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/tests/motion_gen_js_test.py
+++ b/tests/motion_gen_js_test.py
@@ -66,3 +66,4 @@ def test_motion_gen_plan_js_delta(motion_gen_str, delta, request):
    )
    result = motion_gen.plan_single_js(start_state, goal_state, MotionGenPlanConfig(max_attempts=1))
    assert result.success.item()
+    assert result.cspace_error < 0.0001