here is the code I am working on.

ur5e_rl.zip (16.3 KB)

3

Hi there, I seem to be having some trouble running the repro scripts. It’s missing the ur_control module and I can’t seem to access the assets. Could you make sure that omni.physx.flatcache is enabled with the GPU pipeline? This extension is required for the rendering to update with the GPU pipeline.