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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/voxelization_test.py
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@@ -107,12 +107,12 @@ def test_voxels_from_world(world_collision):
assert voxels.shape[0] > 4
@pytest.mark.skip(reason="Not ready yet.")
# @pytest.mark.skip(reason="Not ready yet.")
@pytest.mark.parametrize(
"world_collision",
[
(True, True),
(False, True),
# (False, True),
],
indirect=True,
)
@@ -156,9 +156,8 @@ def test_esdf_prim_mesh(world_collision, world_collision_primitive):
voxel_size = 0.1
esdf = world_collision.get_esdf_in_bounding_box(voxel_size=voxel_size).clone()
esdf_prim = world_collision_primitive.get_esdf_in_bounding_box(voxel_size=voxel_size).clone()
print(esdf.voxel_size, esdf_prim.voxel_size)
voxels = esdf.get_occupied_voxels()
voxels_prim = esdf_prim.get_occupied_voxels()
voxels = esdf.get_occupied_voxels(voxel_size)
voxels_prim = esdf_prim.get_occupied_voxels(voxel_size)
assert voxels.shape == voxels_prim.shape