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Significantly improved convergence for mesh and cuboid, new ESDF collision.

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This commit is contained in:
Balakumar Sundaralingam
2024-03-18 11:19:48 -07:00
parent 286b3820a5
commit b1f63e8778
100 changed files with 7587 additions and 2589 deletions
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9
benchmark/ik_benchmark.py
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@@ -59,21 +59,22 @@ def run_full_config_collision_free_ik(
robot_cfg = RobotConfig.from_dict(robot_data)
world_cfg = WorldConfig.from_dict(load_yaml(join_path(get_world_configs_path(), world_file)))
position_threshold = 0.005
grad_iters = None
if high_precision:
position_threshold = 0.001
grad_iters = 100
ik_config = IKSolverConfig.load_from_robot_config(
robot_cfg,
world_cfg,
rotation_threshold=0.05,
position_threshold=position_threshold,
num_seeds=24,
num_seeds=20,
self_collision_check=collision_free,
self_collision_opt=collision_free,
tensor_args=tensor_args,
use_cuda_graph=use_cuda_graph,
high_precision=high_precision,
regularization=False,
# grad_iters=500,
grad_iters=grad_iters,
)
ik_solver = IKSolver(ik_config)
@@ -140,7 +141,7 @@ if __name__ == "__main__":
"Position-Error-Collision-Free-IK(mm)": [],
"Orientation-Error-Collision-Free-IK": [],
}
for robot_file in robot_list:
for robot_file in robot_list[:1]:
# create a sampler with dof:
for b_size in b_list:
# sample test configs: