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NVlabs / curobo

CUDA Accelerated Robot Library
https://curobo.org
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The update of tsdf with dynamic scene is too slow. #96

Closed pmj110119 closed 10 months ago

pmj110119 commented 10 months ago

If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions

Please provide the below information in addition to your issue:

  1. cuRobo installation mode (choose from [python, isaac sim, docker python, docker isaac sim]): docker isaac sim
  2. python version: /
  3. Isaac Sim version (if using): 2022.2.1

Hello, guys. Thanks for your great work!

I want to use RGB-D depth map with curobo, and used tsdf integrator according to issue #92. The quality of SDF mapping has improved a lot compared to 'occupancy', but the update of dynamic objects has become very slow.

As shown in the video below, the tsdf can be quickly updated when objects are detached. But when new objects are added or moved, it takes 5-10 seconds to complete the update. This delay is too long, making the robotic arm unable to be used in dynamic tasks and scenes.

https://github.com/NVlabs/curobo/assets/40192364/452a8c28-75ad-4fa3-b211-bc8cdd5ef206

I am not familiar with nvblox and didn't find some adjustable parameters. Is this an inherent flaw of the nvblox algorithm? Do you have any opinions or suggestions? Thanks again.

balakumar-s commented 10 months ago

If you check the code here https://github.com/NVlabs/curobo/blob/c09d94908d8ad52f557ed59195c1ceb2d0434d65/examples/isaac_sim/realsense_reacher.py#L282

We only update the esdf every 5 simulation steps. Removing that if condition will make it update at the same rate as the camera window.