nikepupu

same issue here

hi @sujitvasanth this is actually the full error message. fps step: 3574 fps step and policy inference: 3501 fps total: 3320 epoch: 1248/15000 frames: 5107712 fps step: 3485 fps step...

Hi it's a custom opening drawer task with a mobile robot and kinova arm and robotiq 2f85 finger. The usds are generated using assets from partnet mobility dataset. the tuneling...

@kellyguo11 are substeps still useful in yaml config files? The same issue still happens with this modifed mesh

a bit more update, it seems this is an issue exclusive to non headless mode.

Ok problem solved. This is related to file descriptor limits. Increasing the max number of files allowed to open following : https://docs.omniverse.nvidia.com/dev-guide/latest/linux-troubleshooting.html#to-increase-the-file-descriptor-limit solves the issue.

The problem still exists. But I can confirm this only happens in GUI mode. The problem disappears when running the headless mode. The issue definitely relates to the collisions.

Ok, now I can confirm this issue is related to GPU dynamics. switching to CPU collisions solves the problem, however the simulation is a lot slower.

Hi, my workaround is to use CPU simulation. There is definitely a bug in GPU simulation.

Hi is there any plan to release the code?