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Isaac Sim 4.0 support, Kinematics API doc, Windows support

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This commit is contained in:
Balakumar Sundaralingam
2024-07-20 14:51:43 -07:00
parent 2ae381f328
commit 3690d28c54
83 changed files with 2818 additions and 497 deletions
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6
tests/self_collision_test.py
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@@ -35,7 +35,7 @@ def test_self_collision_experimental(batch_size, horizon):
tensor_args = TensorDeviceType()
robot_cfg = load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
robot_cfg["kinematics"]["debug"] = {"self_collision_experimental": True}
robot_cfg["kinematics"]["debug"] = {"self_collision_experimental": False}
robot_cfg = RobotConfig.from_dict(robot_cfg, tensor_args)
kinematics = CudaRobotModel(robot_cfg.kinematics)
self_collision_data = kinematics.get_self_collision_config()
@@ -44,6 +44,7 @@ def test_self_collision_experimental(batch_size, horizon):
tensor_args=tensor_args
)
cost_fn = SelfCollisionCost(self_collision_config)
cost_fn.self_collision_kin_config.experimental_kernel = True
b = batch_size
h = horizon
@@ -74,6 +75,8 @@ def test_self_collision_franka():
tensor_args = TensorDeviceType()
robot_cfg = load_yaml(join_path(get_robot_configs_path(), "franka.yml"))["robot_cfg"]
robot_cfg["kinematics"]["debug"] = {"self_collision_experimental": False}
robot_cfg = RobotConfig.from_dict(robot_cfg, tensor_args)
robot_cfg.kinematics.self_collision_config.experimental_kernel = True
kinematics = CudaRobotModel(robot_cfg.kinematics)
@@ -83,6 +86,7 @@ def test_self_collision_franka():
tensor_args=tensor_args
)
cost_fn = SelfCollisionCost(self_collision_config)
cost_fn.self_collision_kin_config.experimental_kernel = True
b = 10
h = 1