Isaac Sim 4.0 support, Kinematics API doc, Windows support

examples/isaac_sim/batch_collision_checker.py

@@ -9,6 +9,12 @@
 # its affiliates is strictly prohibited.
 #
 
+try:
+    # Third Party
+    import isaacsim
+except ImportError:
+    pass
+
 
 # Third Party
 import torch

examples/isaac_sim/batch_motion_gen_reacher.py

@@ -10,6 +10,12 @@
 #
 
 
+try:
+    # Third Party
+    import isaacsim
+except ImportError:
+    pass
+
 # Third Party
 import torch
 

examples/isaac_sim/collision_checker.py

@@ -9,6 +9,12 @@
 # its affiliates is strictly prohibited.
 #
 
+try:
+    # Third Party
+    import isaacsim
+except ImportError:
+    pass
+
 
 # Third Party
 import torch

examples/isaac_sim/constrained_reacher.py

@@ -9,6 +9,12 @@
 # its affiliates is strictly prohibited.
 #
 
+try:
+    # Third Party
+    import isaacsim
+except ImportError:
+    pass
+
 # Third Party
 import torch
 
@@ -156,7 +162,6 @@ if __name__ == "__main__":
         tensor_args,
         collision_checker_type=CollisionCheckerType.MESH,
         collision_cache={"obb": n_obstacle_cuboids, "mesh": n_obstacle_mesh},
-        velocity_scale=0.75,
         interpolation_dt=0.02,
         ee_link_name="right_gripper",
     )
@@ -180,7 +185,11 @@ if __name__ == "__main__":
     cmd_plan = None
     articulation_controller = robot.get_articulation_controller()
     plan_config = MotionGenPlanConfig(
-        enable_graph=False, enable_graph_attempt=4, max_attempts=2, enable_finetune_trajopt=True
+        enable_graph=False,
+        enable_graph_attempt=4,
+        max_attempts=2,
+        enable_finetune_trajopt=True,
+        time_dilation_factor=0.5,
     )
 
     plan_idx = 0

examples/isaac_sim/helper.py

@@ -31,7 +31,7 @@ try:
     from omni.isaac.urdf import _urdf  # isaacsim 2022.2
 except ImportError:
     # Third Party
-    from omni.importer.urdf import _urdf  # isaac sim 2023.1
+    from omni.importer.urdf import _urdf  # isaac sim 2023.1 or above
 
     ISAAC_SIM_23 = True
 # Standard Library
@@ -68,22 +68,23 @@ def add_robot_to_scene(
     robot_name: str = "robot",
     position: np.array = np.array([0, 0, 0]),
 ):
-    urdf_interface = _urdf.acquire_urdf_interface()
 
+    urdf_interface = _urdf.acquire_urdf_interface()
+    # Set the settings in the import config
     import_config = _urdf.ImportConfig()
     import_config.merge_fixed_joints = False
     import_config.convex_decomp = False
-    import_config.import_inertia_tensor = True
     import_config.fix_base = True
-    import_config.make_default_prim = False
+    import_config.make_default_prim = True
     import_config.self_collision = False
     import_config.create_physics_scene = True
     import_config.import_inertia_tensor = False
-    import_config.default_drive_strength = 20000
-    import_config.default_position_drive_damping = 500
+    import_config.default_drive_strength = 1047.19751
+    import_config.default_position_drive_damping = 52.35988
     import_config.default_drive_type = _urdf.UrdfJointTargetType.JOINT_DRIVE_POSITION
     import_config.distance_scale = 1
     import_config.density = 0.0
+
     asset_path = get_assets_path()
     if (
         "external_asset_path" in robot_config["kinematics"]
@@ -115,18 +116,7 @@ def add_robot_to_scene(
     linkp = stage.GetPrimAtPath(robot_path)
     set_prim_transform(linkp, [position[0], position[1], position[2], 1, 0, 0, 0])
 
