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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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6
tests/warp_mesh_test.py
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@@ -32,7 +32,7 @@ def test_sdf_pose():
new_mesh,
env_idx=0,
)
query_spheres = torch.zeros((1, 1, 2, 4), **vars(tensor_args))
query_spheres = torch.zeros((1, 1, 2, 4), **(tensor_args.as_torch_dict()))
query_spheres[..., 2] = 10.0
query_spheres[..., 1, :] = 0.0
query_spheres[..., 3] = 1.0
@@ -59,7 +59,7 @@ def test_swept_sdf_speed_pose():
new_mesh,
env_idx=0,
)
query_spheres = torch.zeros((1, 1, 2, 4), **vars(tensor_args))
query_spheres = torch.zeros((1, 1, 2, 4), **(tensor_args.as_torch_dict()))
query_spheres[..., 2] = 10.0
query_spheres[..., 1, :] = 0.0
query_spheres[..., 3] = 1.0
@@ -88,7 +88,7 @@ def test_swept_sdf_pose():
new_mesh,
env_idx=0,
)
query_spheres = torch.zeros((1, 1, 2, 4), **vars(tensor_args))
query_spheres = torch.zeros((1, 1, 2, 4), **(tensor_args.as_torch_dict()))
query_spheres[..., 2] = 10.0
query_spheres[..., 1, :] = 0.0
query_spheres[..., 3] = 1.0