update lock joints in yaml and velocity in urdf

- Converted 225 LFS files to normal Git files
- Updated .gitattributes to remove LFS tracking
- Backup saved as .gitattributes.backup

.gitattributes

@@ -1,19 +0,0 @@
-src/curobo/content/assets/debug** filter=lfs diff=lfs merge=lfs -text
-*.obj filter=lfs diff=lfs merge=lfs -text
-*.stl filter=lfs diff=lfs merge=lfs -text
-*.dae filter=lfs diff=lfs merge=lfs -text
-*.pt filter=lfs diff=lfs merge=lfs -text
-*.mtl filter=lfs diff=lfs merge=lfs -text
-*.nvblx filter=lfs diff=lfs merge=lfs -text
-*.ply filter=lfs diff=lfs merge=lfs -text
-*.png filter=lfs diff=lfs merge=lfs -text
-*.gif filter=lfs diff=lfs merge=lfs -text
-*.svg filter=lfs diff=lfs merge=lfs -text
-*.usd filter=lfs diff=lfs merge=lfs -text
-*.usda filter=lfs diff=lfs merge=lfs -text
-*.mp4 filter=lfs diff=lfs merge=lfs -text
-*.webm filter=lfs diff=lfs merge=lfs -text
-docs/_static/nvidia_logo.png filter=lfs diff=lfs merge=lfs -text
-docs/images/motion_opt.png filter=lfs diff=lfs merge=lfs -text
-src/curobo/content/assets/urdf/nvblox/out4_color.png filter=lfs diff=lfs merge=lfs -text
-docs/_html_extra/* filter=lfs diff=lfs merge=lfs -text

CHANGELOG.md

@@ -10,17 +10,83 @@ its affiliates is strictly prohibited.
 -->
 # Changelog
 
-## Latest Commit
+## Version 0.7.7
+
+### New Features
+- Add cpu support for types.math.Pose
+- Add cdist fallback for robot segmentation when triton is not available. Requires half the memory.
+
+### BugFixes & Misc.
+- Fix bug in LBFGS where buffers were not reinitialized upon change in history.
+- Isaac Sim 4.5 support for examples. All but one example works now. ``load_all_robots.py`` does
+not work correctly.
+- Fix bug in jerk gradient calculation. Improves convergence in trajectory optimization. Multi-arm
+reacher is slightly improved (see isaac sim example).
+
+
+## Version 0.7.6
+
+### Changes in Default Behavior
+- Acceleration and Jerk in Output trajectory from motion_gen is not filtered. Previously, this was
+filtered with a sliding window to remove aliasing artifacts. To get previous behavior, set
+`filter_robot_command=True` in `MotionGenConfig.load_from_robot_config()`.
+- Terminal action for motion planning is now fixed from initial seed. This improves accuracy (10x).
+To get previous behavior, set `trajopt_fix_terminal_action=True` and also
+`trajopt_js_fix_terminal_action=True` in `MotionGenConfig.load_from_robot_config()`.
+- Introduce higher accuracy weights for IK in `gradient_ik_autotune.yml`. To use old file,
+pass `gradient_ik_file='gradient_ik.yml'` in `MotionGenConfig.load_from_robot_config()`. Similarly
+for IKSolver, pass `gradient_file='gradient_ik.yml'` in `IKSolverConfig.load_from_robot_config()`.
+
+### New Features
+- Add fix terminal action in quasi-netwon solvers. This keeps the final action constant (from
+initial seed) and only optimizing for the remaining states. Improved accuracy in
+reaching targets (10x improvement for Cartesian pose targets and exact reaching for joint position
+targets).
+
+
+### BugFixes & Misc.
+
+- Fix bug (opposite sign) in gradient calculation for jerk. Trajectory optimizaiton generates
+shorter motion time trajectories.
+- Fix numerical precision issues when calculating linear interpolated seeds by copying terminal
+state to final action of trajectory after interpolation.
+
+
+## Version 0.7.5
+
+### Changes in Default Behavior
+- Remove explicit global seed setting for numpy and random. To enforce deterministic behavior,
+use `np.random.seed(2)` and `random.seed(2)` in your program.
+- geom.types.VoxelGrid now uses a different algorithm to calculate number of voxels per dimension
+and also to compute xyz locations in a grid. This new implementation matches implementation in
+nvblox.
 
 ### New Features
 - Add pose cost metric to MPC to allow for partial pose reaching.
 - Update obstacle poses in cpu reference with an optional flag.
+- Add planning to grasp API in ``MotionGen.plan_grasp`` that plans a sequence of motions to grasp
+an object given grasp poses. This API also provides args to disable collisions during the grasping
+phase.
+- Constrained planning can now use either goal frame or base frame at runtime.
 
 ### BugFixes & Misc.
 - Fixed optimize_dt not being correctly set when motion gen is called in reactive mode.
 - Add documentation for geom module.
 - Add descriptive api for computing kinematics.
 - Fix cv2 import order in isaac sim realsense examples.
+- Fix attach sphere api mismatch in ``TrajOptSolver``.
+- Fix bug in ``get_spline_interpolated_trajectory`` where
+numpy array was created instead of torch tensor.
+- Fix gradient bug when sphere origin is exactly at face of a cuboid.
+- Add support for parsing Yaml 1.2 format with an updated regex for scientific notations.
+- Move to yaml `SafeLoader` from `Loader`.
+- Graph search checks if a node exists before attempting to find a path.
+- Fix `steps_max` becoming 0 when optimized dt has NaN values.
+- Clone `MotionGenPlanConfig` instance for every plan api.
+- Improve sphere position to voxel location calculation to match nvblox's implementation.
+- Add self collision checking support for spheres > 1024 and number of checks > 512 * 1024.
+- Fix gradient passthrough in warp batch transform kernels.
+- Remove torch.Size() initialization with device kwarg.
 
 ## Version 0.7.4
 

benchmark/curobo_benchmark.py

@@ -210,6 +210,7 @@ def load_curobo(
         trajopt_dt=0.25,
         finetune_dt_scale=finetune_dt_scale,
         high_precision=args.high_precision,
+        use_cuda_graph_trajopt_metrics=cuda_graph,
     )
     mg = MotionGen(motion_gen_config)
     mg.warmup(enable_graph=True, warmup_js_trajopt=False, parallel_finetune=parallel_finetune)
@@ -239,7 +240,7 @@ def benchmark_mb(
     og_tsteps = 32
     if override_tsteps is not None:
         og_tsteps = override_tsteps
-    og_finetune_dt_scale = 0.85
+    og_finetune_dt_scale = 0.8
     og_trajopt_seeds = 4
     og_parallel_finetune = True
     og_collision_activation_distance = 0.01
@@ -484,7 +485,7 @@ def benchmark_mb(
                             start_state,
                             q_traj,
                             dt=result.interpolation_dt,
-                            save_path=join_path("benchmark/log/usd/", problem_name) + ".usd",
+                            save_path=join_path("benchmark/log/usd/", problem_name)[1:] + ".usd",
                             interpolation_steps=1,
                             write_robot_usd_path="benchmark/log/usd/assets/",
                             robot_usd_local_reference="assets/",
@@ -499,7 +500,7 @@ def benchmark_mb(
                             result.optimized_plan,
                             result.optimized_dt.item(),
                             title=problem_name,
-                            save_path=join_path("benchmark/log/plot/", problem_name + ".png"),
+                            save_path=join_path("benchmark/log/plot/", problem_name + ".png")[1:],
                         )
 
                     m_list.append(current_metrics)

benchmark/curobo_voxel_benchmark.py

@@ -149,7 +149,7 @@ def load_curobo(
                 "base": {
                     "dims": [2.4, 2.4, 2.4],
                     "pose": [0, 0, 0, 1, 0, 0, 0],
-                    "voxel_size": 0.005,
+                    "voxel_size": 0.02,
                     "feature_dtype": torch.bfloat16,
                 },
             }
@@ -294,7 +294,7 @@ def benchmark_mb(
                 world = WorldConfig.from_dict(problem["obstacles"])
 
                 # mg.world_coll_checker.clear_cache()
-                world_coll = WorldConfig.from_dict(problem["obstacles"])
+                world_coll = WorldConfig.from_dict(problem["obstacles"]).get_collision_check_world()
                 if args.mesh:
                     world_coll = world_coll.get_mesh_world(merge_meshes=False)
                 robot_world.clear_world_cache()
@@ -302,7 +302,7 @@ def benchmark_mb(
 
                 esdf = robot_world.world_model.get_esdf_in_bounding_box(
                     Cuboid(name="base", pose=[0, 0, 0, 1, 0, 0, 0], dims=[2.4, 2.4, 2.4]),
-                    voxel_size=0.005,
+                    voxel_size=0.02,
                     dtype=torch.float32,
                 )
                 # esdf.feature_tensor[esdf.feature_tensor < -1.0] = -1000.0
@@ -336,13 +336,16 @@ def benchmark_mb(
                     world.randomize_color(r=[0.5, 0.9], g=[0.2, 0.5], b=[0.0, 0.2])
 
                     coll_mesh = mg.world_coll_checker.get_mesh_in_bounding_box(
-                        curobo_Cuboid(name="test", pose=[0, 0, 0, 1, 0, 0, 0], dims=[2, 2, 2]),
-                        voxel_size=0.005,
+                        curobo_Cuboid(
+                            name="test", pose=[0, 0, 0, 1, 0, 0, 0], dims=[2.4, 2.4, 2.4]
+                        ),
+                        voxel_size=0.02,
                     )
 
