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

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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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13
src/curobo/rollout/cost/dist_cost.py
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@@ -18,6 +18,7 @@ import torch
import warp as wp
# CuRobo
from curobo.util.torch_utils import get_torch_jit_decorator
from curobo.util.warp import init_warp
# Local Folder
@@ -41,32 +42,32 @@ class DistCostConfig(CostConfig):
return super().__post_init__()
@torch.jit.script
@get_torch_jit_decorator()
def L2_DistCost_jit(vec_weight, disp_vec):
return torch.norm(vec_weight * disp_vec, p=2, dim=-1, keepdim=False)
@torch.jit.script
@get_torch_jit_decorator()
def fwd_SQL2_DistCost_jit(vec_weight, disp_vec):
return torch.sum(torch.square(vec_weight * disp_vec), dim=-1, keepdim=False)
@torch.jit.script
@get_torch_jit_decorator()
def fwd_L1_DistCost_jit(vec_weight, disp_vec):
return torch.sum(torch.abs(vec_weight * disp_vec), dim=-1, keepdim=False)
@torch.jit.script
@get_torch_jit_decorator()
def L2_DistCost_target_jit(vec_weight, g_vec, c_vec, weight):
return torch.norm(weight * vec_weight * (g_vec - c_vec), p=2, dim=-1, keepdim=False)
@torch.jit.script
@get_torch_jit_decorator()
def fwd_SQL2_DistCost_target_jit(vec_weight, g_vec, c_vec, weight):
return torch.sum(torch.square(weight * vec_weight * (g_vec - c_vec)), dim=-1, keepdim=False)
@torch.jit.script
@get_torch_jit_decorator()
def fwd_L1_DistCost_target_jit(vec_weight, g_vec, c_vec, weight):
return torch.sum(torch.abs(weight * vec_weight * (g_vec - c_vec)), dim=-1, keepdim=False)