fix terminal action, 10x more accurate pose reaching

2024-11-22 14:32:43 -08:00
parent 36ea382dab
commit 2fbffc3522
15 changed files with 198 additions and 28 deletions
--- a/benchmark/curobo_benchmark.py
+++ b/benchmark/curobo_benchmark.py
@@ -240,7 +240,7 @@ def benchmark_mb(
    og_tsteps = 32
    if override_tsteps is not None:
        og_tsteps = override_tsteps
-    og_finetune_dt_scale = 0.85
+    og_finetune_dt_scale = 0.8
    og_trajopt_seeds = 4
    og_parallel_finetune = True
    og_collision_activation_distance = 0.01