release repository

2023-10-26 04:17:19 -07:00
commit 07e6ccfc91
287 changed files with 70659 additions and 0 deletions
--- a/tests/geom_test.py
+++ b/tests/geom_test.py
@@ -0,0 +1,211 @@
+#
+# 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.
+#
+# Third Party
+import torch
+
+# CuRobo
+from curobo.geom.sdf.world import (
+    CollisionQueryBuffer,
+    WorldCollisionConfig,
+    WorldPrimitiveCollision,
+)
+from curobo.geom.sdf.world_mesh import WorldMeshCollision
+from curobo.geom.types import Cuboid, WorldConfig
+from curobo.types.base import TensorDeviceType
+from curobo.types.math import Pose
+from curobo.util_file import get_world_configs_path, join_path, load_yaml
+
+
+def test_world_primitive():
+    # load a world:
+    tensor_args = TensorDeviceType()
+    world_file = "collision_test.yml"
+    data_dict = load_yaml(join_path(get_world_configs_path(), world_file))
+    world_cfg = WorldConfig.from_dict(data_dict)
+    coll_cfg = WorldCollisionConfig(world_model=world_cfg, tensor_args=TensorDeviceType())
+    coll_check = WorldPrimitiveCollision(coll_cfg)
+    x_sph = torch.as_tensor(
+        [[0.0, 0.0, 0.0, 0.1], [10.0, 0.0, 0.0, 0.0], [0.01, 0.01, 0.0, 0.1]], **vars(tensor_args)
+    ).view(1, 1, -1, 4)
+    # create buffers:
+    query_buffer = CollisionQueryBuffer.initialize_from_shape(
+        x_sph.shape, tensor_args, coll_check.collision_types
+    )
+    weight = tensor_args.to_device([1])
+    act_distance = tensor_args.to_device([0.0])
+
+    d_sph = coll_check.get_sphere_distance(x_sph, query_buffer, weight, act_distance).view(-1)
+    assert abs(d_sph[0].item() - 0.1) < 1e-3
+    assert abs(d_sph[1].item() - 0.0) < 1e-9
+    assert abs(d_sph[2].item() - 0.1) < 1e-3
+
+
+def test_batch_world_primitive():
+    """This tests collision checking across different environments"""
+    tensor_args = TensorDeviceType()
+
+    world_file = "collision_test.yml"
+    data_dict = load_yaml(join_path(get_world_configs_path(), world_file))
+    world_cfg = WorldConfig.from_dict(data_dict)
+    coll_cfg = WorldCollisionConfig(world_model=world_cfg, tensor_args=TensorDeviceType())
+    coll_check = WorldPrimitiveCollision(coll_cfg)
+    x_sph = torch.as_tensor(
+        [[0.0, 0.0, 0.0, 0.1], [10.0, 0.0, 0.0, 0.0], [0.01, 0.01, 0.0, 0.1]], **vars(tensor_args)
+    ).view(-1, 1, 1, 4)
+    env_query_idx = torch.zeros((x_sph.shape[0]), device=tensor_args.device, dtype=torch.int32)
+    # create buffers:
+    query_buffer = CollisionQueryBuffer.initialize_from_shape(
+        x_sph.shape, tensor_args, coll_check.collision_types
+    )
+    act_distance = tensor_args.to_device([0.0])
+
+    weight = tensor_args.to_device([1])
+    d_sph = coll_check.get_sphere_distance(
+        x_sph, query_buffer, weight, act_distance, env_query_idx
+    ).view(-1)
+    assert abs(d_sph[0].item() - 0.1) < 1e-3
+    assert abs(d_sph[1].item() - 0.0) < 1e-9
+    assert abs(d_sph[2].item() - 0.1) < 1e-3
+
+
+def test_swept_world_primitive():
+    """This tests collision checking across different environments"""
+    tensor_args = TensorDeviceType()
+
+    world_file = "collision_test.yml"
+    data_dict = load_yaml(join_path(get_world_configs_path(), world_file))
+    world_cfg = WorldConfig.from_dict(data_dict)
+    coll_cfg = WorldCollisionConfig(world_model=world_cfg, tensor_args=TensorDeviceType())
+    coll_cfg.cache = {"obb": 5}
+    coll_check = WorldPrimitiveCollision(coll_cfg)
+    # add an obstacle:
+    new_cube = Cuboid("cube_1", [0, 0, 1, 1, 0, 0, 0], None, [0.1, 0.2, 0.2])
+    coll_check.add_obb(new_cube, 0)
+    x_sph = torch.as_tensor(
+        [[0.0, 0.0, 0.0, 0.1], [10.0, 0.0, 0.0, 0.0], [0.01, 0.01, 0.0, 0.1]], **vars(tensor_args)
+    ).view(1, 1, -1, 4)
+    env_query_idx = None
+    env_query_idx = torch.zeros((x_sph.shape[0]), device=tensor_args.device, dtype=torch.int32)
+    # create buffers:
+    query_buffer = CollisionQueryBuffer.initialize_from_shape(
+        x_sph.shape, tensor_args, coll_check.collision_types
+    )
+    weight = tensor_args.to_device([1])
+    act_distance = tensor_args.to_device([0.0])
+    dt = act_distance.clone()
+    d_sph_swept = coll_check.get_swept_sphere_distance(
+        x_sph, query_buffer, weight, act_distance, dt, 10, env_query_idx
+    ).view(-1)
+    d_sph = coll_check.get_sphere_distance(
+        x_sph, query_buffer.clone() * 0.0, weight, act_distance, env_query_idx
+    ).view(-1)
