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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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6
src/curobo/wrap/reacher/trajopt.py
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@@ -23,7 +23,7 @@ import torch.autograd.profiler as profiler
# CuRobo
from curobo.cuda_robot_model.cuda_robot_model import CudaRobotModel, CudaRobotModelState
from curobo.geom.sdf.utils import create_collision_checker
from curobo.geom.sdf.world import WorldCollision, WorldCollisionConfig
from curobo.geom.sdf.world import CollisionCheckerType, WorldCollision, WorldCollisionConfig
from curobo.geom.types import WorldConfig
from curobo.opt.newton.lbfgs import LBFGSOpt, LBFGSOptConfig
from curobo.opt.newton.newton_base import NewtonOptBase, NewtonOptConfig
@@ -104,6 +104,7 @@ class TrajOptSolverConfig:
num_seeds: int = 2,
seed_ratio: Dict[str, int] = {"linear": 1.0, "bias": 0.0, "start": 0.0, "end": 0.0},
use_particle_opt: bool = True,
collision_checker_type: Optional[CollisionCheckerType] = CollisionCheckerType.PRIMITIVE,
traj_evaluator_config: TrajEvaluatorConfig = TrajEvaluatorConfig(),
traj_evaluator: Optional[TrajEvaluator] = None,
minimize_jerk: Optional[bool] = None,
@@ -144,6 +145,9 @@ class TrajOptSolverConfig:
if not minimize_jerk:
filter_robot_command = False
if collision_checker_type is not None:
base_config_data["world_collision_checker_cfg"]["checker_type"] = collision_checker_type
if world_coll_checker is None and world_model is not None:
world_cfg = WorldCollisionConfig.load_from_dict(
base_config_data["world_collision_checker_cfg"], world_model, tensor_args