Hi @kellyg , thank you for the update.
Regarding the issue, I find it hard to produce a simple setting to reproduce it. In general it seems to happen with:
- two different articulations in a cloned scene, using ArticulationViews
- resetting them simultaneously
But it does not always happen and not with all robots / articulations. It may indeed be the GPU pipeline, though I cannot confirm for certain.
Trying to find a reproducible, simple case, things start to behave weirdly before I even get to this point. In the attached file I use assets from nvidia. If device = "cpu", everything behaves fine (robot standing still, correct joint values being set). If you change it to device = "cuda", the robot starts moving without getting any commands - this also happens without a second articulated object. If at the same time we spawn a cabinet, the robot starts to fly around - no idea why,
While this is not the exact same issue, it seems very related. If I spawn a different articulated object, that I did not include as it’s based on much more files, the robot does not start flying, but the object doors always open after resets etc. - while on CPU the joints get set to the correct state and then do not move any further.
All these issues seem somewhat related to me. The python files are attached in the zip file below.
testcase.tar.xz (5.2 KB)
Your help would be greatly appreciated! I am really, really struggling to use the simulator at this point and have run out of ideas on how to make the physics behave in a stable manner.