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add isaac sim 2023 support and dockerfiles

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This commit is contained in:
Balakumar Sundaralingam
2023-11-04 09:32:30 -07:00
parent f2eb5f937a
commit 102c5d6ab2
41 changed files with 1284 additions and 622 deletions
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88
examples/isaac_sim/batch_motion_gen_reacher.py
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@@ -17,62 +17,18 @@ a = torch.zeros(4, device="cuda:0")
# Standard Library
# Third Party
from omni.isaac.kit import SimulationApp
# CuRobo
# from curobo.wrap.reacher.ik_solver import IKSolver, IKSolverConfig
from curobo.geom.sdf.world import CollisionCheckerType
from curobo.geom.types import WorldConfig
from curobo.types.base import TensorDeviceType
from curobo.types.math import Pose
from curobo.types.state import JointState
from curobo.util_file import get_robot_configs_path, get_world_configs_path, join_path, load_yaml
from curobo.wrap.model.robot_world import RobotWorld, RobotWorldConfig
from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig, MotionGenPlanConfig
simulation_app = SimulationApp(
{
"headless": False,
"width": "1920",
"height": "1080",
}
)
# Third Party
from omni.isaac.core.utils.extensions import enable_extension
ext_list = [
"omni.kit.asset_converter",
# "omni.kit.livestream.native",
"omni.kit.tool.asset_importer",
"omni.isaac.asset_browser",
]
[enable_extension(x) for x in ext_list]
# Standard Library
import argparse
# Third Party
import carb
import numpy as np
from helper import add_robot_to_scene
from omni.isaac.core import World
from omni.isaac.core.materials import OmniPBR
from omni.isaac.core.objects import cuboid, sphere
########### OV #################
from omni.isaac.core.utils.extensions import enable_extension
from omni.isaac.core.utils.types import ArticulationAction
# CuRobo
from curobo.util.logger import setup_curobo_logger
from curobo.util.usd_helper import UsdHelper
parser = argparse.ArgumentParser()
parser.add_argument(
"--headless", action="store_true", help="When True, enables headless mode", default=False
"--headless_mode",
type=str,
default=None,
help="To run headless, use one of [native, websocket], webrtc might not work.",
)
parser.add_argument(
"--visualize_spheres",
action="store_true",
@@ -83,6 +39,37 @@ parser.add_argument(
parser.add_argument("--robot", type=str, default="franka.yml", help="robot configuration to load")
args = parser.parse_args()
simulation_app = SimulationApp(
{
"headless": args.headless_mode is not None,
"width": "1920",
"height": "1080",
}
)
# Third Party
import carb
import numpy as np
from helper import add_extensions, add_robot_to_scene
from omni.isaac.core import World
from omni.isaac.core.objects import cuboid
########### OV #################
from omni.isaac.core.utils.types import ArticulationAction
from omni.isaac.kit import SimulationApp
# CuRobo
# from curobo.wrap.reacher.ik_solver import IKSolver, IKSolverConfig
from curobo.geom.sdf.world import CollisionCheckerType
from curobo.geom.types import WorldConfig
from curobo.types.base import TensorDeviceType
from curobo.types.math import Pose
from curobo.types.state import JointState
from curobo.util.logger import setup_curobo_logger
from curobo.util.usd_helper import UsdHelper
from curobo.util_file import get_robot_configs_path, get_world_configs_path, join_path, load_yaml
from curobo.wrap.model.robot_world import RobotWorld, RobotWorldConfig
from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig, MotionGenPlanConfig
def main():
usd_help = UsdHelper()
@@ -180,6 +167,7 @@ def main():
enable_graph=False, warmup_js_trajopt=False, batch=n_envs, batch_env_mode=True
)
add_extensions(simulation_app, args.headless_mode)
config = RobotWorldConfig.load_from_config(
robot_file, world_cfg_list, collision_activation_distance=act_distance
)