kinematics refactor with mimic joint support

2024-04-03 18:42:01 -07:00
parent b481ee201a
commit 774dcfd609
60 changed files with 2177 additions and 810 deletions
--- a/benchmark/ik_benchmark.py
+++ b/benchmark/ik_benchmark.py
@@ -67,7 +67,7 @@ def run_full_config_collision_free_ik(
        robot_cfg,
        world_cfg,
        position_threshold=position_threshold,
-        num_seeds=20,
+        num_seeds=30,
        self_collision_check=collision_free,
        self_collision_opt=collision_free,
        tensor_args=tensor_args,