Trajectory generation (Isaac Sim example vs Python based)

[AmirpooyaSh]

Dear all,
I have started working with CuRobo library recently and I was able to generate my customized robot model to simulate and generating motion in Isaac.

However, when I was trying to do the same thing using solely python, I ran into an execution time difference.

In terms of Isaac Sim, the robot will execute its trajectory to the target coordiantion (Red Cube) in real time. This means that the CuRobo Inverse Kinematic section is working in real time. However, when I was trying to use a simple python script to do the same IK path planning and extracting the calculated waypoints, it took around 4 to 5 seconds to print them out.

I was wondering about the reason why the IK python example in the website takes more time than just having the goal_pose simulated in Isaac Sim.

As far as I understand, the command "omni_python curobo/examples/isaac_sim/motion_gen_reacher.py --robot /{PATH}/ur5e.yml" used the motion generator python script (the same method described in motion generation using python), so there shouldn't be any time difference regarding the executing.