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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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7
src/curobo/curobolib/cpp/tensor_step_kernel.cu
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@@ -850,7 +850,12 @@ namespace Curobo
(1.333333333f) * g_acc[3] + (-0.083333333f) * g_acc[4]) * dt * dt +
// ( g_acc[3] + g_acc[1] - (2.0) * g_acc[2]) * dt * dt +
(-0.5f * g_jerk[0] + g_jerk[1] - g_jerk[3] + 0.5f * g_jerk[4]) * dt * dt * dt);
//(-0.5f * g_jerk[0] + g_jerk[1] - g_jerk[3] + 0.5f * g_jerk[4]) * dt * dt * dt);
(0.5f * g_jerk[0] - g_jerk[1] + g_jerk[3] - 0.5f * g_jerk[4]) * dt * dt * dt);
//(0.500000000000000 * g_jerk[0] - 1 * g_jerk[1] + 0 * g_jerk[2] + 1 * g_jerk[3] - 0.500000000000000 * g_jerk[4]) * dt_inv_3;
}
else if (hid == horizon - 3)
{