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

2024-03-18 11:19:48 -07:00
parent 286b3820a5
commit b1f63e8778
100 changed files with 7587 additions and 2589 deletions
--- a/tests/cost_test.py
+++ b/tests/cost_test.py
@@ -41,7 +41,7 @@ def test_primitive_collision_cost():
    )
    cost = PrimitiveCollisionCost(cost_cfg)
    q_spheres = torch.as_tensor(
-        [[0.1, 0.0, 0.0, 0.2], [10.0, 0.0, 0.0, 0.1]], **vars(tensor_args)
+        [[0.1, 0.0, 0.0, 0.2], [10.0, 0.0, 0.0, 0.1]], **(tensor_args.as_torch_dict())
    ).view(-1, 1, 1, 4)
    c = cost.forward(q_spheres).flatten()
    assert c[0] > 0.0 and c[1] == 0.0