hofee/gen_data_curobo
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update to 0.6.2

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This commit is contained in:
Balakumar Sundaralingam
2023-12-15 02:01:33 -08:00
parent d85ae41fba
commit 58958bbcce
105 changed files with 2514 additions and 934 deletions
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4
benchmark/curobo_profile.py
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@@ -50,7 +50,7 @@ def load_curobo(
n_cubes: int, enable_log: bool = False, mesh_mode: bool = False, cuda_graph: bool = False
):
robot_cfg = load_yaml(join_path(get_robot_configs_path(), "franka.yml"))["robot_cfg"]
robot_cfg["kinematics"]["collision_sphere_buffer"] = -0.015
robot_cfg["kinematics"]["collision_sphere_buffer"] = -0.0
world_cfg = WorldConfig.from_dict(
load_yaml(join_path(get_world_configs_path(), "collision_table.yml"))
).get_obb_world()
@@ -160,7 +160,7 @@ if __name__ == "__main__":
parser.add_argument(
"--save_path",
type=str,
default="log/trace",
default="benchmark/log/trace",
help="path to save file",
)
parser.add_argument(