                     coll_mesh.color = [0.0, 0.8, 0.8, 0.2]
 
                     coll_mesh.name = "voxel_world"
+
                     # world = WorldConfig(mesh=[coll_mesh])
                     world.add_obstacle(coll_mesh)
                 # get costs:
@@ -360,7 +363,7 @@ def benchmark_mb(
                         plot_cost_iteration(
                             traj_cost,
                             title=problem_name + "_" + str(success) + "_" + str(dt),
-                            save_path=join_path("benchmark/log/plot/", problem_name + "_cost"),
+                            save_path=join_path("benchmark/log/plot/", problem_name + "_cost")[1:],
                             log_scale=False,
                         )
                         if "finetune_trajopt_result" in result.debug_info:
@@ -373,7 +376,7 @@ def benchmark_mb(
                                 title=problem_name + "_" + str(success) + "_" + str(dt),
                                 save_path=join_path(
                                     "benchmark/log/plot/", problem_name + "_ft_cost"
-                                ),
+                                )[1:],
                                 log_scale=False,
                             )
                 if result.success.item():
@@ -481,7 +484,7 @@ def benchmark_mb(
                             start_state,
                             q_traj,
                             dt=result.interpolation_dt,
-                            save_path=join_path("benchmark/log/usd/", problem_name) + ".usd",
+                            save_path=join_path("benchmark/log/usd/", problem_name)[1:] + ".usd",
                             interpolation_steps=1,
                             write_robot_usd_path="benchmark/log/usd/assets/",
                             robot_usd_local_reference="assets/",
@@ -499,7 +502,7 @@ def benchmark_mb(
                             # result.get_interpolated_plan(),
                             # result.interpolation_dt,
                             title=problem_name,
-                            save_path=join_path("benchmark/log/plot/", problem_name + ".pdf"),
+                            save_path=join_path("benchmark/log/plot/", problem_name + ".pdf")[1:],
                         )
                         plot_traj(
                             # result.optimized_plan,
@@ -507,7 +510,9 @@ def benchmark_mb(
                             result.get_interpolated_plan(),
                             result.interpolation_dt,
                             title=problem_name,
-                            save_path=join_path("benchmark/log/plot/", problem_name + "_int.pdf"),
+                            save_path=join_path("benchmark/log/plot/", problem_name + "_int.pdf")[
+                                1:
+                            ],
                         )
 
                     m_list.append(current_metrics)

docker/ros1_x86.dockerfile

@@ -1,69 +0,0 @@
-##
-## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-##
-## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
-## property and proprietary rights in and to this material, related
-## documentation and any modifications thereto. Any use, reproduction,
-## disclosure or distribution of this material and related documentation
-## without an express license agreement from NVIDIA CORPORATION or
-## its affiliates is strictly prohibited.
-##
-FROM nvcr.io/nvidia/pytorch:23.02-py3
-
-
-RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections
-
-RUN apt-get update && apt-get install -y \
-  tzdata \
-  && rm -rf /var/lib/apt/lists/* \
-  && ln -fs /usr/share/zoneinfo/America/Los_Angeles /etc/localtime \
-  && echo "America/Los_Angeles" > /etc/timezone \
-  && dpkg-reconfigure -f noninteractive tzdata
-
-RUN apt-get update &&\
-    apt-get install -y sudo git bash software-properties-common graphviz &&\
-    rm -rf /var/lib/apt/lists/*
-
-
-
-RUN python -m pip install --upgrade pip && python3 -m pip install graphviz
-
-# Install ROS noetic
-RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list' \
-&& apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
-&& apt-get update && apt-get install -y \
-  ros-noetic-desktop-full git build-essential python3-rosdep \
-  && rm -rf /var/lib/apt/lists/*
-
-
-# install realsense and azure kinect
-# Install the RealSense library (https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages)
-#RUN sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
-#RUN sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u
-#RUN apt-get update && apt-get install -y \
-#  librealsense2-dkms \
-#  software-properties-common \
-#  librealsense2-utils \
-#  && rm -rf /var/lib/apt/lists/*
-
-
-# install moveit from source for all algos:
-ARG ROS_DISTRO=noetic
-RUN apt-get update && apt-get install -y \
-  ros-$ROS_DISTRO-apriltag-ros \
-  ros-$ROS_DISTRO-realsense2-camera \
-  ros-$ROS_DISTRO-ros-numpy \
-  ros-$ROS_DISTRO-vision-msgs \
-  ros-$ROS_DISTRO-franka-ros \
-  ros-$ROS_DISTRO-moveit-resources \
-  ros-$ROS_DISTRO-rosparam-shortcuts \
-  libglfw3-dev \
-  ros-$ROS_DISTRO-collada-urdf \
-  ros-$ROS_DISTRO-ur-msgs \
-  swig \
-  && rm -rf /var/lib/apt/lists/*
-
-
-RUN apt-get update && rosdep init && rosdep update && apt-get install -y ros-noetic-moveit-ros-visualization && rm -rf /var/lib/apt/lists/*
-RUN pip3 install netifaces
-

docker/start_dev_docker.sh

@@ -41,6 +41,7 @@ if [ $input_arg == "x86" ]; then
     --env DISPLAY=unix$DISPLAY \
     --volume /tmp/.X11-unix:/tmp/.X11-unix \
     --volume /dev:/dev \
+    --ipc=host \
     curobo_docker:user_$input_arg
 
 elif [ $input_arg == "aarch64" ]; then
@@ -60,7 +61,7 @@ elif [ $input_arg == "aarch64" ]; then
     curobo_docker:user_$input_arg
 
 elif [[ $input_arg == *isaac_sim* ]] ; then
-   echo "Isaac Sim Dev Docker is not supported" 
+   echo "Isaac Sim Dev Docker is not supported"
 
    mkdir -p ~/docker/isaac-sim ~/docker/isaac-sim/cache/kit \
     ~/docker/isaac-sim/cache/ov \
@@ -70,7 +71,7 @@ elif [[ $input_arg == *isaac_sim* ]] ; then
     ~/docker/isaac-sim/logs \
     ~/docker/isaac-sim/data \
     ~/docker/isaac-sim/documents
- 
+
 
 
    docker run --name container_$input_arg -it --gpus all -e "ACCEPT_EULA=Y" --rm --network=host \
@@ -89,7 +90,7 @@ elif [[ $input_arg == *isaac_sim* ]] ; then
         --volume /dev:/dev \
         --mount type=bind,src=/home/$USER/code,target=/home/$USER/code \
         curobo_docker:user_$input_arg
-    
+
 
 else
     echo "Unknown docker"

examples/collision_check_example.py

@@ -8,9 +8,7 @@
 # without an express license agreement from NVIDIA CORPORATION or
 # its affiliates is strictly prohibited.
 #
-""" Example computing collisions using curobo
-
-"""
+"""Example computing collisions using curobo"""
 # Third Party
 import torch
 

examples/isaac_sim/batch_collision_checker.py

@@ -51,7 +51,13 @@ import carb
 import numpy as np
 from helper import add_extensions
 from omni.isaac.core import World
-from omni.isaac.core.materials import OmniPBR
+
+try:
+    from omni.isaac.core.materials import OmniPBR
+except ImportError:
+    from isaacsim.core.api.materials import OmniPBR
+
+
 from omni.isaac.core.objects import sphere
 
 # CuRobo

examples/isaac_sim/batch_motion_gen_reacher.py

@@ -126,9 +126,11 @@ def main():
             "/World/world_" + str(i) + "/",
             robot_name="robot_" + str(i),
             position=pose.position[0].cpu().numpy(),
+            initialize_world=False,
         )
         robot_list.append(r[0])
     setup_curobo_logger("warn")
+    my_world.initialize_physics()
 
     # warmup curobo instance
 
@@ -195,9 +197,10 @@ def main():
             continue
         step_index = my_world.current_time_step_index
 
-        if step_index <= 2:
-            my_world.reset()
+        if step_index <= 10:
+            # my_world.reset()
             for robot in robot_list:
+                robot._articulation_view.initialize()
                 idx_list = [robot.get_dof_index(x) for x in j_names]
                 robot.set_joint_positions(default_config, idx_list)
 
@@ -223,6 +226,8 @@ def main():
             past_goal = ik_goal.clone()
         sim_js_names = robot_list[0].dof_names
         sim_js = robot_list[0].get_joints_state()
+        if sim_js is None:
+            continue
         full_js = JointState(
             position=tensor_args.to_device(sim_js.positions).view(1, -1),
             velocity=tensor_args.to_device(sim_js.velocities).view(1, -1) * 0.0,

examples/isaac_sim/collision_checker.py

@@ -54,7 +54,11 @@ import carb
 import numpy as np
 from helper import add_extensions
 from omni.isaac.core import World
-from omni.isaac.core.materials import OmniPBR
+
+try:
+    from omni.isaac.core.materials import OmniPBR
+except ImportError:
+    from isaacsim.core.api.materials import OmniPBR
 from omni.isaac.core.objects import sphere
 
