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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
tests/pose_reaching_test.py
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@@ -21,9 +21,7 @@ from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig, MotionGen
"parallel_finetune, force_graph, expected_motion_time",
[
(True, False, 12),
(False, False, 12),
(True, True, 12),
(False, True, 12),
],
)
def test_pose_sequence_ur5e(parallel_finetune, force_graph, expected_motion_time):
@@ -63,7 +61,7 @@ def test_pose_sequence_ur5e(parallel_finetune, force_graph, expected_motion_time
start_state.clone(),
goal_pose,
plan_config=MotionGenPlanConfig(
parallel_finetune=parallel_finetune, max_attempts=1, enable_graph=force_graph
parallel_finetune=parallel_finetune, max_attempts=10, enable_graph=force_graph
),
)
if result.success.item():