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pangtao22 / planning_through_contact

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Iteration plot #43

Closed hjsuh94 closed 2 years ago

hjsuh94 commented 2 years ago

This change is Reviewable

lujieyang commented 2 years ago

examples/planar_hand/visualize_ellipse_2d.py, line 91 at r2 (raw file):

    for i in range(num_nodes):
        node = irs_rrt.get_node_from_id(i)
        U, Sigma, Vh = np.linalg.svd(node.covinv_u)

Why not svd node.cov_u?