Fix recording for PourWater#292
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yuecideng
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Jun 4, 2026
| left_arm_chain = create_pk_serial_chain( | ||
| chain=chain, end_link_name="left_ee", root_link_name="left_arm_base" | ||
| ).to(device=device) | ||
| urdf_path=urdf_path, |
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Previously, the code moved the full chain to cuda first, then created a SerialChain from it. However, pytorch_kinematics creates some cuda tensors internally during SerialChain construction, which can mix cpu and cuda tensors and cause a device mismatch error.
Now I build the SerialChain on cpu first, then move the whole SerialChain to the target device. This avoids mixed device tensors.
| root_link_name=root_link_name, | ||
| ).to(device=device) | ||
| else: | ||
| chain_for_serial = deepcopy(chain).to(device=torch.device("cpu")) |
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Same as above reply.
yuecideng
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Jun 5, 2026
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Description
This PR simplify PourWater expert trajectory recording and fixes CUDA execution issues in the action generation path.
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episode_0_cam1.mp4
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black .command to format the code base.