 # CuRobo
@@ -73,7 +77,10 @@ from curobo.wrap.model.robot_world import RobotWorld, RobotWorldConfig
 
 def draw_line(start, gradient):
     # Third Party
-    from omni.isaac.debug_draw import _debug_draw
+    try:
+        from omni.isaac.debug_draw import _debug_draw
+    except ImportError:
+        from isaacsim.util.debug_draw import _debug_draw
 
     draw = _debug_draw.acquire_debug_draw_interface()
     # if draw.get_num_points() > 0:
@@ -194,7 +201,10 @@ def main():
 
         else:
             # Third Party
-            from omni.isaac.debug_draw import _debug_draw
+            try:
+                from omni.isaac.debug_draw import _debug_draw
+            except ImportError:
+                from isaacsim.util.debug_draw import _debug_draw
 
             draw = _debug_draw.acquire_debug_draw_interface()
             # if draw.get_num_points() > 0:

examples/isaac_sim/constrained_reacher.py

@@ -58,7 +58,11 @@ import argparse
 # Third Party
 import carb
 from omni.isaac.core import World
-from omni.isaac.core.materials import OmniGlass, OmniPBR
+
+try:
+    from omni.isaac.core.materials import OmniGlass, OmniPBR
+except ImportError:
+    from isaacsim.core.api.materials import OmniGlass, OmniPBR
 from omni.isaac.core.objects import cuboid, sphere
 from omni.isaac.core.utils.types import ArticulationAction
 
@@ -207,8 +211,9 @@ if __name__ == "__main__":
             continue
         step_index = my_world.current_time_step_index
 
-        if step_index <= 2:
-            my_world.reset()
+        if step_index <= 10:
+            # my_world.reset()
+            robot._articulation_view.initialize()
             idx_list = [robot.get_dof_index(x) for x in j_names]
             robot.set_joint_positions(default_config, idx_list)
 
@@ -218,7 +223,7 @@ if __name__ == "__main__":
 
         if False and step_index % 50 == 0.0:  # No obstacle update
             obstacles = usd_help.get_obstacles_from_stage(
-                # only_paths=[obstacles_path],
+                only_paths=["/World"],
                 reference_prim_path=robot_prim_path,
                 ignore_substring=[
                     robot_prim_path,

examples/isaac_sim/helper.py

@@ -16,7 +16,6 @@ from typing import Dict, List
 import numpy as np
 from matplotlib import cm
 from omni.isaac.core import World
-from omni.isaac.core.materials import OmniPBR
 from omni.isaac.core.objects import cuboid
 from omni.isaac.core.robots import Robot
 from pxr import UsdPhysics
@@ -26,14 +25,28 @@ from curobo.util.logger import log_warn
 from curobo.util.usd_helper import set_prim_transform
 
 ISAAC_SIM_23 = False
+ISAAC_SIM_45 = False
 try:
     # Third Party
     from omni.isaac.urdf import _urdf  # isaacsim 2022.2
 except ImportError:
     # Third Party
-    from omni.importer.urdf import _urdf  # isaac sim 2023.1 or above
+    try:
+        from omni.importer.urdf import _urdf  # isaac sim 2023.1 or above
+    except ImportError:
+        from isaacsim.asset.importer.urdf import _urdf  # isaac sim 4.5+
 
+        ISAAC_SIM_45 = True
     ISAAC_SIM_23 = True
+
+try:
+    # import for older isaacsim installations
+    from omni.isaac.core.materials import OmniPBR
+except ImportError:
+    # import for isaac sim 4.5+
+    from isaacsim.core.api.materials import OmniPBR
+
+
 # Standard Library
 from typing import Optional
 
@@ -67,6 +80,7 @@ def add_robot_to_scene(
     subroot: str = "",
     robot_name: str = "robot",
     position: np.array = np.array([0, 0, 0]),
+    initialize_world: bool = True,
 ):
 
     urdf_interface = _urdf.acquire_urdf_interface()
@@ -91,18 +105,57 @@ def add_robot_to_scene(
         and robot_config["kinematics"]["external_asset_path"] is not None
     ):
         asset_path = robot_config["kinematics"]["external_asset_path"]
+
+    # urdf_path:
+    # meshes_path:
+    # meshes path should be a subset of urdf_path
     full_path = join_path(asset_path, robot_config["kinematics"]["urdf_path"])
+    # full path contains the path to urdf
+    # Get meshes path
     robot_path = get_path_of_dir(full_path)
     filename = get_filename(full_path)
-    imported_robot = urdf_interface.parse_urdf(robot_path, filename, import_config)
-    dest_path = subroot
-    robot_path = urdf_interface.import_robot(
-        robot_path,
-        filename,
-        imported_robot,
-        import_config,
-        dest_path,
-    )
+    if ISAAC_SIM_45:
+        from isaacsim.core.utils.extensions import get_extension_path_from_name
+        import omni.kit.commands
+        import omni.usd
+
+        # Retrieve the path of the URDF file from the extension
+        extension_path = get_extension_path_from_name("isaacsim.asset.importer.urdf")
+        root_path = robot_path
+        file_name = filename
+
+        # Parse the robot's URDF file to generate a robot model
+
+        dest_path = join_path(
+            root_path, get_filename(file_name, remove_extension=True) + "_temp.usd"
+        )
+
+        result, robot_path = omni.kit.commands.execute(
+            "URDFParseAndImportFile",
+            urdf_path="{}/{}".format(root_path, file_name),
+            import_config=import_config,
+            dest_path=dest_path,
+        )
+        prim_path = omni.usd.get_stage_next_free_path(
+            my_world.scene.stage,
+            str(my_world.scene.stage.GetDefaultPrim().GetPath()) + robot_path,
+            False,
+        )
+        robot_prim = my_world.scene.stage.OverridePrim(prim_path)
+        robot_prim.GetReferences().AddReference(dest_path)
+        robot_path = prim_path
+    else:
+
+        imported_robot = urdf_interface.parse_urdf(robot_path, filename, import_config)
+        dest_path = subroot
+
+        robot_path = urdf_interface.import_robot(
+            robot_path,
+            filename,
+            imported_robot,
+            import_config,
+            dest_path,
+        )
 
     base_link_name = robot_config["kinematics"]["base_link"]
 
@@ -117,6 +170,11 @@ def add_robot_to_scene(
     set_prim_transform(linkp, [position[0], position[1], position[2], 1, 0, 0, 0])
 
     robot = my_world.scene.add(robot_p)
+    if initialize_world:
+        if ISAAC_SIM_45:
+            my_world.initialize_physics()
+            robot.initialize()
+
     return robot, robot_path
 
 

examples/isaac_sim/ik_reachability.py

@@ -112,7 +112,10 @@ def get_pose_grid(n_x, n_y, n_z, max_x, max_y, max_z):
 
 def draw_points(pose, success):
     # Third Party
-    from omni.isaac.debug_draw import _debug_draw
+    try:
+        from omni.isaac.debug_draw import _debug_draw
+    except ImportError:
+        from isaacsim.util.debug_draw import _debug_draw
 
     draw = _debug_draw.acquire_debug_draw_interface()
     N = 100
@@ -236,9 +239,8 @@ def main():
             continue
 
         step_index = my_world.current_time_step_index
-        # print(step_index)
-        if step_index <= 2:
-            my_world.reset()
+        if step_index <= 10:
+            # my_world.reset()
             idx_list = [robot.get_dof_index(x) for x in j_names]
             robot.set_joint_positions(default_config, idx_list)
 
@@ -251,7 +253,7 @@ def main():
         if step_index == 50 or step_index % 500 == 0.0:  # and cmd_plan is None:
             print("Updating world, reading w.r.t.", robot_prim_path)
             obstacles = usd_help.get_obstacles_from_stage(
-                # only_paths=[obstacles_path],
+                only_paths=["/World"],
                 reference_prim_path=robot_prim_path,
                 ignore_substring=[
                     robot_prim_path,

examples/isaac_sim/load_all_robots.py

@@ -68,13 +68,17 @@ from curobo.types.math import Pose
 from curobo.types.robot import RobotConfig
 
 ########### OV #################
-from curobo.util.logger import setup_curobo_logger
+from curobo.util.logger import setup_curobo_logger, log_warn
 from curobo.util.usd_helper import UsdHelper
 from curobo.util_file import get_motion_gen_robot_list, get_robot_configs_path, join_path, load_yaml
 
 
 def main():
+    log_warn("This example will not work correctly in isaac sim 4.5+")
     list_of_robots = get_motion_gen_robot_list()  # [:2]
+    # remove tm12 as meshes don't load correctly in isaac sim 4.5
+    if "tm12.yml" in list_of_robots:
+        list_of_robots.remove("tm12.yml")
     usd_help = UsdHelper()
 
     # assuming obstacles are in objects_path:
@@ -107,12 +111,14 @@ def main():
             pose.position[0, 1] = 0
         robot_cfg = load_yaml(join_path(get_robot_configs_path(), list_of_robots[i]))["robot_cfg"]
         robot_cfg_list.append(robot_cfg)
+        print("Loading robot: ", list_of_robots[i])
         r = add_robot_to_scene(
             robot_cfg,
             my_world,
             "/World/world_" + str(i) + "/",
             robot_name="/World/world_" + str(i) + "/" "robot_" + str(i),
             position=pose.position[0].cpu().numpy(),
+            initialize_world=False,
         )
 
         robot_list.append(r[0])
@@ -135,6 +141,9 @@ def main():
 
     setup_curobo_logger("warn")
 
+    my_world.initialize_physics()
+    my_world.reset()
+
     add_extensions(simulation_app, args.headless_mode)
     while simulation_app.is_running():
         my_world.step(render=True)
@@ -146,9 +155,9 @@ def main():
             continue
         step_index = my_world.current_time_step_index
 