-    if False and ISAAC_SIM_23:  # this doesn't work in isaac sim 2023.1.1
-        robot_p.set_solver_velocity_iteration_count(0)
-        robot_p.set_solver_position_iteration_count(44)
-
-        my_world._physics_context.set_solver_type("PGS")
-
-    if ISAAC_SIM_23:  # fix to load robot correctly in isaac sim 2023.1.1
-        linkp = stage.GetPrimAtPath(robot_path + "/" + base_link_name)
-        mass = UsdPhysics.MassAPI(linkp)
-        mass.GetMassAttr().Set(0)
     robot = my_world.scene.add(robot_p)
-    # robot_path = robot.prim_path
     return robot, robot_path
 
 

examples/isaac_sim/ik_reachability.py

@@ -9,6 +9,12 @@
 # its affiliates is strictly prohibited.
 #
 
+try:
+    # Third Party
+    import isaacsim
+except ImportError:
+    pass
+
 # Third Party
 import torch
 

examples/isaac_sim/load_all_robots.py

@@ -9,6 +9,12 @@
 # its affiliates is strictly prohibited.
 #
 
+try:
+    # Third Party
+    import isaacsim
+except ImportError:
+    pass
+
 # Third Party
 import torch
 

examples/isaac_sim/motion_gen_reacher.py

@@ -10,6 +10,12 @@
 #
 
 
+try:
+    # Third Party
+    import isaacsim
+except ImportError:
+    pass
+
 # Third Party
 import torch
 
@@ -238,6 +244,7 @@ def main():
         max_attempts=max_attempts,
         enable_finetune_trajopt=True,
         parallel_finetune=True,
+        time_dilation_factor=0.5,
     )
 
     usd_help.load_stage(my_world.stage)
@@ -407,7 +414,7 @@ def main():
                 cmd_idx = 0
 
             else:
-                carb.log_warn("Plan did not converge to a solution.  No action is being taken.")
+                carb.log_warn("Plan did not converge to a solution: " + str(result.status))
             target_pose = cube_position
             target_orientation = cube_orientation
         past_pose = cube_position

examples/isaac_sim/motion_gen_reacher_nvblox.py

@@ -10,6 +10,12 @@
 #
 
 
+try:
+    # Third Party
+    import isaacsim
+except ImportError:
+    pass
+
 # Third Party
 import torch
 

examples/isaac_sim/mpc_example.py

@@ -11,10 +11,11 @@
 #
 
 
-# script running (ubuntu):
-#
-
-############################################################
+try:
+    # Third Party
+    import isaacsim
+except ImportError:
+    pass
 
 
 # Third Party

examples/isaac_sim/mpc_nvblox_example.py

@@ -11,10 +11,11 @@
 #
 
 
-# script running (ubuntu):
-#
-
-############################################################
+try:
+    # Third Party
+    import isaacsim
+except ImportError:
+    pass
 
 
 # Third Party
@@ -241,7 +242,7 @@ def main():
 
         step_index = my_world.current_time_step_index
 
-        if step_index == 0:
+        if step_index <= 2:
             my_world.reset()
             idx_list = [robot.get_dof_index(x) for x in j_names]
             robot.set_joint_positions(default_config, idx_list)

examples/isaac_sim/multi_arm_reacher.py

@@ -9,6 +9,12 @@
 # its affiliates is strictly prohibited.
 #
 
+try:
+    # Third Party
+    import isaacsim
+except ImportError:
+    pass
+
 
 # Third Party
 import torch
@@ -138,14 +144,11 @@ def main():
         tensor_args,
         collision_checker_type=CollisionCheckerType.MESH,
         use_cuda_graph=True,
-        num_trajopt_seeds=12,
-        num_graph_seeds=12,
         interpolation_dt=0.03,
         collision_cache={"obb": n_obstacle_cuboids, "mesh": n_obstacle_mesh},
         collision_activation_distance=0.025,
-        acceleration_scale=1.0,
         fixed_iters_trajopt=True,
-        trajopt_tsteps=40,
+        maximum_trajectory_dt=0.5,
     )
     motion_gen = MotionGen(motion_gen_config)
     print("warming up...")
@@ -157,6 +160,7 @@ def main():
         enable_graph=False,
         enable_graph_attempt=4,
         max_attempts=10,
+        time_dilation_factor=0.5,
     )
 
