hofee/gen_data_curobo
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

constrained planning, robot segmentation

Browse Source
This commit is contained in:
Balakumar Sundaralingam
2024-02-22 21:45:47 -08:00
parent 88eac64edc
commit bafdf80c05
102 changed files with 12440 additions and 8112 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
tests/robot_world_model_test.py
View File

@@ -85,7 +85,7 @@ def test_robot_world_collision_vector():
d_world, d_vec = model.get_collision_vector(state.link_spheres_tensor.view(n, 1, -1, 4))
assert d_world.shape[0] == n
assert torch.norm(d_world[0] - 0.1385) < 0.002
assert torch.norm(d_world[0] - 0.1385) < 0.005
assert torch.abs(d_vec[0, 0, 0, 2] + 0.7350) > 0.002