From 8ce2f32b0775c2d2fb164ecb9d9d703b817bcf5f Mon Sep 17 00:00:00 2001 From: yuecideng Date: Sun, 14 Dec 2025 18:05:58 +0800 Subject: [PATCH] wip --- embodichain/lab/sim/objects/articulation.py | 1 + embodichain/lab/sim/objects/rigid_object.py | 2 +- scripts/tutorials/gym/random_reach.py | 2 +- 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/embodichain/lab/sim/objects/articulation.py b/embodichain/lab/sim/objects/articulation.py index b20650a..d7e66dd 100644 --- a/embodichain/lab/sim/objects/articulation.py +++ b/embodichain/lab/sim/objects/articulation.py @@ -969,6 +969,7 @@ def set_qpos( indices = self.body_data.gpu_indices[local_env_ids] qpos_set = self.body_data._qpos[local_env_ids] qpos_set[:, local_joint_ids] = qpos + torch.cuda.synchronize(self.device) self._ps.gpu_apply_joint_data( data=qpos_set, gpu_indices=indices, diff --git a/embodichain/lab/sim/objects/rigid_object.py b/embodichain/lab/sim/objects/rigid_object.py index 047df41..317b8ae 100644 --- a/embodichain/lab/sim/objects/rigid_object.py +++ b/embodichain/lab/sim/objects/rigid_object.py @@ -61,7 +61,7 @@ def __init__( # get gpu indices for the entities. self.gpu_indices = torch.as_tensor( - [entity.get_gpu_index() for entity in self.entities], + [np.int32(entity.get_gpu_index()) for entity in self.entities], dtype=torch.int32, device=self.device, ) diff --git a/scripts/tutorials/gym/random_reach.py b/scripts/tutorials/gym/random_reach.py index a6e4ed0..5b1cccd 100644 --- a/scripts/tutorials/gym/random_reach.py +++ b/scripts/tutorials/gym/random_reach.py @@ -86,7 +86,7 @@ def _prepare_scene(self, **kwargs) -> None: cfg=RigidObjectCfg( uid="cube", shape=CubeCfg(size=[size, size, size]), - attrs=RigidBodyAttributesCfg(enable_collision=False), + attrs=RigidBodyAttributesCfg(enable_collision=True), init_pos=(0.0, 0.0, 0.5), body_type="kinematic", ),