Set_joint_positions can not move correctly when use headless=True (again)

Omniverse Isaac Sim
1

Hi, the set_joint_positions method for ArticulationView does not have any effect on the link poses when no rendering occurs. There was a similar issue here: Set_joint_positions can not move correctly when use headless=True

Different to the previous issue, this is not strictly tied to headless=True but instead only happens when no rendering occurs.
So, even with headless=False, if the environment step directly after setting the joint positions has the argument render=False, the world poses of all links remain as before.
Instead, if step if called with render=True, the world poses do change in accordance to the joint positions.

I am using 2023.1.1

EDIT: I just noticed it’s even worse than I thought. Calling a single physics step with render=True only sends the world pose of the links “on their way” but they do not arrive at whatever the joint positions would dictate. I had to call multiple physics steps with rendering until the world poses of all robot parts corresponded to the joint positions I set.

2

The issue I asked in my previous post still exists in the new version. I am using the UR5 robot instead of the official example(Franka and Carpole), and I still don’t know how to solve this problem, which greatly affects the efficiency of parallel training