     usd_help.load_stage(my_world.stage)
@@ -329,7 +333,7 @@ def main():
                 cmd_idx = 0
 
             else:
-                carb.log_warn("Plan did not converge to a solution.  No action is being taken.")
+                carb.log_warn("Plan did not converge to a solution: " + str(result.status))
             target_pose = cube_position
         past_pose = cube_position
         if cmd_plan is not None:

examples/isaac_sim/realsense_collision.py

@@ -9,6 +9,13 @@
 # its affiliates is strictly prohibited.
 #
 
+
+try:
+    # Third Party
+    import isaacsim
+except ImportError:
+    pass
+
 # Third Party
 import torch
 
@@ -38,11 +45,24 @@ from curobo.util_file import get_world_configs_path, join_path, load_yaml
 from curobo.wrap.model.robot_world import RobotWorld, RobotWorldConfig
 
 simulation_app.update()
+# Standard Library
+import argparse
+
 # Third Party
 from omni.isaac.core import World
 from omni.isaac.core.materials import OmniPBR
 from omni.isaac.core.objects import cuboid, sphere
 
+parser = argparse.ArgumentParser()
+
+parser.add_argument(
+    "--show-window",
+    action="store_true",
+    help="When True, shows camera image in a CV window",
+    default=False,
+)
+args = parser.parse_args()
+
 
 def draw_points(voxels):
     # Third Party
@@ -216,20 +236,21 @@ if __name__ == "__main__":
         bounding = Cuboid("t", dims=[1, 1, 1], pose=[0, 0, 0, 1, 0, 0, 0])
         voxels = model.world_model.get_voxels_in_bounding_box(bounding, 0.025)
         # print(data_camera.depth_image)
-        depth_image = data["raw_depth"]
-        color_image = data["raw_rgb"]
-        depth_colormap = cv2.applyColorMap(
-            cv2.convertScaleAbs(depth_image, alpha=100), cv2.COLORMAP_VIRIDIS
-        )
-        images = np.hstack((color_image, depth_colormap))
+        if args.show_window:
+            depth_image = data["raw_depth"]
+            color_image = data["raw_rgb"]
+            depth_colormap = cv2.applyColorMap(
+                cv2.convertScaleAbs(depth_image, alpha=100), cv2.COLORMAP_VIRIDIS
+            )
+            images = np.hstack((color_image, depth_colormap))
 
-        cv2.namedWindow("Align Example", cv2.WINDOW_NORMAL)
-        cv2.imshow("Align Example", images)
-        key = cv2.waitKey(1)
-        # Press esc or 'q' to close the image window
-        if key & 0xFF == ord("q") or key == 27:
-            cv2.destroyAllWindows()
-            break
+            cv2.namedWindow("Align Example", cv2.WINDOW_NORMAL)
+            cv2.imshow("Align Example", images)
+            key = cv2.waitKey(1)
+            # Press esc or 'q' to close the image window
+            if key & 0xFF == ord("q") or key == 27:
+                cv2.destroyAllWindows()
+                break
 
         draw_points(voxels)
         d, d_vec = model.get_collision_vector(x_sph)

examples/isaac_sim/realsense_mpc.py

@@ -9,6 +9,12 @@
 # its affiliates is strictly prohibited.
 #
 
+try:
+    # Third Party
+    import isaacsim
+except ImportError:
+    pass
+
 # Third Party
 import torch
 
@@ -64,9 +70,17 @@ parser = argparse.ArgumentParser()
 
 
 parser.add_argument("--robot", type=str, default="franka.yml", help="robot configuration to load")
+
 parser.add_argument(
     "--waypoints", action="store_true", help="When True, sets robot in static mode", default=False
 )
+parser.add_argument(
+    "--show-window",
+    action="store_true",
+    help="When True, shows camera image in a CV window",
+    default=False,
+)
+
 parser.add_argument(
     "--use-debug-draw",
     action="store_true",
@@ -330,7 +344,7 @@ 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:
+        if step_index <= 2:
             my_world.reset()
             idx_list = [robot.get_dof_index(x) for x in j_names]
             robot.set_joint_positions(default_config, idx_list)
@@ -374,7 +388,7 @@ if __name__ == "__main__":
                 if not args.use_debug_draw:
                     voxel_viewer.clear()
 
