hofee/gen_data_curobo
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

update to 0.6.2

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

5
examples/isaac_sim/multi_arm_reacher.py
View File

@@ -136,7 +136,7 @@ def main():
robot_cfg,
world_cfg,
tensor_args,
trajopt_tsteps=32,
trajopt_tsteps=40,
collision_checker_type=CollisionCheckerType.MESH,
use_cuda_graph=True,
num_trajopt_seeds=12,
@@ -145,7 +145,6 @@ def main():
collision_cache={"obb": n_obstacle_cuboids, "mesh": n_obstacle_mesh},
collision_activation_distance=0.025,
acceleration_scale=1.0,
maximum_trajectory_dt=0.2,
fixed_iters_trajopt=True,
)
motion_gen = MotionGen(motion_gen_config)
@@ -286,7 +285,7 @@ def main():
if (
np.linalg.norm(cube_position - target_pose) > 1e-3
and np.linalg.norm(past_pose - cube_position) == 0.0
and np.linalg.norm(sim_js.velocities) < 0.2
and np.max(np.abs(sim_js.velocities)) < 0.2
):
# Set EE teleop goals, use cube for simple non-vr init:
ee_translation_goal = cube_position