fixed iris options for the bimanual example

hanlanqian · Oct 16, 2023 · 58bd343 · 58bd343
1 parent afdf2a4
commit 58bd343
Showing 1 changed file with 9 additions and 11 deletions.
diff --git a/reproduction/bimanual/bimanual_iiwa_example.ipynb b/reproduction/bimanual/bimanual_iiwa_example.ipynb
@@ -104,13 +104,21 @@
     "iris_options.iteration_limit = 5\n",
     "iris_options.termination_threshold = -1\n",
     "iris_options.relative_termination_threshold = 0.02\n",
+    "iris_options.num_collision_infeasible_samples = 1\n",
     "CORE_CNT = int(mp.cpu_count()/2) # you may edit this\n",
     "\n",
     "filterCollsionGeometry(scene_graph, sg_context)\n",
     "\n",
     "seed_points = getConfigurationSeeds()"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Regenerate IRIS Regions"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -151,16 +159,6 @@
     "    pickle.dump(regions,f)"
    ]
   },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "with open(os.path.join(GcsDir(), 'data/bimanual/iris_regions.reg'), 'rb') as f:\n",
-    "    regions = pickle.load(f)"
-   ]
-  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -245,7 +243,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.8.10"
+   "version": "3.11.4"
   }
  },
  "nbformat": 4,