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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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6
tests/voxel_collision_test.py
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@@ -40,8 +40,8 @@ def get_world_model(single_object: bool = False):
world_model = WorldConfig.from_dict(
{
"cuboid": {
"block": {"dims": [0.5, 0.5, 0.5], "pose": [-0.25, 0, 0, 1, 0, 0, 0]},
"block1": {"dims": [0.1, 0.2, 0.5], "pose": [0.25, 0.1, 0, 1, 0, 0, 0]},
"block2": {"dims": [0.5, 0.5, 0.5], "pose": [-0.25, 0, 0, 1, 0, 0, 0]},
"block3": {"dims": [0.1, 0.2, 0.5], "pose": [0.25, 0.1, 0, 1, 0, 0, 0]},
}
}
)
@@ -62,7 +62,7 @@ def world_collision(request):
if not request.param[0]
else CollisionCheckerType.MESH
),
"max_distance": 5.0,
"max_distance": 1.0,
"n_envs": 1,
},
world_model,