-        if step_index <= 2:
-            my_world.reset()
+        if step_index <= 10:
             for ri, robot in enumerate(robot_list):
+                robot._articulation_view.initialize()
                 j_names = robot_cfg_list[ri]["kinematics"]["cspace"]["joint_names"]
                 default_config = robot_cfg_list[ri]["kinematics"]["cspace"]["retract_config"]
 

examples/isaac_sim/motion_gen_reacher.py

@@ -272,12 +272,9 @@ def main():
             continue
 
         step_index = my_world.current_time_step_index
-        # print(step_index)
         if articulation_controller is None:
-            # robot.initialize()
             articulation_controller = robot.get_articulation_controller()
-        if step_index < 2:
-            my_world.reset()
+        if step_index < 10:
             robot._articulation_view.initialize()
             idx_list = [robot.get_dof_index(x) for x in j_names]
             robot.set_joint_positions(default_config, idx_list)
@@ -291,7 +288,7 @@ def main():
         if step_index == 50 or step_index % 1000 == 0.0:
             print("Updating world, reading w.r.t.", robot_prim_path)
             obstacles = usd_help.get_obstacles_from_stage(
-                # only_paths=[obstacles_path],
+                only_paths=["/World"],
                 reference_prim_path=robot_prim_path,
                 ignore_substring=[
                     robot_prim_path,
@@ -319,6 +316,9 @@ def main():
             past_orientation = cube_orientation
 
         sim_js = robot.get_joints_state()
+        if sim_js is None:
+            print("sim_js is None")
+            continue
         sim_js_names = robot.dof_names
         if np.any(np.isnan(sim_js.positions)):
             log_error("isaac sim has returned NAN joint position values.")
@@ -362,7 +362,7 @@ def main():
                         spheres[si].set_radius(float(s.radius))
 
         robot_static = False
-        if (np.max(np.abs(sim_js.velocities)) < 0.2) or args.reactive:
+        if (np.max(np.abs(sim_js.velocities)) < 0.5) or args.reactive:
             robot_static = True
         if (
             (

examples/isaac_sim/motion_gen_reacher_nvblox.py

@@ -188,8 +188,9 @@ def main():
 
         step_index = my_world.current_time_step_index
         # print(step_index)
-        if step_index <= 2:
-            my_world.reset()
+        if step_index <= 10:
+            # my_world.reset()
+            robot._articulation_view.initialize()
             idx_list = [robot.get_dof_index(x) for x in j_names]
             robot.set_joint_positions(default_config, idx_list)
 
@@ -207,6 +208,9 @@ def main():
         if target_pose is None:
             target_pose = cube_position
         sim_js = robot.get_joints_state()
+        if sim_js is None:
+            print("sim_js is None")
+            continue
         sim_js_names = robot.dof_names
         cu_js = JointState(
             position=tensor_args.to_device(sim_js.positions),

examples/isaac_sim/mpc_example.py

@@ -116,8 +116,10 @@ def draw_points(rollouts: torch.Tensor):
     import random
 
     # Third Party
-    from omni.isaac.debug_draw import _debug_draw
-
+    try:
+        from omni.isaac.debug_draw import _debug_draw
+    except ImportError:
+        from isaacsim.util.debug_draw import _debug_draw
     draw = _debug_draw.acquire_debug_draw_interface()
     N = 100
     # if draw.get_num_points() > 0:
@@ -265,8 +267,10 @@ def main():
 
         step_index = my_world.current_time_step_index
 
-        if step_index <= 2:
-            my_world.reset()
+        if step_index <= 10:
+            # my_world.reset()
+            robot._articulation_view.initialize()
+
             idx_list = [robot.get_dof_index(x) for x in j_names]
             robot.set_joint_positions(default_config, idx_list)
 
@@ -281,7 +285,7 @@ def main():
         if step_index % 1000 == 0:
             print("Updating world")
             obstacles = usd_help.get_obstacles_from_stage(
-                # only_paths=[obstacles_path],
+                only_paths=["/World"],
                 ignore_substring=[
                     robot_prim_path,
                     "/World/target",
@@ -315,6 +319,9 @@ def main():
 
         # get robot current state:
         sim_js = robot.get_joints_state()
+        if sim_js is None:
+            print("sim_js is None")
+            continue
         js_names = robot.dof_names
         sim_js_names = robot.dof_names
 
@@ -354,7 +361,7 @@ def main():
         cmd_state_full = cmd_state
 
         art_action = ArticulationAction(
-            cmd_state.position.cpu().numpy(),
+            cmd_state.position.view(-1).cpu().numpy(),
             # cmd_state.velocity.cpu().numpy(),
             joint_indices=idx_list,
         )
@@ -364,7 +371,7 @@ def main():
 
         if succ:
             # set desired joint angles obtained from IK:
-            for _ in range(3):
+            for _ in range(1):
                 articulation_controller.apply_action(art_action)
 
         else:

examples/isaac_sim/mpc_nvblox_example.py

@@ -104,7 +104,10 @@ def draw_points(rollouts: torch.Tensor):
     import random
 
     # Third Party
-    from omni.isaac.debug_draw import _debug_draw
+    try:
+        from omni.isaac.debug_draw import _debug_draw
+    except ImportError:
+        from isaacsim.util.debug_draw import _debug_draw
 
     draw = _debug_draw.acquire_debug_draw_interface()
     N = 100
@@ -242,8 +245,9 @@ def main():
 
         step_index = my_world.current_time_step_index
 
-        if step_index <= 2:
-            my_world.reset()
+        if step_index <= 10:
+            # my_world.reset()
+            robot._articulation_view.initialize()
             idx_list = [robot.get_dof_index(x) for x in j_names]
             robot.set_joint_positions(default_config, idx_list)
 
@@ -278,6 +282,9 @@ def main():
 
         # get robot current state:
         sim_js = robot.get_joints_state()
+        if sim_js is None:
+            print("sim_js is None")
+            continue
         js_names = robot.dof_names
         sim_js_names = robot.dof_names
 

examples/isaac_sim/multi_arm_reacher.py

@@ -149,6 +149,7 @@ def main():
         collision_activation_distance=0.025,
         fixed_iters_trajopt=True,
         maximum_trajectory_dt=0.5,
+        ik_opt_iters=500,
     )
     motion_gen = MotionGen(motion_gen_config)
     print("warming up...")
@@ -221,8 +222,9 @@ def main():
 
         step_index = my_world.current_time_step_index
         # print(step_index)
-        if step_index <= 2:
-            my_world.reset()
+        if step_index <= 10:
+            # my_world.reset()
+            robot._articulation_view.initialize()
             idx_list = [robot.get_dof_index(x) for x in j_names]
             robot.set_joint_positions(default_config, idx_list)
 
@@ -235,7 +237,7 @@ def main():
         if step_index == 50 or step_index % 1000 == 0.0:
             print("Updating world, reading w.r.t.", robot_prim_path)
             obstacles = usd_help.get_obstacles_from_stage(
-                # only_paths=[obstacles_path],
+                only_paths=["/World"],
                 reference_prim_path=robot_prim_path,
                 ignore_substring=[
                     robot_prim_path,
@@ -258,6 +260,9 @@ def main():
         if target_pose is None:
             target_pose = cube_position
         sim_js = robot.get_joints_state()
+        if sim_js is None:
+            print("sim_js is None")
+            continue
         sim_js_names = robot.dof_names
         cu_js = JointState(
             position=tensor_args.to_device(sim_js.positions),
@@ -287,11 +292,10 @@ def main():
                 for si, s in enumerate(sph_list[0]):
                     spheres[si].set_world_pose(position=np.ravel(s.position))
                     spheres[si].set_radius(float(s.radius))
-        # print(sim_js.velocities)
         if (
             np.linalg.norm(cube_position - target_pose) > 1e-3
             and np.linalg.norm(past_pose - cube_position) == 0.0
-            and np.max(np.abs(sim_js.velocities)) < 0.2
+            and np.max(np.abs(sim_js.velocities)) < 0.5
         ):
             # Set EE teleop goals, use cube for simple non-vr init:
             ee_translation_goal = cube_position

examples/isaac_sim/realsense_collision.py

@@ -68,7 +68,10 @@ def draw_points(voxels):
     # Third Party
 
     # Third Party
-    from omni.isaac.debug_draw import _debug_draw
+    try:
+        from omni.isaac.debug_draw import _debug_draw
+    except ImportError:
+        from isaacsim.util.debug_draw import _debug_draw
 
     draw = _debug_draw.acquire_debug_draw_interface()
     # if draw.get_num_points() > 0:
@@ -125,7 +128,10 @@ def clip_camera(camera_data):
 
 def draw_line(start, gradient):
     # Third Party
-    from omni.isaac.debug_draw import _debug_draw
+    try:
+        from omni.isaac.debug_draw import _debug_draw
+    except ImportError:
+        from isaacsim.util.debug_draw import _debug_draw
 
     draw = _debug_draw.acquire_debug_draw_interface()
     # if draw.get_num_points() > 0:
@@ -270,7 +276,10 @@ if __name__ == "__main__":
             draw_line(sph_position, d_vec[..., :3].view(3).cpu().numpy())
         else:
             # Third Party
-            from omni.isaac.debug_draw import _debug_draw
+            try:
+                from omni.isaac.debug_draw import _debug_draw
+            except ImportError:
+                from isaacsim.util.debug_draw import _debug_draw
 
             draw = _debug_draw.acquire_debug_draw_interface()
             # if draw.get_num_points() > 0:

examples/isaac_sim/realsense_mpc.py

@@ -98,7 +98,10 @@ def draw_rollout_points(rollouts: torch.Tensor, clear: bool = False):
     import random
 
