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kinematics refactor with mimic joint support

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This commit is contained in:
Balakumar Sundaralingam
2024-04-03 18:42:01 -07:00
parent b481ee201a
commit 774dcfd609
60 changed files with 2177 additions and 810 deletions
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14
benchmark/curobo_benchmark.py
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@@ -154,7 +154,7 @@ def load_curobo(
# del robot_cfg["kinematics"]
if ik_seeds is None:
ik_seeds = 24
ik_seeds = 32
if graph_mode:
trajopt_seeds = 4
@@ -231,7 +231,7 @@ def benchmark_mb(
# load dataset:
force_graph = False
file_paths = [motion_benchmaker_raw, mpinets_raw]
file_paths = [motion_benchmaker_raw, mpinets_raw][:]
if args.demo:
file_paths = [demo_raw]
@@ -500,8 +500,8 @@ def benchmark_mb(
write_robot_usd_path="benchmark/log/usd/assets/",
robot_usd_local_reference="assets/",
base_frame="/world_" + problem_name,
visualize_robot_spheres=False,
flatten_usd=False,
visualize_robot_spheres=True,
flatten_usd=True,
)
if write_plot: # and result.optimized_dt.item() > 0.06:
@@ -554,12 +554,12 @@ def benchmark_mb(
start_state,
Pose.from_list(pose),
join_path("benchmark/log/usd/", problem_name) + "_debug",
write_ik=False,
write_ik=True,
write_trajopt=True,
visualize_robot_spheres=False,
visualize_robot_spheres=True,
grid_space=2,
write_robot_usd_path="benchmark/log/usd/assets/",
# flatten_usd=True,
flatten_usd=True,
)
print(result.status)