Isaac Sim 4.0 support, Kinematics API doc, Windows support

2024-07-20 14:51:43 -07:00
parent 2ae381f328
commit 3690d28c54
83 changed files with 2818 additions and 497 deletions
--- a/examples/mpc_example.py
+++ b/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,
    )