     # Third Party
-    from omni.isaac.debug_draw import _debug_draw
+    try:
+        from omni.isaac.debug_draw import _debug_draw
+    except ImportError:
+        from isaacsim.util.debug_draw import _debug_draw
 
     draw = _debug_draw.acquire_debug_draw_interface()
     N = 100
@@ -124,7 +127,10 @@ def draw_points(voxels):
     # Third Party
 
     # Third Party
-    from omni.isaac.debug_draw import _debug_draw
+    try:
+        from omni.isaac.debug_draw import _debug_draw
+    except ImportError:
+        from isaacsim.util.debug_draw import _debug_draw
 
     draw = _debug_draw.acquire_debug_draw_interface()
     # if draw.get_num_points() > 0:
@@ -171,7 +177,10 @@ def clip_camera(camera_data):
 
 def draw_line(start, gradient):
     # Third Party
-    from omni.isaac.debug_draw import _debug_draw
+    try:
+        from omni.isaac.debug_draw import _debug_draw
+    except ImportError:
+        from isaacsim.util.debug_draw import _debug_draw
 
     draw = _debug_draw.acquire_debug_draw_interface()
     # if draw.get_num_points() > 0:
@@ -345,8 +354,9 @@ 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:
-            my_world.reset()
+        if step_index <= 10:
+            # my_world.reset()
+            robot._articulation_view.initialize()
             idx_list = [robot.get_dof_index(x) for x in j_names]
             robot.set_joint_positions(default_config, idx_list)
 

examples/isaac_sim/realsense_reacher.py

@@ -88,7 +88,10 @@ def draw_points(voxels):
     # Third Party
 
     # Third Party
-    from omni.isaac.debug_draw import _debug_draw
+    try:
+        from omni.isaac.debug_draw import _debug_draw
+    except ImportError:
+        from isaacsim.util.debug_draw import _debug_draw
 
     draw = _debug_draw.acquire_debug_draw_interface()
     # if draw.get_num_points() > 0:
@@ -135,7 +138,10 @@ def clip_camera(camera_data):
 
 def draw_line(start, gradient):
     # Third Party
-    from omni.isaac.debug_draw import _debug_draw
+    try:
+        from omni.isaac.debug_draw import _debug_draw
+    except ImportError:
+        from isaacsim.util.debug_draw import _debug_draw
 
     draw = _debug_draw.acquire_debug_draw_interface()
     # if draw.get_num_points() > 0:
@@ -283,8 +289,9 @@ if __name__ == "__main__":
             continue
         step_index = my_world.current_time_step_index
 
-        if step_index <= 2:
-            my_world.reset()
+        if step_index <= 10:
+            # my_world.reset()
+            robot._articulation_view.initialize()
             idx_list = [robot.get_dof_index(x) for x in j_names]
             robot.set_joint_positions(default_config, idx_list)
 

examples/kinematics_example.py

@@ -8,9 +8,7 @@
 # without an express license agreement from NVIDIA CORPORATION or
 # its affiliates is strictly prohibited.
 #
-""" Example computing fk using curobo
-
-"""
+"""Example computing fk using curobo"""
 # Third Party
 import torch
 

examples/mesh_dataset.py

@@ -0,0 +1,224 @@
+#
+# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+# property and proprietary rights in and to this material, related
+# documentation and any modifications thereto. Any use, reproduction,
+# disclosure or distribution of this material and related documentation
+# without an express license agreement from NVIDIA CORPORATION or
+# its affiliates is strictly prohibited.
+#
+import math
+import os
+import sys
+from typing import Optional
+
+import numpy as np
+import pyrender
+import torch
+import torch.nn.functional as F
+import trimesh
+from torch.utils.data.dataset import Dataset
+
+
+def fov_and_size_to_intrinsics(fov, img_size, device="cpu"):
+    img_h, img_w = img_size
+    fx = img_w / (2 * math.tan(math.radians(fov) / 2))
+    fy = img_h / (2 * math.tan(math.radians(fov) / 2))
+
+    intrinsics = torch.tensor(
+        [[fx, 0, img_h / 2], [0, fy, img_w / 2], [0, 0, 1]],
+        dtype=torch.float,
+        device=device,
+    )
+    return intrinsics
+
+
+def lookat_to_cam_pose(eyes, ats, ups=[[0, 0, 1]], device="cpu", mode="opengl"):
+    if not isinstance(eyes, torch.Tensor):
+        eyes = torch.tensor(eyes, device=device, dtype=torch.float32)
+    if not isinstance(ats, torch.Tensor):
+        ats = torch.tensor(ats, device=device, dtype=torch.float32)
+    if not isinstance(ups, torch.Tensor):
+        ups = torch.tensor(ups, device=device, dtype=torch.float32)
+
+    batch_size = eyes.shape[0]
+
+    camera_view = F.normalize(ats - eyes, dim=1)
+    camera_right = F.normalize(torch.cross(camera_view, ups, dim=1), dim=1)
+    camera_up = F.normalize(torch.cross(camera_right, camera_view, dim=1), dim=1)
+
+    # rotation matrix from opencv conventions
+    T = torch.zeros((batch_size, 4, 4))
+    if mode == "opengl":
+        T[:, :3, :] = torch.stack([camera_right, camera_up, -camera_view, eyes], dim=2)
+    elif mode == "opencv":
+        T[:, :3, :] = torch.stack([camera_right, -camera_up, camera_view, eyes], dim=2)
+    else:
+        raise ValueError(f"Unknown mode: {mode}")
+    T[:, 3, 3] = 1.0
+    return T.float()
+
+
+def sample_sphere_points(N, radius, device="cuda"):
+    latitude = (torch.rand(size=(N, 1), device=device) - 0.5) * torch.pi
+    longitude = (torch.rand(size=(N, 1), device=device) - 0.5) * torch.pi * 2
+    x = torch.cos(latitude) * torch.cos(longitude)
+    y = torch.sin(latitude) * torch.cos(longitude)
+    z = torch.sin(longitude)
+    pc = torch.cat([x, y, z], dim=1) * radius
+    return pc
+
+
+def sample_sphere_poses(N, origin, radius, device="cuda"):
+    eyes = sample_sphere_points(N, radius, device)
+    if not isinstance(origin, torch.Tensor):
+        origin = torch.tensor(origin).float().to(device)
+    ats = origin[None, :].repeat((N, 1))
+    poses_gl = lookat_to_cam_pose(eyes, ats, device=device, mode="opengl")
+    poses_cv = lookat_to_cam_pose(eyes, ats, device=device, mode="opencv")
+    return poses_gl, poses_cv
+
+
+def compute_origin_and_radius(trimesh_scene):
+    low, high = trimesh_scene.bounds
+    center = high + low / 2
+    low = low - center
+    high = high - center
+    radius = max(np.sqrt((high**2).sum()), np.sqrt((low**2).sum()))
+    return center, radius
+
+
+def render_batch(trimesh_mesh, camera_poses, fov, image_size):
+    camera_poses = camera_poses.detach().cpu().numpy()
+    mesh = pyrender.Mesh.from_trimesh(trimesh_mesh)
+    scene = pyrender.Scene()
+    scene.add(mesh)
+    camera = pyrender.PerspectiveCamera(yfov=fov, aspectRatio=1.0)
+    camera = pyrender.Node(camera=camera, matrix=np.eye(4))
+    scene.add_node(camera)
+
+    light = pyrender.SpotLight(
+        color=np.ones(3),
+        intensity=1.0,
+        innerConeAngle=np.pi / 16.0,
+        outerConeAngle=np.pi / 2.0,
+    )
+    light = pyrender.Node(light=light, matrix=np.eye(4))
+    scene.add_node(light)
+    r = pyrender.OffscreenRenderer(image_size, image_size)
+
+    colors = []
+    depths = []
+    for camera_pose in camera_poses:
+        scene.set_pose(camera, camera_pose)
+        scene.set_pose(light, camera_pose)
+        color, depth = r.render(scene)
+        colors.append(color)
+        depths.append(depth)
+
+    return np.asarray(colors), np.asarray(depths)
+
+
+"""
+MeshDataset takes a path to a mesh as input and uses PyRender to render images of the mesh
+from a sphere centered around the scene.
+"""
+
+
+class MeshDataset(Dataset):
+    def __init__(
+        self,
+        mesh_file: str = None,
+        n_frames: int = 10,
+        image_size: float = 256,
+        save_data_dir: Optional[str] = None,
+        trimesh_mesh: Optional[trimesh.Trimesh] = None,
+        fov_deg: int = 60,
+        # visible_point: Optional[List[float]] = None,
+    ) -> None:
+        super().__init__()
+        self.mesh_file = mesh_file
+        self.n_frames = n_frames
+        if trimesh_mesh is None:
+            self.trimesh_mesh = trimesh.load(self.mesh_file)
+        else:
+            self.trimesh_mesh = trimesh_mesh
+        self.image_size = image_size
+
+        origin, radius = compute_origin_and_radius(self.trimesh_mesh)
+        self.fov_deg = fov_deg
+        sphere_radius = radius * 2.0
+        self.camera_poses_gl, self.camera_poses_cv = sample_sphere_poses(
+            n_frames, origin, sphere_radius, "cuda"
+        )
+        self.colors, self.depths = render_batch(
+            self.trimesh_mesh,
+            self.camera_poses_gl,
+            fov=math.radians(self.fov_deg),
+            image_size=self.image_size,
+        )
+        self.intrinsics = fov_and_size_to_intrinsics(
+            self.fov_deg, (self.image_size, self.image_size), device="cuda"
+        )
+
+        if save_data_dir is not None:
+            self.save_as_sun3d_dataset(save_data_dir)
+            # sys.exit(0)
+
+    def save_as_sun3d_dataset(self, output_dir):
+        import imageio
+        from transforms3d.quaternions import quat2mat
+
+        os.makedirs(output_dir, exist_ok=True)
+        K = self.intrinsics.detach().cpu().numpy().tolist()
+        intrinsics_text = f"""{K[0][0]} {K[0][1]} {K[0][2]}
+            {K[1][0]} {K[1][1]} {K[1][2]}
+            {K[2][0]} {K[2][1]} {K[2][2]}"""
+        with open(f"{output_dir}/camera-intrinsics.txt", "w") as fp:
+            fp.write(intrinsics_text)
+
+        seqdir = f"{output_dir}/seq-01"
+        os.makedirs(seqdir, exist_ok=True)
+
+        for i in range(len(self)):
+            data = self[i]
+            rgb = data["rgba"][:3, :, :].detach().cpu().permute(1, 2, 0).numpy()
+            depth = data["depth"]
+            depth = (depth * 1000).detach().cpu().numpy().astype(np.uint16)
+            nvblox_pose = data["pose"]
+
+            eigen_quat = [0.707106769, 0.707106769, 0, 0]
+            sun3d_to_nvblox_T = torch.eye(4)
+            sun3d_to_nvblox_T[:3, :3] = torch.tensor(quat2mat(eigen_quat))
+
+            sun3d_pose = torch.linalg.inv(sun3d_to_nvblox_T) @ nvblox_pose
+            P = sun3d_pose.detach().cpu().numpy().tolist()
+
+            pose_text = f"""{P[0][0]} {P[0][1]} {P[0][2]} {P[0][3]}
+                {P[1][0]} {P[1][1]} {P[1][2]} {P[1][3]}
+                {P[2][0]} {P[2][1]} {P[2][2]} {P[2][3]}
+                {P[3][0]} {P[3][1]} {P[3][2]} {P[3][3]}"""
+
+            framename = f"frame-{str(i).zfill(6)}"
+            imageio.imwrite(f"{seqdir}/{framename}.color.png", rgb)
+            imageio.imwrite(f"{seqdir}/{framename}.depth.png", depth)
+            with open(f"{seqdir}/{framename}.pose.txt", "w") as fp:
+                fp.write(pose_text)
+
+    def __len__(self):
+        return self.n_frames
+
+    def __getitem__(self, index):
+        rgb_np = self.colors[index]
+        depth_np = self.depths[index]
+        a_np = (depth_np > 0).astype(np.uint8) * 255
+        rgba_np = np.concatenate([rgb_np, a_np[:, :, None]], axis=2)
+        pose = self.camera_poses_cv[index]
+        intrinsics = self.intrinsics
+
+        depth_np = depth_np.astype(np.float32)
+        rgba = torch.from_numpy(rgba_np).permute((2, 0, 1))
+        depth = torch.from_numpy(depth_np).float()
+
+        return {"rgba": rgba, "depth": depth, "pose": pose, "intrinsics": intrinsics}

