[Bug] Critical: Cloth Physics Fails on CPU (Floating) & Collision Fails on GPU (Clipping)

[xtli12]

Description

I am encountering a critical simulation issue where the cloth physics do not function correctly on CPU (as recommended in README), and collision detection fails when switching to GPU.

The README.md states: "the simulation currently only supports CPU devices." However, running on CPU results in static/floating cloth. Switching to GPU enables cloth gravity but causes the robot to clip through the garment.
System Information

OS: Ubuntu 22.04 LTS

GPU: NVIDIA RTX 3070

CPU: Intel i9-9900K

Isaac Sim Version: 5.1.0

Installation Method: uv

Issue 1: Cloth Physics Failure on CPU (Official Instruction)
Steps to Reproduce

Run the evaluation script with --device cpu as instructed in the documentation:
Observed Behavior

The garment loads but remains static and floating in the air. Gravity does not affect it. Error Log:
Screenshot (CPU Mode)

Issue 2: Collision/Clipping Failure on GPU (Attempted Fix)
Steps to Reproduce

Switch the device to GPU (--device cuda:0) to resolve the "Particle Cloth" error:
Observed Behavior

The cloth physics works (gravity applies, cloth falls to table), but the robot end-effectors pass directly through the garment without interaction (Clipping).

Error Log:
Screenshot (GPU Mode)

Questions
1. Is there a way to enable cloth physics on CPU as the documentation claims?
2. If GPU is required for cloth simulation, how should we resolve the non-SDF triangle mesh error to fix the collision/clipping issue?

Any guidance would be appreciated. Thanks!

[1izeyi]

Hi, is the isaaclab you installed the latest version from our official repository? We debugged this issue a few days ago. Also, please ensure your Python environment is clean (e.g., not in a conda environment). If it still doesn't work, feel free to add me on Discord for more detailed information. link: https://discord.com/invite/4pDAkBP94h

[Ethan-Chen-plus]

same issue