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Bug Fixes, Add Isaac Sim 4.5 support for examples

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This commit is contained in:
Balakumar Sundaralingam
2025-04-25 11:24:16 -07:00
parent 2fbffc3522
commit 0a50de1ba7
43 changed files with 728 additions and 193 deletions
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15
examples/isaac_sim/load_all_robots.py
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@@ -68,13 +68,17 @@ from curobo.types.math import Pose
from curobo.types.robot import RobotConfig
########### OV #################
from curobo.util.logger import setup_curobo_logger
from curobo.util.logger import setup_curobo_logger, log_warn
from curobo.util.usd_helper import UsdHelper
from curobo.util_file import get_motion_gen_robot_list, get_robot_configs_path, join_path, load_yaml
def main():
log_warn("This example will not work correctly in isaac sim 4.5+")
list_of_robots = get_motion_gen_robot_list() # [:2]
# remove tm12 as meshes don't load correctly in isaac sim 4.5
if "tm12.yml" in list_of_robots:
list_of_robots.remove("tm12.yml")
usd_help = UsdHelper()
# assuming obstacles are in objects_path:
@@ -107,12 +111,14 @@ def main():
pose.position[0, 1] = 0
robot_cfg = load_yaml(join_path(get_robot_configs_path(), list_of_robots[i]))["robot_cfg"]
robot_cfg_list.append(robot_cfg)
print("Loading robot: ", list_of_robots[i])
r = add_robot_to_scene(
robot_cfg,
my_world,
"/World/world_" + str(i) + "/",
robot_name="/World/world_" + str(i) + "/" "robot_" + str(i),
position=pose.position[0].cpu().numpy(),
initialize_world=False,
)
robot_list.append(r[0])
@@ -135,6 +141,9 @@ def main():
setup_curobo_logger("warn")
my_world.initialize_physics()
my_world.reset()
add_extensions(simulation_app, args.headless_mode)
while simulation_app.is_running():
my_world.step(render=True)
@@ -146,9 +155,9 @@ def main():
continue
step_index = my_world.current_time_step_index
if step_index <= 2:
my_world.reset()
if step_index <= 10:
for ri, robot in enumerate(robot_list):
robot._articulation_view.initialize()
j_names = robot_cfg_list[ri]["kinematics"]["cspace"]["joint_names"]
default_config = robot_cfg_list[ri]["kinematics"]["cspace"]["retract_config"]