Expose random_seed in IKSolver

NVlabs / curobo

CUDA Accelerated Robot Library

https://curobo.org

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Closed TooSchoolForCool closed 7 months ago

TooSchoolForCool commented 8 months ago

Add random_seed member variable to IKSolverConfig.
Add random_seed parameter to load_from_robot_config() method.
Update IKSolver.sample_configs() method to sample random joint configurations from self.q_sample_gen instead of self.rollout_fn.sample_random_actions, as random_seed does not set the random seed in the rollout_fn object.

balakumar-s commented 7 months ago

We have added this API, along with a flag to select the sampler