examples/pose_sequence_example.py

@@ -8,7 +8,7 @@
 # without an express license agreement from NVIDIA CORPORATION or
 # its affiliates is strictly prohibited.
 #
-" This example moves the robot through a sequence of poses and dumps an animated usd."
+"This example moves the robot through a sequence of poses and dumps an animated usd."
 # CuRobo
 from curobo.types.math import Pose
 from curobo.types.robot import JointState

examples/robot_image_segmentation_example.py

@@ -8,7 +8,7 @@
 # without an express license agreement from NVIDIA CORPORATION or
 # its affiliates is strictly prohibited.
 #
-""" This example shows how to use cuRobo's kinematics to generate a mask. """
+"""This example shows how to use cuRobo's kinematics to generate a mask."""
 
 
 # Standard Library
@@ -19,7 +19,7 @@ import imageio
 import numpy as np
 import torch
 import torch.autograd.profiler as profiler
-from nvblox_torch.datasets.mesh_dataset import MeshDataset
+from mesh_dataset import MeshDataset
 from torch.profiler import ProfilerActivity, profile, record_function
 
 # CuRobo
@@ -79,7 +79,7 @@ def create_render_dataset(
     mesh_dataset = MeshDataset(
         None,
         n_frames=n_frames,
-        image_size=640,
+        image_size=1920,
         save_data_dir=None,
         trimesh_mesh=robot_mesh,
         fov_deg=fov_deg,
@@ -96,10 +96,14 @@ def mask_image(robot_file="ur5e.yml"):
     tensor_args = TensorDeviceType()
 
     curobo_segmenter = RobotSegmenter.from_robot_file(
-        robot_file, collision_sphere_buffer=0.01, distance_threshold=0.05, use_cuda_graph=True
+        robot_file,
+        collision_sphere_buffer=0.01,
+        distance_threshold=0.05,
+        use_cuda_graph=True,
+        ops_dtype=torch.float16,
     )
 
-    mesh_dataset, q_js = create_render_dataset(robot_file, write_pointcloud, n_frames=20)
+    mesh_dataset, q_js = create_render_dataset(robot_file, write_pointcloud, n_frames=30)
 
     if save_debug_data:
         visualize_scale = 10.0
@@ -179,28 +183,32 @@ def mask_image(robot_file="ur5e.yml"):
         )
 
     dt_list = []
+    for j in range(10):
 
-    for i in range(len(mesh_dataset)):
+        for i in range(len(mesh_dataset)):
+            data = mesh_dataset[i]
+            cam_obs = CameraObservation(
+                depth_image=tensor_args.to_device(data["depth"]).unsqueeze(0) * 1000,
+                intrinsics=data["intrinsics"],
+                pose=Pose.from_matrix(data["pose"].to(device=tensor_args.device)),
+            )
+            if not curobo_segmenter.ready:
+                curobo_segmenter.update_camera_projection(cam_obs)
+            st_time = time.time()
 
-        data = mesh_dataset[i]
-        cam_obs = CameraObservation(
-            depth_image=tensor_args.to_device(data["depth"]).unsqueeze(0) * 1000,
-            intrinsics=data["intrinsics"],
-            pose=Pose.from_matrix(data["pose"].to(device=tensor_args.device)),
+            depth_mask, filtered_image = curobo_segmenter.get_robot_mask_from_active_js(
+                cam_obs,
+                q_js,
+            )
+
+            torch.cuda.synchronize()
+            dt_list.append(time.time() - st_time)
+
+        print(
+            "Segmentation Time (ms), (hz)",
+            np.mean(dt_list[5:]) * 1000.0,
+            1.0 / np.mean(dt_list[5:]),
         )
-        if not curobo_segmenter.ready:
-            curobo_segmenter.update_camera_projection(cam_obs)
-        st_time = time.time()
-
-        depth_mask, filtered_image = curobo_segmenter.get_robot_mask_from_active_js(
-            cam_obs,
-            q_js,
-        )
-
-        torch.cuda.synchronize()
-        dt_list.append(time.time() - st_time)
-
-    print("Segmentation Time (ms), (hz)", np.mean(dt_list[5:]) * 1000.0, 1.0 / np.mean(dt_list[5:]))
 
 
 def batch_mask_image(robot_file="ur5e.yml"):
@@ -216,7 +224,11 @@ def batch_mask_image(robot_file="ur5e.yml"):
     tensor_args = TensorDeviceType()
 
     curobo_segmenter = RobotSegmenter.from_robot_file(
-        robot_file, collision_sphere_buffer=0.01, distance_threshold=0.05, use_cuda_graph=True
+        robot_file,
+        collision_sphere_buffer=0.01,
+        distance_threshold=0.05,
+        use_cuda_graph=True,
+        ops_dtype=torch.float16,
     )
 
     mesh_dataset, q_js = create_render_dataset(robot_file, save_debug_data, fov_deg=60)
@@ -489,7 +501,8 @@ def profile_mask_image(robot_file="ur5e.yml"):
 
 
 if __name__ == "__main__":
-    mask_image()
+    robot_file = "quad_ur10e.yml"  # "ur10e.yml" #"ur5e_robotiq_2f_140.yml"
+    # mask_image(robot_file)
     # profile_mask_image()
-    # batch_mask_image()
+    batch_mask_image(robot_file)
     # batch_robot_mask_image()

examples/usd_example.py

@@ -19,7 +19,7 @@ from curobo.geom.types import WorldConfig
 from curobo.types.base import TensorDeviceType
 from curobo.types.math import Pose
 from curobo.types.robot import JointState, RobotConfig
-from curobo.util.logger import setup_curobo_logger
+from curobo.util.logger import setup_curobo_logger, log_error
 from curobo.util.usd_helper import UsdHelper
 from curobo.util_file import (
     get_assets_path,
@@ -44,7 +44,7 @@ def save_curobo_world_to_usd():
     usd_helper.write_stage_to_file("test.usd")
 
