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isaac-sim / OmniIsaacGymEnvs

Reinforcement Learning Environments for Omniverse Isaac Gym
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warm_start type conversion in articulation kinematics solver #165

Open RealmX1 opened 4 months ago

RealmX1 commented 4 months ago

image As described in the image. type returned by get_joint_positions() is a tensor, which cause type conflict for lula inverse kinematics compute.

Please add this to the next update.

CORRECTION:

warm_start = self._joints_view.get_joint_positions().cpu().numpy() need to first take position out of gpu memory for conversion to numpy.

RealmX1 commented 4 months ago

Any contributor please make a reply so that I know you've seen it, and I'll close the thread.