release repository

examples/trajopt_example.py

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+#
+# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+# property and proprietary rights in and to this material, related
+# documentation and any modifications thereto. Any use, reproduction,
+# disclosure or distribution of this material and related documentation
+# without an express license agreement from NVIDIA CORPORATION or
+# its affiliates is strictly prohibited.
+#
+# Standard Library
+import time
+
+# Third Party
+import torch
+
+# CuRobo
+from curobo.geom.types import WorldConfig
+from curobo.rollout.rollout_base import Goal
+from curobo.types.base import TensorDeviceType
+from curobo.types.math import Pose
+from curobo.types.robot import JointState, RobotConfig
+from curobo.util_file import get_robot_configs_path, get_world_configs_path, join_path, load_yaml
+from curobo.wrap.reacher.ik_solver import IKSolver, IKSolverConfig
+from curobo.wrap.reacher.trajopt import TrajOptSolver, TrajOptSolverConfig
+
+
+def plot_js(trajectory: JointState):
+    # Third Party
+    import matplotlib.pyplot as plt
+
+    _, axs = plt.subplots(4, 1)
+    q = trajectory.position.cpu().numpy()
+    qd = trajectory.velocity.cpu().numpy()
+    qdd = trajectory.acceleration.cpu().numpy()
+    qddd = None
+    if trajectory.jerk is not None:
+        qddd = trajectory.jerk.cpu().numpy()
+
+    for i in range(q.shape[-1]):
+        axs[0].plot(q[:, i], label=str(i))
+        axs[1].plot(qd[:, i], label=str(i))
+        axs[2].plot(qdd[:, i], label=str(i))
+        if qddd is not None:
+            axs[3].plot(qddd[:, i], label=str(i))
+    plt.legend()
+    plt.show()
+
+
+def plot_traj(trajectory):
+    # Third Party
+    import matplotlib.pyplot as plt
+
+    _, axs = plt.subplots(1, 1)
+    q = trajectory
+
+    for i in range(q.shape[-1]):
+        axs.plot(q[:, i], label=str(i))
+    plt.legend()
+    plt.show()
+
+
+def demo_trajopt_collision_free():
+    PLOT = True
+    tensor_args = TensorDeviceType()
+    world_file = "collision_table.yml"
+
+    robot_file = "franka.yml"
+    robot_cfg = RobotConfig.from_dict(
+        load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
+    )
+    world_cfg = WorldConfig.from_dict(load_yaml(join_path(get_world_configs_path(), world_file)))
+
+    trajopt_config = TrajOptSolverConfig.load_from_robot_config(
+        robot_cfg,
+        world_cfg,
+        tensor_args,
+        use_cuda_graph=False,
+    )
+    trajopt_solver = TrajOptSolver(trajopt_config)
+    q_start = trajopt_solver.retract_config
+
+    q_goal = q_start.clone() + 0.1
+    # q_goal[...,-1] -=0.2
+    kin_state = trajopt_solver.fk(q_goal)
+    goal_pose = Pose(kin_state.ee_position, kin_state.ee_quaternion)
+    goal_state = JointState.from_position(q_goal)
+    current_state = JointState.from_position(q_start)
+    # do single planning:
+    # print("Running Goal State trajopt")
+    # js_goal = Goal(goal_state=goal_state, current_state=current_state)
+    # result = trajopt_solver.solve_single(js_goal)
+    # traj = result.solution.position
+    # print(result.success, result.cspace_error)
+    # print(goal_state.position)
+    # print(traj[...,-1,:])
+    # print(torch.linalg.norm((goal_state.position - traj[...,-1,:])).item())
+
+    # exit()
+    # if PLOT:
+    #    #plot_traj(traj)
+    #    plot_js(result.solution)
+    # exit()
+    print("Running Goal Pose trajopt")
+    js_goal = Goal(goal_pose=goal_pose, current_state=current_state)
+    result = trajopt_solver.solve_single(js_goal)
+    print(result.success)
+    if PLOT:
+        plot_js(result.solution)
+
+    # run goalset planning:
+    print("Running Goal Pose Set trajopt")
+    # g_set = Pose(kin_state.ee_position, kin_state.ee_quaternion.repeat(2,1).view())
+    # js_goal = Goal(goal_pose=goal_pose, current_state=current_state)
+    # result = trajopt_solver.solve_single(js_goal)
+
+
+if __name__ == "__main__":
+    # demo_basic_ik()
+    # demo_full_config_collision_free_ik()
+    # demo_full_config_batch_env_collision_free_ik()
+    demo_trajopt_collision_free()