Add planning to grasp API

2024-11-22 14:15:18 -08:00
parent 18e9ebd35f
commit 36ea382dab
38 changed files with 939 additions and 535 deletions
--- a/src/curobo/cuda_robot_model/cuda_robot_generator.py
+++ b/src/curobo/cuda_robot_model/cuda_robot_generator.py
@@ -852,7 +852,11 @@ class CudaRobotGenerator(CudaRobotGeneratorConfig):

        if not valid_data:
            use_experimental_kernel = False
-            log_warn("Self Collision checks are greater than 32 * 512, using slower kernel")
+            log_warn(
+                "Self Collision checks are greater than 32 * 512, using slower kernel."
+                + " Number of spheres: "
+                + str(self_collision_distance.shape[0])
+            )
        if use_experimental_kernel:
            self_coll_matrix = torch.zeros((2), device=self.tensor_args.device, dtype=torch.uint8)
        else: