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improved joint space planning

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This commit is contained in:
Balakumar Sundaralingam
2024-05-30 14:42:22 -07:00
parent 3bfed9d773
commit 0c51dd2da8
28 changed files with 1135 additions and 213 deletions
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10
examples/isaac_sim/batch_motion_gen_reacher.py
View File

@@ -156,11 +156,11 @@ def main():
default_config = robot_cfg["kinematics"]["cspace"]["retract_config"]
print("warming up...")
motion_gen.warmup(
batch=n_envs,
batch_env_mode=True,
warmup_js_trajopt=False,
)
# motion_gen.warmup(
# batch=n_envs,
# batch_env_mode=True,
# warmup_js_trajopt=False,
# )
add_extensions(simulation_app, args.headless_mode)
config = RobotWorldConfig.load_from_config(

2
examples/motion_gen_example.py
View File

@@ -134,7 +134,7 @@ def demo_motion_gen_simple():
)
result = motion_gen.plan_single(start_state, goal_pose, MotionGenPlanConfig(max_attempts=1))
traj = result.get_interpolated_plan() # result.optimized_dt has the dt between timesteps
traj = result.get_interpolated_plan() # result.interpolation_dt has the dt between timesteps
print("Trajectory Generated: ", result.success)