improved joint space planning

benchmark/ik_benchmark.py

@@ -37,6 +37,9 @@ from curobo.util_file import (
 )
 from curobo.wrap.reacher.ik_solver import IKSolver, IKSolverConfig
 
+# set seeds
+torch.manual_seed(2)
+
 torch.backends.cudnn.benchmark = True
 torch.backends.cuda.matmul.allow_tf32 = True
 torch.backends.cudnn.allow_tf32 = True
@@ -49,6 +52,7 @@ def run_full_config_collision_free_ik(
     use_cuda_graph=False,
     collision_free=True,
     high_precision=False,
+    num_seeds=12,
 ):
     tensor_args = TensorDeviceType()
     robot_data = load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
@@ -67,7 +71,7 @@ def run_full_config_collision_free_ik(
         robot_cfg,
         world_cfg,
         position_threshold=position_threshold,
-        num_seeds=16,
+        num_seeds=num_seeds,
         self_collision_check=collision_free,
         self_collision_opt=collision_free,
         tensor_args=tensor_args,
@@ -120,10 +124,15 @@ if __name__ == "__main__":
         default="ik",
         help="File name prefix to use to save benchmark results",
     )
-
+    parser.add_argument(
+        "--num_seeds",
+        type=int,
+        default=16,
+        help="Number of seeds to use for IK",
+    )
     args = parser.parse_args()
 
-    b_list = [1, 10, 100, 2000][-1:]
+    b_list = [1, 10, 100, 500, 2000][:]
 
     robot_list = get_motion_gen_robot_list() + get_multi_arm_robot_list()[:2]
     world_file = "collision_test.yml"
@@ -142,6 +151,7 @@ if __name__ == "__main__":
         "Orientation-Error-Collision-Free-IK": [],
     }
     for robot_file in robot_list[:-1]:
+        print("running for robot: ", robot_file)
         # create a sampler with dof:
         for b_size in b_list:
             # sample test configs:
@@ -153,6 +163,7 @@ if __name__ == "__main__":
                 use_cuda_graph=True,
                 collision_free=False,
                 high_precision=args.high_precision,
+                num_seeds=args.num_seeds,
             )
             dt_cu_ik_cfree, success, p_err_c, q_err_c = run_full_config_collision_free_ik(
                 robot_file,
@@ -160,6 +171,7 @@ if __name__ == "__main__":
                 batch_size=b_size,
                 use_cuda_graph=True,
                 collision_free=True,
+                num_seeds=args.num_seeds,
                 # high_precision=args.high_precision,
             )
             # print(dt_cu/b_size, dt_cu_cg/b_size)