Differences:
-
Collision. Everything goes well while in CPU. (sim_params.use_gpu_pipline = False)
[ Placeholder for video, it will be attached in comment, cuz I’m a new user. ]
The collision with moving objects is ignored while in GPU. (sim_params.use_gpu_pipline = True)
The only difference in code for the above two is the value of sim_params.use_gpu_pipline. -
Wrong position of actors that are created with only-one link URDF.
The position of an actor will have an offset that is relating with the value of collision.origin.xyz of the only link element in the URDF. For example:
<?xml version="1.0" ?><robot name="simple_table">
<link name="base">
<visual>
<origin rpy="1.571 0 0" xyz="0.000 0.000 0.000"/>
<geometry>
<mesh filename="chair.obj" scale="0.050 0.050 0.050"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.000 0.000 1.000"/>
<geometry>
<box size="1.000 0.900 1.500"/>
</geometry>
</collision>
</link>
</robot>
The above URDF will be rendered perfectly good while use_gpu_pipepine = False. But it has a offset while use_gpu_pipeline = True.