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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/world_config_test.py
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@@ -91,7 +91,8 @@ def test_world_modify():
world_ccheck.update_obstacle_pose(name="cylinder_1", w_obj_pose=w_pose)
x_sph = torch.as_tensor(
[[0.0, 0.0, 0.0, 0.1], [10.0, 0.0, 0.0, 0.1], [0.01, 0.01, 0.0, 0.1]], **vars(tensor_args)
[[0.0, 0.0, 0.0, 0.1], [10.0, 0.0, 0.0, 0.1], [0.01, 0.01, 0.0, 0.1]],
**(tensor_args.as_torch_dict())
).view(1, 1, -1, 4)
# create buffers:
query_buffer = CollisionQueryBuffer.initialize_from_shape(