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NVlabs / curobo

CUDA Accelerated Robot Library
https://curobo.org
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Constrained Planning - High physics_dt crashes everything - Isaac 2023.1.1 #205

Open eferreirafilho opened 5 months ago

eferreirafilho commented 5 months ago
  1. cuRobo installation mode: isaac sim
  2. python version: 3.10.12
  3. Isaac Sim version (if using): 2023.1.1

Issue Details

High Physics_dt crashes everything, it was working fine in Isaac 2022.

When adding this line: my_world = World(stage_units_in_meters=1.0, physics_dt=1/180) to isaac_sim/constrained_reacher.py with an ur5e robot:

2024-04-01 12:56:35 [80,240ms] [Warning] [omni.isaac.core.articulations.articulation_view] ArticulationView needs to be initialized. 2024-04-01 12:56:35 [80,240ms] [Warning] [omni.isaac.core.articulations.articulation_view] Physics Simulation View is not created yet in order to use get_joints_state 2024-04-01 12:56:35 [80,240ms] [Warning] [omni.isaac.core.articulations.articulation_view] ArticulationView needs to be initialized. sim_js: None sim_js_names: None Traceback (most recent call last): File "/home/edson/curobo/examples/isaac_sim/constrained_reacher_ur5e.py", line 452, in <module> position=tensor_args.to_device(sim_js.positions), AttributeError: 'NoneType' object has no attribute 'positions'

It works fine with physics_dt=1/60 or 1/120

balakumar-s commented 5 months ago

Looks like this is an issue with Isaac Sim. Can you create an issue here https://forums.developer.nvidia.com/c/omniverse/simulation/69 so that Isaac Sim experts can help?