Open dhruvkm2402 opened 1 year ago
Hi there, you can achieve this by using the physics_context
object in Isaac Sim: https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#module-omni.isaac.core.physics_context. This can be accessed from the task environment through the world object.
Hi @kellyguo11
When I import PhysicsContext and then do
PhysicsContext().enable_gpu_dynamics(flag=False) in the set_up_scene function following is the error I get:
return pose[indices, 0:3], pose[indices, 3:7][:, [3, 0, 1, 2]]
RuntimeError: indices should be either on cpu or on the same device as the indexed tensor (cpu)
Exception ignored in: <function _make_registry.
What could be the issue?
Hi @kellyguo11 Can you share more information on this? Do I need to set enable_gpu_dynamics to True in order to do the DRL training?
Hi, I want to change parameters of the physics scene like disabling GPU dynamics, enabling CCD, change the solver to PGS and boradphase type to MBP before launching the training script as it works best for a skid-steered platform. What is the best way to do it?