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Improved precision, quality and js planner.

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This commit is contained in:
Balakumar Sundaralingam
2024-04-11 13:19:01 -07:00
parent 774dcfd609
commit d6e600c88c
51 changed files with 2128 additions and 1054 deletions
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examples/motion_gen_profile.py
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@@ -55,7 +55,7 @@ def demo_motion_gen():
motion_gen = MotionGen(motion_gen_config)
robot_cfg = load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
robot_cfg = RobotConfig.from_dict(robot_cfg, tensor_args)
retract_cfg = robot_cfg.retract_config
retract_cfg = robot_cfg.cspace.retract_config
state = motion_gen.rollout_fn.compute_kinematics(
JointState.from_position(retract_cfg.view(1, -1))
)