 
-def get_trajectory(robot_file="franka.yml", dt=1.0 / 60.0):
+def get_trajectory(robot_file="franka.yml", dt=1.0 / 60.0, plan_grasp: bool = False):
     tensor_args = TensorDeviceType()
     world_file = "collision_test.yml"
     motion_gen_config = MotionGenConfig.load_from_robot_config(
@@ -60,24 +60,40 @@ def get_trajectory(robot_file="franka.yml", dt=1.0 / 60.0):
         interpolation_dt=dt,
     )
     motion_gen = MotionGen(motion_gen_config)
-    motion_gen.warmup()
+    motion_gen.warmup(n_goalset=2)
     robot_cfg = load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
     robot_cfg = RobotConfig.from_dict(robot_cfg, tensor_args)
     retract_cfg = motion_gen.get_retract_config()
     state = motion_gen.rollout_fn.compute_kinematics(
         JointState.from_position(retract_cfg.view(1, -1))
     )
+    if plan_grasp:
+        retract_pose = Pose(
+            state.ee_pos_seq.view(1, -1, 3), quaternion=state.ee_quat_seq.view(1, -1, 4)
+        )
+        start_state = JointState.from_position(retract_cfg.view(1, -1).clone())
+        start_state.position[..., :-2] += 0.5
+        m_config = MotionGenPlanConfig(False, True)
 
-    retract_pose = Pose(state.ee_pos_seq.squeeze(), quaternion=state.ee_quat_seq.squeeze())
-    start_state = JointState.from_position(retract_cfg.view(1, -1).clone())
-    start_state.position[..., :-2] += 0.5
-    result = motion_gen.plan_single(start_state, retract_pose)
-    traj = result.get_interpolated_plan()  # optimized plan
+        result = motion_gen.plan_grasp(start_state, retract_pose, m_config.clone())
+        if not result.success:
+            log_error("Failed to plan grasp: " + result.status)
+        traj = result.grasp_interpolated_trajectory
+        traj2 = result.retract_interpolated_trajectory
+        traj = traj.stack(traj2).clone()
+        # result = motion_gen.plan_single(start_state, retract_pose)
+        # traj = result.get_interpolated_plan()  # optimized plan
+
+    else:
+        retract_pose = Pose(state.ee_pos_seq.squeeze(), quaternion=state.ee_quat_seq.squeeze())
+        start_state = JointState.from_position(retract_cfg.view(1, -1).clone())
+        start_state.position[..., :-2] += 0.5
+        result = motion_gen.plan_single(start_state, retract_pose)
+        traj = result.get_interpolated_plan()  # optimized plan
     return traj
 
 
-def save_curobo_robot_world_to_usd(robot_file="franka.yml"):
-    print(robot_file)
+def save_curobo_robot_world_to_usd(robot_file="franka.yml", plan_grasp: bool = False):
     tensor_args = TensorDeviceType()
     world_file = "collision_test.yml"
     world_model = WorldConfig.from_dict(
@@ -85,7 +101,7 @@ def save_curobo_robot_world_to_usd(robot_file="franka.yml"):
     ).get_obb_world()
     dt = 1 / 60.0
 
-    q_traj = get_trajectory(robot_file, dt)
+    q_traj = get_trajectory(robot_file, dt, plan_grasp)
     if q_traj is not None:
         q_start = q_traj[0]
         UsdHelper.write_trajectory_animation_with_robot_usd(

setup.cfg

@@ -23,8 +23,8 @@ license = NVIDIA
 
 # Configure general project settings
 long_description = file: README.md
-long-description-content-type = text/markdown
-license_file = LICENSE
+long_description_content_type = text/markdown
+license_files = LICENSE
 
