add isaac sim 2023 support and dockerfiles

src/curobo/cuda_robot_model/cuda_robot_generator.py

@@ -43,9 +43,9 @@ try:
     # CuRobo
     from curobo.cuda_robot_model.usd_kinematics_parser import UsdKinematicsParser
 except ImportError:
-    log_warn(
+    log_info(
         "USDParser failed to import, install curobo with pip install .[usd] "
-        + "or pip install usd-core"
+        + "or pip install usd-core, NOTE: Do not install this if using with ISAAC SIM."
     )
 
 

src/curobo/cuda_robot_model/cuda_robot_model.py

@@ -252,12 +252,19 @@ class CudaRobotModel(CudaRobotModelConfig):
         )
         return state
 
+    def get_robot_link_meshes(self):
+        m_list = [self.get_link_mesh(l) for l in self.kinematics_config.mesh_link_names]
+
+        return m_list
+
     def get_robot_as_mesh(self, q: torch.Tensor):
         # get all link meshes:
-        m_list = [self.get_link_mesh(l) for l in self.mesh_link_names]
-        pose = self.get_link_poses(q, self.mesh_link_names)
-        for li, l in enumerate(self.mesh_link_names):
-            m_list[li].pose = pose.get_index(0, li).tolist()
+        m_list = self.get_robot_link_meshes()
+        pose = self.get_link_poses(q, self.kinematics_config.mesh_link_names)
+        for li, l in enumerate(self.kinematics_config.mesh_link_names):
+            m_list[li].pose = (
+                Pose.from_list(m_list[li].pose).multiply(pose.get_index(0, li)).tolist()
+            )
 
         return m_list
 
@@ -344,7 +351,6 @@ class CudaRobotModel(CudaRobotModelConfig):
 
     def get_link_mesh(self, link_name: str) -> Mesh:
         mesh = self.kinematics_parser.get_link_mesh(link_name)
-        mesh.pose = [0, 0, 0, 1, 0, 0, 0]
         return mesh
 
     def get_link_transform(self, link_name: str) -> Pose:

src/curobo/cuda_robot_model/urdf_kinematics_parser.py

@@ -21,6 +21,7 @@ from curobo.cuda_robot_model.kinematics_parser import KinematicsParser, LinkPara
 from curobo.cuda_robot_model.types import JointType
 from curobo.geom.types import Mesh as CuroboMesh
 from curobo.types.base import TensorDeviceType
+from curobo.types.math import Pose
 from curobo.util.logger import log_error, log_warn
 from curobo.util_file import join_path
 
@@ -164,4 +165,16 @@ class UrdfKinematicsParser(KinematicsParser):
 
     def get_link_mesh(self, link_name):
         m = self._robot.link_map[link_name].visuals[0].geometry.mesh
-        return CuroboMesh(name=link_name, pose=None, scale=m.scale, file_path=m.filename)
+        mesh_pose = self._robot.link_map[link_name].visuals[0].origin
+        # read visual material:
+        if mesh_pose is None:
+            mesh_pose = [0, 0, 0, 1, 0, 0, 0]
+        else:
+            # convert to list:
+            mesh_pose = Pose.from_matrix(mesh_pose).to_list()
+        return CuroboMesh(
+            name=link_name,
+            pose=mesh_pose,
+            scale=m.scale,
+            file_path=m.filename,
+        )