-        if True:
+        if args.show_window:
             depth_image = data["raw_depth"]
             color_image = data["raw_rgb"]
             depth_colormap = cv2.applyColorMap(
@@ -384,7 +398,6 @@ if __name__ == "__main__":
             depth_colormap = cv2.flip(depth_colormap, 1)
 
             images = np.hstack((color_image, depth_colormap))
-
             cv2.namedWindow("NVBLOX Example", cv2.WINDOW_NORMAL)
             cv2.imshow("NVBLOX Example", images)
             key = cv2.waitKey(1)

examples/isaac_sim/realsense_reacher.py

@@ -9,6 +9,12 @@
 # its affiliates is strictly prohibited.
 #
 
+try:
+    # Third Party
+    import isaacsim
+except ImportError:
+    pass
+
 # Third Party
 import torch
 
@@ -60,6 +66,12 @@ from curobo.util.usd_helper import UsdHelper
 
 parser = argparse.ArgumentParser()
 
+parser.add_argument(
+    "--show-window",
+    action="store_true",
+    help="When True, shows camera image in a CV window",
+    default=False,
+)
 
 parser.add_argument("--robot", type=str, default="franka.yml", help="robot configuration to load")
 parser.add_argument(
@@ -316,7 +328,7 @@ if __name__ == "__main__":
                     voxel_viewer.clear()
             # draw_points(voxels)
 
-        if True:
+        if args.show_window:
             depth_image = data["raw_depth"]
             color_image = data["raw_rgb"]
             depth_colormap = cv2.applyColorMap(

examples/isaac_sim/simple_stacking.py

@@ -9,6 +9,14 @@
 # its affiliates is strictly prohibited.
 #
 
+
+try:
+    # Third Party
+    import isaacsim
+except ImportError:
+    pass
+
+
 # Third Party
 import torch
 
@@ -154,7 +162,6 @@ class CuroboController(BaseController):
             collision_cache={"obb": n_obstacle_cuboids, "mesh": n_obstacle_mesh},
             store_ik_debug=self._save_log,
             store_trajopt_debug=self._save_log,
-            velocity_scale=0.75,
         )
         self.motion_gen = MotionGen(motion_gen_config)
         print("warming up...")
@@ -173,6 +180,7 @@ class CuroboController(BaseController):
             partial_ik_opt=False,
             parallel_finetune=True,
             pose_cost_metric=pose_metric,
+            time_dilation_factor=0.75,
         )
         self.usd_help.load_stage(self.my_world.stage)
         self.cmd_plan = None
@@ -455,7 +463,7 @@ print(articulation_controller.get_gains())
 print(articulation_controller.get_max_efforts())
 robot = my_franka
 print("**********************")
-if True:
+if False:
     robot.enable_gravity()
     articulation_controller.set_gains(
         kps=np.array(

examples/isaac_sim/util/convert_urdf_to_usd.py

@@ -9,6 +9,13 @@
 # its affiliates is strictly prohibited.
 #
 
+
+try:
+    # Third Party
+    import isaacsim
+except ImportError:
+    pass
+
 # Third Party
 import torch
 

examples/isaac_sim/util/dowload_assets.py

@@ -12,6 +12,13 @@
 # This script downloads robot usd assets from isaac sim for using in CuRobo.
 
 
+try:
+    # Third Party
+    import isaacsim
+except ImportError:
+    pass
+
+
 # Third Party
 import torch
 

examples/mpc_example.py

@@ -55,12 +55,6 @@ def demo_full_config_mpc():
     mpc_config = MpcSolverConfig.load_from_robot_config(
         robot_cfg,
         world_file,
-        use_cuda_graph=True,
-        use_cuda_graph_metrics=True,
-        use_cuda_graph_full_step=False,
-        use_lbfgs=False,
-        use_es=False,
-        use_mppi=True,
         store_rollouts=True,
         step_dt=0.03,
     )