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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
examples/kinematics_example.py
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@@ -39,7 +39,7 @@ def demo_basic_robot():
# compute forward kinematics:
q = torch.rand((10, kin_model.get_dof()), **vars(tensor_args))
q = torch.rand((10, kin_model.get_dof()), **(tensor_args.as_torch_dict()))
out = kin_model.get_state(q)
# here is the kinematics state:
# print(out)
@@ -55,7 +55,7 @@ def demo_full_config_robot():
kin_model = CudaRobotModel(robot_cfg.kinematics)
# compute forward kinematics:
q = torch.rand((10, kin_model.get_dof()), **vars(tensor_args))
q = torch.rand((10, kin_model.get_dof()), **(tensor_args.as_torch_dict()))
out = kin_model.get_state(q)
# here is the kinematics state:
# print(out)