Improved precision, quality and js planner.

examples/isaac_sim/helper.py

@@ -23,6 +23,7 @@ from pxr import UsdPhysics
 
 # CuRobo
 from curobo.util.logger import log_warn
+from curobo.util.usd_helper import set_prim_transform
 
 ISAAC_SIM_23 = False
 try:
@@ -107,8 +108,13 @@ def add_robot_to_scene(
     robot_p = Robot(
         prim_path=robot_path + "/" + base_link_name,
         name=robot_name,
-        position=position,
     )
+
+    robot_prim = robot_p.prim
+    stage = robot_prim.GetStage()
+    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)
@@ -116,8 +122,6 @@ def add_robot_to_scene(
         my_world._physics_context.set_solver_type("PGS")
 
     if ISAAC_SIM_23:  # fix to load robot correctly in isaac sim 2023.1.1
-        robot_prim = robot_p.prim
-        stage = robot_prim.GetStage()
         linkp = stage.GetPrimAtPath(robot_path + "/" + base_link_name)
         mass = UsdPhysics.MassAPI(linkp)
         mass.GetMassAttr().Set(0)

examples/isaac_sim/motion_gen_reacher.py

@@ -205,7 +205,7 @@ def main():
     interpolation_dt = 0.05
     if args.reactive:
         trajopt_tsteps = 40
-        trajopt_dt = 0.05
+        trajopt_dt = 0.04
         optimize_dt = False
         max_attempts = 1
         trim_steps = [1, None]
@@ -223,9 +223,6 @@ def main():
         trajopt_dt=trajopt_dt,
         trajopt_tsteps=trajopt_tsteps,
         trim_steps=trim_steps,
-        # velocity_scale=0.1,
-        # self_collision_check=False,
-        # self_collision_opt=False,
     )
     motion_gen = MotionGen(motion_gen_config)
     print("warming up...")

examples/isaac_sim/multi_arm_reacher.py

@@ -136,7 +136,6 @@ def main():
         robot_cfg,
         world_cfg,
         tensor_args,
-        trajopt_tsteps=40,
         collision_checker_type=CollisionCheckerType.MESH,
         use_cuda_graph=True,
         num_trajopt_seeds=12,
@@ -146,6 +145,7 @@ def main():
         collision_activation_distance=0.025,
         acceleration_scale=1.0,
         fixed_iters_trajopt=True,
+        trajopt_tsteps=40,
     )
     motion_gen = MotionGen(motion_gen_config)
     print("warming up...")
@@ -154,7 +154,9 @@ def main():
     print("Curobo is Ready")
     add_extensions(simulation_app, args.headless_mode)
     plan_config = MotionGenPlanConfig(
-        enable_graph=False, enable_graph_attempt=4, max_attempts=10, enable_finetune_trajopt=True
+        enable_graph=False,
+        enable_graph_attempt=4,
+        max_attempts=10,
     )
 
     usd_help.load_stage(my_world.stage)

examples/isaac_sim/simple_stacking.py

@@ -162,7 +162,7 @@ class CuroboController(BaseController):
         pose_metric = None
         if constrain_grasp_approach:
             pose_metric = PoseCostMetric.create_grasp_approach_metric(
-                offset_position=0.1, tstep_fraction=0.6
+                offset_position=0.1, tstep_fraction=0.8
             )
 
         self.plan_config = MotionGenPlanConfig(