Example update and two convenience functions

haosulab / MPlib

a Lightweight Motion Planning Package

https://motion-planning-lib.readthedocs.io/

MIT License

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Example update and two convenience functions #84

Open Lexseal opened 2 months ago

Lexseal commented 2 months ago

Updated all examples.
Made Pose.p mutable for easier manipulation
Added two convenience functions attach_currently_touching_object and detach_all_objects

Lexseal commented 2 months ago

curiously, in sapien 3, the base in two_stage_motion doesn't move anymore even though when switching to sapien 2 it moves. Checked the trajectory and everything looked right. Maybe can investigate tomorrow.

Lexseal commented 2 months ago

curiously, in sapien 3, the base in two_stage_motion doesn't move anymore even though when switching to sapien 2 it moves. Checked the trajectory and everything looked right. Maybe can investigate tomorrow.

Turns out the friction with the ground prevented the robot from moving. Changed the urdf

Lexseal commented 2 months ago

Was checking out the segfault seems sapien renderer related. When running just a single test inside the suite, get RuntimeError: failed to find a rendering device. But when running more than 1 get segfault