Hello :)
I updated my Isaacsim to 4.5 because I got some bugs with the tiled rendering of cameras in 4.2. Now after adjusting my code I get this warning:" [omni.physx.tensors.plugin] DEPRECATED: Please use getGeneralizedMassMatrices instead " like every physic step. Is this warning critical? What can I do ? I use an sligthly adapted version of the isaaclab factory environment and there is no explicit usage of omni.physx.tensors.plugin.
Also intersting: When I pause the simulation in gui, I continiue to get this warning-
Thanks in advance :)
Isaac Sim Version
4.5.0
4.2.0
4.1.0
Operating System
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
- Model RTX 4060TI 16GB:
- Driver Version: Driver Version: 550.54.14 CUDA Version: 12.4
Additional Information
The warning seems to be triggered, whenever this function is used:
def _compute_intermediate_values(self, dt):
print(“_compute_intermediate_values”)
self.fixed_pos = self._fixed_asset.data.root_pos_w - self.scene.env_origins
self.fixed_quat = self._fixed_asset.data.root_quat_w
self.held_pos = self._held_asset.data.root_pos_w - self.scene.env_origins
self.held_quat = self._held_asset.data.root_quat_w
self.fingertip_midpoint_pos = self._robot.data.body_pos_w[:, self.fingertip_body_idx] - self.scene.env_origins
self.fingertip_midpoint_quat = self._robot.data.body_quat_w[:, self.fingertip_body_idx]
self.fingertip_midpoint_linvel = self._robot.data.body_lin_vel_w[:, self.fingertip_body_idx]
self.fingertip_midpoint_angvel = self._robot.data.body_ang_vel_w[:, self.fingertip_body_idx]
self.cam_pos = self._robot.data.body_pos_w[:, self.hand_body_idx] # self.scene.env_origins
self.cam_pos += self.cam_pos_local
self.cam_quat = torch_utils.quat_mul(self._robot.data.body_quat_w[:, self.hand_body_idx], self.cam_quat_local)
#delete_prim('/World/envs/vis')
#cfg_f = FRAME_MARKER_CFG.replace(prim_path="/World/envs/vis")
#frame_markers = VisualizationMarkers(cfg_f)
#frame_markers.visualize(translations=self.cam_pos,orientations=self.cam_quat)
#w_frame_markers = VisualizationMarkers(cfg_f)
#w_frame_markers.visualize(translations=self.held_pos,orientations=self.held_quat)
self._wrist_camera.set_world_poses(positions= self.cam_pos,orientations=self.cam_quat, convention = 'world')
self.hand_grasp_pos = self.fingertip_midpoint_pos.clone()
#self.hand_grasp_pos[:,2] = self.hand_grasp_pos[:,2] + 0.06
self.hand_grasp_quat = self.fingertip_midpoint_quat.clone()
jacobians = self._robot.root_physx_view.get_jacobians()
self.left_finger_jacobian = jacobians[:, self.left_finger_body_idx - 1, 0:6, 0:7]
self.right_finger_jacobian = jacobians[:, self.right_finger_body_idx - 1, 0:6, 0:7]
self.fingertip_midpoint_jacobian = (self.left_finger_jacobian + self.right_finger_jacobian) * 0.5
self.arm_mass_matrix = self._robot.root_physx_view.get_mass_matrices()[:, 0:7, 0:7]
self.joint_pos = self._robot.data.joint_pos.clone()
self.joint_vel = self._robot.data.joint_vel.clone()
# Finite-differencing results in more reliable velocity estimates.
self.ee_linvel_fd = (self.fingertip_midpoint_pos - self.prev_fingertip_pos) / dt
self.prev_fingertip_pos = self.fingertip_midpoint_pos.clone()
