release repository

tests/motion_gen_api_test.py

@@ -0,0 +1,50 @@
+#
+# 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 pytest
+import torch
+
+# CuRobo
+from curobo.geom.types import WorldConfig
+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.motion_gen import MotionGen, MotionGenConfig, MotionGenPlanConfig
+
+
+@pytest.fixture(scope="module")
+def motion_gen():
+    tensor_args = TensorDeviceType()
+    world_file = "collision_test.yml"
+    robot_file = "franka.yml"
+    motion_gen_config = MotionGenConfig.load_from_robot_config(
+        robot_file,
+        world_file,
+        tensor_args,
+        trajopt_tsteps=26,
+        use_cuda_graph=False,
+        num_trajopt_seeds=50,
+        fixed_iters_trajopt=True,
+        evaluate_interpolated_trajectory=True,
+    )
+    motion_gen_instance = MotionGen(motion_gen_config)
+    return motion_gen_instance
+
+
+def test_motion_gen_attach_obstacle(motion_gen):
+    obstacle = motion_gen.world_model.objects[-1].name
+    retract_cfg = motion_gen.get_retract_config()
+
+    start_state = JointState.from_position(retract_cfg.view(1, -1))
+    motion_gen.attach_objects_to_robot(start_state, [obstacle])
+    assert True