+    assert abs(d_sph[0].item() - 0.1) < 1e-3
+    assert abs(d_sph[1].item() - 0.0) < 1e-9
+    assert abs(d_sph[2].item() - 0.1) < 1e-3
+
+    assert abs(d_sph_swept[0].item() - 0.1) < 1e-3
+    assert abs(d_sph_swept[1].item() - 0.0) < 1e-9
+    assert abs(d_sph_swept[2].item() - 0.1) < 1e-3
+
+
+def test_world_primitive_mesh_instance():
+    # load a world:
+    tensor_args = TensorDeviceType()
+    world_file = "collision_test.yml"
+    data_dict = load_yaml(join_path(get_world_configs_path(), world_file))
+    world_cfg = WorldConfig.from_dict(data_dict)
+    coll_cfg = WorldCollisionConfig(world_model=world_cfg, tensor_args=TensorDeviceType())
+    coll_check = WorldMeshCollision(coll_cfg)
+    x_sph = torch.as_tensor(
+        [[0.0, 0.0, 0.0, 0.1], [10.0, 0.0, 0.0, 0.0], [0.01, 0.01, 0.0, 0.1]], **vars(tensor_args)
+    ).view(1, 1, -1, 4)
+    # create buffers:
+    query_buffer = CollisionQueryBuffer.initialize_from_shape(
+        x_sph.shape, tensor_args, coll_check.collision_types
+    )
+    act_distance = tensor_args.to_device([0.0])
+
+    weight = tensor_args.to_device([1])
+    d_sph = coll_check.get_sphere_distance(x_sph, query_buffer, weight, act_distance).view(-1)
+    assert abs(d_sph[0].item() - 0.1) < 1e-3
+    assert abs(d_sph[1].item() - 0.0) < 1e-9
+    assert abs(d_sph[2].item() - 0.1) < 1e-3
+
+
+def test_batch_world_primitive_mesh_instance():
+    """This tests collision checking across different environments"""
+    tensor_args = TensorDeviceType()
+
+    world_file = "collision_test.yml"
+    data_dict = load_yaml(join_path(get_world_configs_path(), world_file))
+    world_cfg = WorldConfig.from_dict(data_dict)
+    coll_cfg = WorldCollisionConfig(world_model=world_cfg, tensor_args=TensorDeviceType())
+    coll_check = WorldMeshCollision(coll_cfg)
+    x_sph = torch.as_tensor(
+        [[0.0, 0.0, 0.0, 0.1], [10.0, 0.0, 0.0, 0.0], [0.01, 0.01, 0.0, 0.1]], **vars(tensor_args)
+    ).view(-1, 1, 1, 4)
+    env_query_idx = torch.zeros((x_sph.shape[0]), device=tensor_args.device, dtype=torch.int32)
+    # create buffers:
+    query_buffer = CollisionQueryBuffer.initialize_from_shape(
+        x_sph.shape, tensor_args, coll_check.collision_types
+    )
+
+    weight = tensor_args.to_device([1])
+    act_distance = tensor_args.to_device([0.0])
+
+    d_sph = coll_check.get_sphere_distance(
+        x_sph, query_buffer, weight, act_distance, env_query_idx
+    ).view(-1)
+    assert abs(d_sph[0].item() - 0.1) < 1e-3
+    assert abs(d_sph[1].item() - 0.0) < 1e-9
+    assert abs(d_sph[2].item() - 0.1) < 1e-3
+
+
+def test_swept_world_primitive_mesh_instance():
+    """This tests collision checking across different environments"""
+    tensor_args = TensorDeviceType()
+
+    world_file = "collision_test.yml"
+    data_dict = load_yaml(join_path(get_world_configs_path(), world_file))
+    world_cfg = WorldConfig.from_dict(data_dict)
+    coll_cfg = WorldCollisionConfig(world_model=world_cfg, tensor_args=TensorDeviceType())
+    coll_cfg.cache = {"obb": 5}
+    coll_check = WorldMeshCollision(coll_cfg)
+    # add an obstacle:
+    dims = tensor_args.to_device([0.1, 0.2, 0.2])
+    w_obj_pose = Pose.from_list([0, 0, 1, 1, 0, 0, 0], tensor_args)
+    coll_check.add_obb_from_raw("cube_1", dims, 0, w_obj_pose=w_obj_pose)
+    x_sph = torch.as_tensor(
+        [[0.0, 0.0, 0.0, 0.1], [10.0, 0.0, 0.0, 0.0], [0.01, 0.01, 0.0, 0.1]], **vars(tensor_args)
+    ).view(1, 1, -1, 4)
+    env_query_idx = None
+    env_query_idx = torch.zeros((x_sph.shape[0]), device=tensor_args.device, dtype=torch.int32)
+    # create buffers:
+    query_buffer = CollisionQueryBuffer.initialize_from_shape(
+        x_sph.shape, tensor_args, coll_check.collision_types
+    )
+    weight = tensor_args.to_device([1])
+    act_distance = tensor_args.to_device([0.0])
+    dt = act_distance.clone() + 0.01
+
+    d_sph_swept = coll_check.get_swept_sphere_distance(
+        x_sph, query_buffer, weight, act_distance, dt, 10, env_query_idx
+    ).view(-1)
+    d_sph = coll_check.get_sphere_distance(
+        x_sph, query_buffer.clone() * 0.0, weight, act_distance, env_query_idx
+    ).view(-1)
+    assert abs(d_sph[0].item() - 0.1) < 1e-3
+    assert abs(d_sph[1].item() - 0.0) < 1e-9
+    assert abs(d_sph[2].item() - 0.1) < 1e-3
+
+    assert abs(d_sph_swept[0].item() - 0.1) < 1e-3
+    assert abs(d_sph_swept[1].item() - 0.0) < 1e-9
+    assert abs(d_sph_swept[2].item() - 0.1) < 1e-3