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pangtao22 / planning_through_contact

MIT License
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Organizing Data collection #51

Closed hjsuh94 closed 2 years ago

hjsuh94 commented 2 years ago

Closes #49 .

Data repo found in https://github.com/hjsuh94/ptc_data/

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hjsuh94 commented 2 years ago

Summary of changes.

  1. Now, instead of custom-setting the initial configuration of the actuated object, we do grasp sampling. This ensures that the initial configuration is contact so that we can make a fair comparison with the exact gradient methods (#52)
  2. The save files names comply with the conventions in the data repo.
  3. Some tweak of parameters (e.g. tolerance is set to zero so we do each run on a fixed number of iterations)