In the above figures, I had set the pipeline to GPU for SDF simulation. As I mentioned before, when I switched the pipeline to CPU, the robot moved correctly, although SDF simulation was not possible. Is this an unresolved bug in the current version of IsaacSim? In the Factory demo, Franka operates properly even with the GPU pipeline, so there should be some solution available, but I’m not sure what it is. Could someone please help me with this issue?
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