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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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4
docker/aarch64.dockerfile
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@@ -137,7 +137,7 @@ RUN pip3 install warp-lang
# install curobo:
RUN mkdir /pkgs && git clone https://github.com/NVlabs/curobo.git
RUN mkdir /pkgs && cd /pkgs && git clone https://github.com/NVlabs/curobo.git
ENV TORCH_CUDA_ARCH_LIST "7.0+PTX"
@@ -166,7 +166,7 @@ RUN cd /pkgs && git clone https://github.com/nvlabs/nvblox_torch.git && \
python3 -m pip install -e .
RUN python -m pip install "robometrics[evaluator] @ git+https://github.com/fishbotics/robometrics.git"
RUN python3 -m pip install "robometrics[evaluator] @ git+https://github.com/fishbotics/robometrics.git"
# upgrade typing extensions:
RUN python3 -m pip install typing-extensions --upgrade

4
docker/user.dockerfile
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@@ -15,12 +15,13 @@ FROM curobo_docker:${IMAGE_TAG}
# Set variables
ARG USERNAME
ARG USER_ID
ARG CACHE_DATE=2024-02-20
ARG CACHE_DATE=2024-03-18
# Set environment variables
# Set up sudo user
#RUN /sbin/adduser --disabled-password --gecos '' --uid $USER_ID $USERNAME
# RUN useradd -l -u 1000 $USERNAME
RUN useradd -l -u $USER_ID -g users $USERNAME
RUN /sbin/adduser $USERNAME sudo
@@ -28,6 +29,7 @@ RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
# Set user
# RUN mkdir /home/$USERNAME && chown $USERNAME:$USERNAME /home/$USERNAME
USER $USERNAME
WORKDIR /home/$USERNAME
ENV USER=$USERNAME