update to 0.6.2

2023-12-15 02:01:33 -08:00
parent d85ae41fba
commit 58958bbcce
105 changed files with 2514 additions and 934 deletions
--- a/tests/kinematics_test.py
+++ b/tests/kinematics_test.py
@@ -66,7 +66,7 @@ def test_franka_kinematics(cfg):
        1, -1
    )
    ee_quat = torch.as_tensor([0.0382, 0.9193, 0.3808, 0.0922], **vars(tensor_args)).view(1, -1)
-    b_list = [1, 10, 100, 5000]
+    b_list = [1, 10, 100, 5000][:1]
    for b in b_list:
        state = robot_model.get_state(q_test.repeat(b, 1).clone())
        pos_err = torch.linalg.norm(state.ee_position - ee_position)