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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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20
examples/isaac_sim/realsense_mpc.py
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@@ -98,7 +98,10 @@ def draw_rollout_points(rollouts: torch.Tensor, clear: bool = False):
import random
# Third Party
from omni.isaac.debug_draw import _debug_draw
try:
from omni.isaac.debug_draw import _debug_draw
except ImportError:
from isaacsim.util.debug_draw import _debug_draw
draw = _debug_draw.acquire_debug_draw_interface()
N = 100
@@ -124,7 +127,10 @@ def draw_points(voxels):
# Third Party
# Third Party
from omni.isaac.debug_draw import _debug_draw
try:
from omni.isaac.debug_draw import _debug_draw
except ImportError:
from isaacsim.util.debug_draw import _debug_draw
draw = _debug_draw.acquire_debug_draw_interface()
# if draw.get_num_points() > 0:
@@ -171,7 +177,10 @@ def clip_camera(camera_data):
def draw_line(start, gradient):
# Third Party
from omni.isaac.debug_draw import _debug_draw
try:
from omni.isaac.debug_draw import _debug_draw
except ImportError:
from isaacsim.util.debug_draw import _debug_draw
draw = _debug_draw.acquire_debug_draw_interface()
# if draw.get_num_points() > 0:
@@ -345,8 +354,9 @@ if __name__ == "__main__":
if cmd_step_idx == 0:
draw_rollout_points(mpc.get_visual_rollouts(), clear=not args.use_debug_draw)
if step_index <= 2:
my_world.reset()
if step_index <= 10:
# my_world.reset()
robot._articulation_view.initialize()
idx_list = [robot.get_dof_index(x) for x in j_names]
robot.set_joint_positions(default_config, idx_list)