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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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9
tests/voxel_collision_test.py
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@@ -184,7 +184,7 @@ def test_primitive_voxel_sphere_distance(world_collision):
error = torch.abs(d_cuboid.view(-1) - d_voxel.view(-1))
assert torch.max(error) < voxel_grid.voxel_size
assert torch.max(error) - voxel_grid.voxel_size < 1e-3
@pytest.mark.parametrize(
@@ -243,12 +243,11 @@ def test_primitive_voxel_sphere_gradient(world_collision):
error = torch.abs(d_cuboid.view(-1) - d_voxel.view(-1))
assert torch.max(error) < voxel_grid.voxel_size
assert torch.max(error) - voxel_grid.voxel_size < 1e-3
cuboid_gradient = cuboid_collision_buffer.get_gradient_buffer()
voxel_gradient = voxel_collision_buffer.get_gradient_buffer()
error = torch.linalg.norm(cuboid_gradient - voxel_gradient, dim=-1)
print(cuboid_gradient)
print(voxel_gradient)
assert torch.max(error) < voxel_grid.voxel_size
assert torch.max(error) - voxel_grid.voxel_size < 1e-3