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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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tests/motion_gen_module_test.py
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@@ -327,4 +327,4 @@ def test_motion_gen_single_js(motion_gen_str, enable_graph, request):
reached_state = result.optimized_plan[-1]
assert torch.norm(goal_state.position - reached_state.position) < 0.005
assert torch.norm(goal_state.position - reached_state.position) < 0.05