Improved precision, quality and js planner.

src/curobo/geom/sdf/warp_primitives.py

@@ -525,7 +525,7 @@ class SdfMeshWarpPy(torch.autograd.Function):
         if env_query_idx is None:
             use_batch_env = False
             env_query_idx = n_env_mesh
-
+        requires_grad = query_spheres.requires_grad
         wp.launch(
             kernel=get_closest_pt_batch_env,
             dim=b * h * n,
@@ -541,7 +541,7 @@ class SdfMeshWarpPy(torch.autograd.Function):
                 wp.from_torch(mesh_enable.view(-1), dtype=wp.uint8),
                 wp.from_torch(n_env_mesh.view(-1), dtype=wp.int32),
                 wp.from_torch(max_dist, dtype=wp.float32),
-                query_spheres.requires_grad,
+                requires_grad,
                 b,
                 h,
                 n,
@@ -608,6 +608,7 @@ class SweptSdfMeshWarpPy(torch.autograd.Function):
         if env_query_idx is None:
             use_batch_env = False
             env_query_idx = n_env_mesh
+        requires_grad = query_spheres.requires_grad
 
         wp.launch(
             kernel=get_swept_closest_pt_batch_env,
@@ -625,7 +626,7 @@ class SweptSdfMeshWarpPy(torch.autograd.Function):
                 wp.from_torch(mesh_enable.view(-1), dtype=wp.uint8),
                 wp.from_torch(n_env_mesh.view(-1), dtype=wp.int32),
                 wp.from_torch(max_dist, dtype=wp.float32),
-                query_spheres.requires_grad,
+                requires_grad,
                 b,
                 h,
                 n,

src/curobo/geom/sdf/world_voxel.py

@@ -42,6 +42,7 @@ class WorldVoxelCollision(WorldMeshCollision):
             and self.cache["voxel"] not in [None, 0]
         ):
             self._create_voxel_cache(self.cache["voxel"])
+        return super()._init_cache()
 
     def _create_voxel_cache(self, voxel_cache: Dict[str, Any]):
         n_layers = voxel_cache["layers"]
@@ -699,7 +700,6 @@ class WorldVoxelCollision(WorldMeshCollision):
                     - self.max_esdf_distance
                 ).to(dtype=self._voxel_tensor_list[3].dtype)
             self._env_n_voxels[:] = 0
-            print(self._voxel_tensor_list)
 
     def get_voxel_grid_shape(self, env_idx: int = 0, obs_idx: int = 0):
         return self._voxel_tensor_list[3][env_idx, obs_idx].shape