 # List of classifiers can be found here:
 # https://pypi.org/classifiers/

src/curobo/content/assets/robot/franka_120s_description/franka_panda.urdf

@@ -0,0 +1,877 @@
+<?xml version="1.0" ?>
+<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="base_link"/>
+  <joint name="panda_fixed" type="fixed">
+    <origin rpy="0 0 0.0" xyz="0 0 0.0"/>
+    <parent link="base_link"/>
+    <child link="panda_link0"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link0.obj"/>
+      </geometry>
+    </collision>
+
+
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link1.obj"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00033 -0.02204 -0.04762"/>
+      <mass value="2.797"/>
+      <inertia ixx="0.0156" ixy="0.0" ixz="0.0" iyy="0.01439" iyz="-0.0024" izz="0.005"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link2.obj"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00038 -0.09211 0.01908"/>
+      <mass value="2.542"/>
+      <inertia ixx="0.0166" ixy="0.0" ixz="0.0" iyy="0.0046" iyz="0.0035" izz="0.015"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link3.obj"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.05152 0.01696 -0.02971"/>
+      <mass value="2.2513"/>
+      <inertia ixx="0.006" ixy="0.009" ixz="0.003" iyy="0.0086" iyz="0.009" izz="0.0065"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link4.obj"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.05113 0.05825 0.01698"/>
+      <mass value="2.2037"/>
+      <inertia ixx="0.0156" ixy="0.0" ixz="0.0" iyy="0.01439" iyz="-0.0024" izz="0.005"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+    <!-- something is weird with this joint limit config
+    <dynamics damping="10.0"/>
+    <limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/>  -->
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link5.obj"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00005 0.03730 -0.09280"/>
+      <mass value="2.2855"/>
+      <inertia ixx="0.02297014781" ixy="0.0" ixz="0.0" iyy="0.02095060919" iyz="0.00382345782" izz="0.00430606551"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link6.obj"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.06572 -0.00371 0.00153"/>
+      <mass value="1.353"/>
+      <inertia ixx="0.00087964522" ixy="-0.00021487814" ixz="-0.00011911662" iyy="0.00277796968" iyz="0.00001274322" izz="0.00286701969"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+    <!-- <dynamics damping="10.0"/>
+    <limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link7.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link7.obj"/>
+      </geometry>
+    </collision>
+        <inertial>
+      <origin rpy="0 0 0" xyz="0.00089 -0.00044 0.05491"/>
+      <mass value="0.35973"/>
+      <inertia ixx="0.00019541063" ixy="0.00000165231" ixz="0.00000148826" iyy="0.00019210361" iyz="-0.00000131132" izz="0.00017936256"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="10.0"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+
+  <link name="panda_link8"/>
+  <joint name="panda_joint8" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="panda_link7"/>
+    <child link="panda_link8"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link8"/>
+    <child link="right_base_link"/>
+
+    <origin rpy="0 0 0.785398163397" xyz="0 0 0.015"/>
+  </joint>
+
+  <link
+      name="right_base_link">
+      <inertial>
+        <origin
+          xyz="1.23989288637867E-06 3.27564415436087E-07 0.0536186975993762"
+          rpy="0 0 0" />
+        <mass
+          value="0.443105756928829" />
+        <inertia
+          ixx="0.00064200574020552"
+          ixy="-1.51180224931458E-07"
+          ixz="7.24174172220287E-09"
+          iyy="0.00066998312004943"
+          iyz="2.73584170951165E-09"
+          izz="0.000278949393571484" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/base_link.STL" />
+        </geometry>
+        <material
+          name="">
+          <color
+            rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/base_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <link
+      name="right_Left_01_Link">
+      <inertial>
+        <origin
+          xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"
+          rpy="0 0 0" />
+        <mass
+          value="0.0112899386472626" />
+        <inertia
+          ixx="1.96944973967669E-06"
+          ixy="6.42395813223716E-07"
+          ixz="-1.07950451056367E-14"
+          iyy="1.39704780795747E-06"
+          iyz="-1.48209813327181E-14"
+          izz="2.47457179553145E-06" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Left_01_Link.STL" />
+        </geometry>
+        <material
+          name="">
+          <color
+            rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Left_01_Link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint
+      name="right_Left_1_Joint"
+      type="revolute">
+      <origin
+        xyz="-0.032553 0 0.10644"
+        rpy="1.5708 0 3.1416" />
+      <parent
+        link="right_base_link" />
+      <child
+        link="right_Left_01_Link" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1"
+        effort="2"
+        velocity="1000" />
+    </joint>
+
+
+    <link
+      name="right_Left_00_Link">
+      <inertial>
+        <origin
+          xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"
+          rpy="0 0 0" />
+        <mass
+          value="0.0112899386472626" />
+        <inertia
+          ixx="1.96944973967669E-06"
+          ixy="6.42395813223716E-07"
+          ixz="-1.07950451056367E-14"
+          iyy="1.39704780795747E-06"
+          iyz="-1.48209813327181E-14"
+          izz="2.47457179553145E-06" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Left_00_Link.STL" />
+        </geometry>
+        <material
+          name="">
+          <color
+            rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Left_00_Link.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint
+      name="right_Left_0_Joint"
+      type="revolute">
+      <origin
+        xyz="0.01946 0.0129 0"
+        rpy="0 0 0" />
+      <parent
+        link="right_Left_01_Link" />
+      <child
+        link="right_Left_00_Link" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="0"
+        upper="1"
+        effort="2"
+        velocity="1000" />
+    </joint>
+
+
+    <link
+      name="right_Left_Support_Link">
+      <inertial>
+        <origin
+          xyz="-0.011970095332009 0.0238338043684485 -1.36624428992904E-06"
+          rpy="0 0 0" />
+        <mass
+          value="0.0140092102116716" />
+        <inertia
+          ixx="4.13674978137002E-06"
+          ixy="9.81573398608352E-07"
+          ixz="-2.87921970465553E-11"
+          iyy="1.1362453186293E-06"
+          iyz="2.94726072168702E-11"
+          izz="4.10226218364235E-06" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Left_Support_Link.STL" />
+        </geometry>
+        <material
+          name="">
+          <color
+            rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Left_Support_Link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint
+      name="right_Left_Support_Joint"
+      type="revolute">
+      <origin
+        xyz="-0.02888 0.04341 0"
+        rpy="0 0 0" />
+      <parent
+        link="right_Left_00_Link" />
+      <child
+        link="right_Left_Support_Link" />
+      <axis
+        xyz="0 0 1" />
+      <limit
+        lower="-1"
+        upper="1"
+        effort="10"
+        velocity="10" />
+    </joint>
+    <link
+      name="right_Left_Pad_Link">
+      <inertial>
+        <origin
+          xyz="1.46688816627348E-09 0.00209017783344978 -8.17280129359337E-17"
+          rpy="0 0 0" />
+        <mass
+          value="0.00332411394949541" />
+        <inertia
+          ixx="5.5867126170785E-07"
+          ixy="2.9966962370347E-20"
+          ixz="1.44978830317617E-23"
+          iyy="1.45407135182096E-07"
+          iyz="-1.60867378777053E-21"
+          izz="4.18250297449997E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Left_Pad_Link.STL" />
+        </geometry>
+        <material
+          name="">
+          <color
+            rgba="0.384313725490196 0.384313725490196 0.384313725490196 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Left_Pad_Link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint
+      name="right_Left_Pad_Joint"
+      type="fixed">
+      <origin
+        xyz="-0.022056 0.044306 0"
+        rpy="0 0 0" />
+      <parent
+        link="right_Left_Support_Link" />
+      <child
+        link="right_Left_Pad_Link" />
+      <axis
+        xyz="0 0 0" />
+    </joint>
+    <link
+      name="right_Left_2_Link">
+      <inertial>
+        <origin
+          xyz="-0.00438952959966343 0.0248815722409523 -2.55135883071891E-05"
+          rpy="0 0 0" />
+        <mass
+          value="0.00803955821311802" />
+        <inertia
+          ixx="1.15079028835042E-06"
+          ixy="1.13853775681911E-07"
+          ixz="-1.79492796413463E-10"
+          iyy="4.68655200337902E-07"
+          iyz="-4.49903912976825E-10"
+          izz="8.47367915692972E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Left_2_Link.STL" />
+        </geometry>
+        <material
+          name="">
+          <color
+            rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Left_2_Link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint
+      name="right_Left_2_Joint"
+      type="revolute">
+      <origin
+        xyz="-0.017 0 0.122"
+        rpy="1.5708 0 3.1416" />
+      <parent
+        link="right_base_link" />
+      <child
+        link="right_Left_2_Link" />
+      <axis
+        xyz="0 0 -1" />
+      <limit
+        lower="-1"
+        upper="1"
+        effort="10"
+        velocity="10" />
+    </joint>
+    <link
+      name="right_Right_2_Link">
+      <inertial>
+        <origin
+          xyz="-0.00438952959968201 0.0248815722409522 -2.5513588307359E-05"
+          rpy="0 0 0" />
+        <mass
+          value="0.00803955821311803" />
+        <inertia
+          ixx="1.15079028835042E-06"
+          ixy="1.13853775681912E-07"
+          ixz="-1.79492796413511E-10"
+          iyy="4.68655200337903E-07"
+          iyz="-4.49903912976901E-10"
+          izz="8.47367915692974E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Right_2_Link.STL" />
+        </geometry>
+        <material
+          name="">
+          <color
+            rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Right_2_Link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint
+      name="right_Right_2_Joint"
+      type="revolute">
+      <origin
+        xyz="0.017 0 0.122"
+        rpy="1.5708 0 0" />
+      <parent
+        link="right_base_link" />
+      <child
+        link="right_Right_2_Link" />
+      <axis
+        xyz="0 0 1" />
+      <limit
+        lower="-1"
+        upper="1"
+        effort="10"
+        velocity="10" />
+    </joint>
+    <link
+      name="right_Right_01_Link">
+      <inertial>
+        <origin
+          xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"
+          rpy="0 0 0" />
+        <mass
+          value="0.0112899386472626" />
+        <inertia
+          ixx="1.96944973967663E-06"
+          ixy="6.42395813223747E-07"
+          ixz="-1.07950449101923E-14"
+          iyy="1.39704780795753E-06"
+          iyz="-1.48209815851649E-14"
+          izz="2.47457179553146E-06" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Right_01_Link.STL" />
+        </geometry>
+        <material
+          name="">
+          <color
+            rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Right_01_Link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint
+      name="right_Right_1_Joint"
+      type="revolute">
+      <origin
+        xyz="0.032553 0 0.10644"
+        rpy="1.5708 0 0" />
+      <parent
+        link="right_base_link" />
+      <child
+        link="right_Right_01_Link" />
+      <axis
+        xyz="0 0 1" />
+      <limit
+        lower="-1"
+        upper="1"
+        effort="10"
+        velocity="10" />
+    </joint>
+
+    <link
+      name="right_Right_00_Link">
+      <inertial>
+        <origin
+          xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"
+          rpy="0 0 0" />
+        <mass
+          value="0.0112899386472626" />
+        <inertia
+          ixx="1.96944973967663E-06"
+          ixy="6.42395813223747E-07"
+          ixz="-1.07950449101923E-14"
+          iyy="1.39704780795753E-06"
+          iyz="-1.48209815851649E-14"
+          izz="2.47457179553146E-06" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Right_00_Link.STL" />
+        </geometry>
+        <material
+          name="">
+          <color
+            rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Right_00_Link.STL" />
+        </geometry>
+      </collision>
+    </link>
+
+     <joint
+      name="right_Right_0_Joint"
+      type="revolute">
+      
+      <origin
+        xyz="0.01946 0.0129 0"
+        rpy="0 0 0" />
+      <parent
+        link="right_Right_01_Link" />
+      <child
+        link="right_Right_00_Link" />
+      <axis
+        xyz="0 0 1" />
+      <limit
+        lower="-1"
+        upper="1"
+        effort="10"
+        velocity="10" />
+    </joint>
+
+    <link
+      name="right_Right_Support_Link">
+      <inertial>
+        <origin
+          xyz="-0.011970095112324 0.0238338043682057 -1.36624428997256E-06"
+          rpy="0 0 0" />
+        <mass
+          value="0.0140092102116716" />
+        <inertia
+          ixx="4.13674978136988E-06"
+          ixy="9.81573398608576E-07"
+          ixz="-2.87921970465403E-11"
+          iyy="1.13624531862944E-06"
+          iyz="2.94726072165632E-11"
+          izz="4.10226218364236E-06" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Right_Support_Link.STL" />
+        </geometry>
+        <material
+          name="">
+          <color
+            rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Right_Support_Link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint
+      name="right_Right_Support_Joint"
+      type="revolute">
+      <origin
+        xyz="-0.02888 0.04341 0"
+        rpy="0 0 0" />
+      <parent
+        link="right_Right_00_Link" />
+      <child
+        link="right_Right_Support_Link" />
+      <axis
+        xyz="0 0 1" />
+      <limit
+        lower="-1"
+        upper="1"
+        effort="10"
+        velocity="10" />
+    </joint>
+    <link
+      name="right_Right_Pad_Link">
+      <inertial>
+        <origin
+          xyz="5.43457184440897E-09 0.00209017783344967 -1.21646039264426E-16"
+          rpy="0 0 0" />
+        <mass
+          value="0.00332411394949542" />
+        <inertia
+          ixx="5.58671261707851E-07"
+          ixy="3.06066210315894E-20"
+          ixz="1.70379713307979E-23"
+          iyy="1.45407135182096E-07"
+          iyz="-1.65096420438087E-21"
+          izz="4.18250297449998E-07" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Right_Pad_Link.STL" />
+        </geometry>
+        <material
+          name="">
+          <color
+            rgba="0.384313725490196 0.384313725490196 0.384313725490196 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="package://meshes/crt_120s/Right_Pad_Link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint
+      name="right_Right_Pad_Joint"
+      type="fixed">
+      <origin
+        xyz="-0.022056 0.044306 0"
+        rpy="0 0 0" />
+      <parent
+        link="right_Right_Support_Link" />
+      <child
+        link="right_Right_Pad_Link" />
+      <axis
+        xyz="0 0 0" />
+    </joint>
+
+
+
+
+  <link name="gripper_center"/>
+
+  <joint name="ee_fixed_joint" type="fixed">
+    <parent link="right_base_link"/>
+    <child link="gripper_center"/>
+    <origin rpy="0 0.0 -1.57079632679" xyz="0.0 0. 0.23"/>
+  </joint>
+  <link name="right_gripper">
+    <inertial>
+      <!-- Dummy inertial parameters to avoid link lumping-->
+      <mass value="0.01"/>
+      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="right_gripper" type="fixed">
+    <!--<origin rpy="0 0 2.35619449019" xyz="0 0 0.1"/>-->
+    <origin rpy="0 0 2.35619449019" xyz="0 0 0.207"/>
+    <axis xyz="0 0 1"/>
+    <parent link="panda_link7"/>
+    <!--<parent link="panda_link8"/>-->
+    <child link="right_gripper"/>
+  </joint>
+
+
+</robot>
+
+

src/curobo/content/assets/robot/franka_description/meshes/collision/finger.obj

@@ -1,3 +1,152 @@
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