improved joint space planning

2024-05-30 14:42:22 -07:00
parent 3bfed9d773
commit 0c51dd2da8
28 changed files with 1135 additions and 213 deletions
--- a/examples/isaac_sim/batch_motion_gen_reacher.py
+++ b/examples/isaac_sim/batch_motion_gen_reacher.py
@@ -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(