Improved precision, quality and js planner.

2024-04-11 13:19:01 -07:00
parent 774dcfd609
commit d6e600c88c
51 changed files with 2128 additions and 1054 deletions
--- a/examples/isaac_sim/simple_stacking.py
+++ b/examples/isaac_sim/simple_stacking.py
@@ -162,7 +162,7 @@ class CuroboController(BaseController):
        pose_metric = None
        if constrain_grasp_approach:
            pose_metric = PoseCostMetric.create_grasp_approach_metric(
-                offset_position=0.1, tstep_fraction=0.6
+                offset_position=0.1, tstep_fraction=0.8
            )

        self.plan_config = MotionGenPlanConfig(