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Fix trajectory evaluation

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Remove unused imports
This commit is contained in:
scharalambous-sony
2024-04-29 11:13:17 +02:00
parent 1e0b5a80c2
commit 9c087a0dd2
2 changed files with 63 additions and 2 deletions
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5
src/curobo/wrap/reacher/evaluator.py
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@@ -218,12 +218,13 @@ def compute_smoothness(
scale_dt = (1 / dt_score).view(-1, 1, 1)
abs_acc = torch.abs(acc) * (scale_dt**2)
# mean_acc_val = torch.max(torch.mean(abs_acc, dim=-1), dim=-1)[0]
max_acc_val = torch.max(torch.max(abs_acc, dim=-1)[0], dim=-1)[0]
max_acc_val = torch.max(abs_acc, dim=-2)[0] # batch x dof
abs_jerk = torch.abs(jerk) * scale_dt**3
# calculate max mean jerk:
# mean_jerk_val = torch.max(torch.mean(abs_jerk, dim=-1), dim=-1)[0]
max_jerk_val = torch.max(torch.max(abs_jerk, dim=-1)[0], dim=-1)[0]
max_jerk_val = torch.max(abs_jerk, dim=-2)[0] # batch x dof
acc_label = torch.logical_and(max_acc_val <= max_acc, max_jerk_val <= max_jerk)
acc_label = torch.all(acc_label, dim=-1)
return (acc_label, smooth_cost(abs_acc, abs_jerk, dt_score))