# Add state differences if velocity isn't being added.
rot_diff_quat = torch_utils.quat_mul(
self.fingertip_midpoint_quat, torch_utils.quat_conjugate(self.prev_fingertip_quat)
)
rot_diff_quat *= torch.sign(rot_diff_quat[:, 0]).unsqueeze(-1)
rot_diff_aa = axis_angle_from_quat(rot_diff_quat)
self.ee_angvel_fd = rot_diff_aa / dt
self.prev_fingertip_quat = self.fingertip_midpoint_quat.clone()
joint_diff = self.joint_pos[:, 0:7] - self.prev_joint_pos
self.joint_vel_fd = joint_diff / dt
self.prev_joint_pos = self.joint_pos[:, 0:7].clone()
#if self.print_stuff: print("Update: ", self.held_pos[0,:])
# Keypoint tensors.
self.held_base_quat[:], self.held_base_pos[:] = torch_utils.tf_combine(
self.held_quat, self.held_pos, self.held_base_quat_local, self.held_base_pos_local
)
self.hand_base_quat[:],self.hand_base_pos[:] = torch_utils.tf_combine(
self.hand_grasp_quat, self.hand_grasp_pos,self.hand_grasp_quat_local,self.hand_grasp_pos_local
)
#in this context the target_held == the held base as the gripper should close on the the held object
self.target_held_base_quat = self.held_base_quat
self.target_held_base_pos = self.held_base_pos
# Compute pos of keypoints on held asset, and fixed asset in world frame
for idx, keypoint_offset in enumerate(self.keypoint_offsets):
self.keypoints_held[:, idx] = torch_utils.tf_combine(
self.held_base_quat,
self.held_base_pos, #+ self.scene.env_origins,
self.identity_quat,
keypoint_offset.repeat(self.num_envs, 1)
)[1]
self.keypoints_hand[:, idx] = torch_utils.tf_combine(
self.hand_base_quat ,
self.hand_base_pos, #+self.scene.env_origins,
self.identity_quat,
keypoint_offset.repeat(self.num_envs, 1),
)[1]
if self.debug and False:
self.draw.clear_points()
self.draw.clear_lines()
"""num_keypoints = len(self.keypoint_offsets)
all_held_points = self.keypoints_held #+ self.scene.env_origins
all_held_points = all_held_points.view(-1, 3).cpu().tolist() # Alle Environment-Keypoints
#all_held_points = self.keypoints_held.view(-1, 3).cpu().tolist()
all_hand_points = self.keypoints_hand #+ self.scene.env_origins
all_hand_points = all_hand_points.view(-1, 3).cpu().tolist()
#all_hand_points = self.keypoints_hand.view(-1, 3).cpu().tolist()
# 2. Farb- und Größenlisten generieren
held_colors = [(1, 0, 0, 1)] * (self.num_envs * num_keypoints) # Rot fĂĽr alle Held-Keypoints
hand_colors = [(1, 1, 0, 1)] * (self.num_envs * num_keypoints) # Gelb fĂĽr Hand-Keypoints
sizes = [10] * (self.num_envs * num_keypoints)
# 3. Batch-Zeichnung aller Punkte
self.draw.draw_points(all_held_points, held_colors, sizes)
self.draw.draw_points(all_hand_points, hand_colors, sizes)"""
#keep the noisy action frame up to date which helps clipping the movments
_, fixed_tip_pos = torch_utils.tf_combine(
self.held_quat, self.held_pos, self.identity_quat, self.held_base_pos_local)
self.fixed_pos_obs_frame[:] = fixed_tip_pos
self.fixed_pos_action_frame[:] = self.fixed_pos_obs_frame + self.init_fixed_pos_obs_noise
# get keypoint distances
self.keypoint_dist = torch.norm(self.keypoints_hand - self.keypoints_held, p=2, dim=-1).mean(-1)
self.last_update_timestamp = self._robot._data._sim_timestamp
Error Messages
2025-03-26 20:22:19 [19,768ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getGeneralizedMassMatrices instead.
2025-03-26 20:22:19 [19,785ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getGeneralizedMassMatrices instead.
2025-03-26 20:22:19 [19,801ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getGeneralizedMassMatrices instead.
2025-03-26 20:22:19 [19,818ms] [Warning] [omni.physx.tensors.plugin] DEPRECATED: Please use getGeneralizedMassMatrices instead.