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update pose inverse for goalset

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This commit is contained in:
Balakumar Sundaralingam
2024-02-23 16:19:18 -08:00
parent f25281e930
commit 286b3820a5
3 changed files with 39 additions and 23 deletions
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50
tests/motion_gen_constrained_test.py
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@@ -30,23 +30,29 @@ def motion_gen(request):
tensor_args = TensorDeviceType()
world_file = "collision_table.yml"
robot_file = "franka.yml"
motion_gen_config = MotionGenConfig.load_from_robot_config(
robot_file,
world_file,
tensor_args,
use_cuda_graph=True,
project_pose_to_goal_frame=request.param,
project_pose_to_goal_frame=request.param[0],
)
motion_gen_instance = MotionGen(motion_gen_config)
motion_gen_instance.warmup(enable_graph=False, warmup_js_trajopt=False)
motion_gen_instance.warmup(
enable_graph=False, warmup_js_trajopt=False, n_goalset=request.param[1]
)
return motion_gen_instance
@pytest.mark.parametrize(
"motion_gen",
[
(True),
(False),
([True, -1]),
([False, -1]),
([True, 10]),
([False, 10]),
],
indirect=True,
)
@@ -77,8 +83,10 @@ def test_approach_grasp_pose(motion_gen):
@pytest.mark.parametrize(
"motion_gen",
[
(True),
(False),
([True, -1]),
([False, -1]),
([True, 10]),
([False, 10]),
],
indirect=True,
)
@@ -112,8 +120,10 @@ def test_reach_only_position(motion_gen):
@pytest.mark.parametrize(
"motion_gen",
[
(True),
(False),
([True, -1]),
([False, -1]),
([True, 10]),
([False, 10]),
],
indirect=True,
)
@@ -147,8 +157,10 @@ def test_reach_only_orientation(motion_gen):
@pytest.mark.parametrize(
"motion_gen",
[
(True),
(False),
([True, -1]),
([False, -1]),
([True, 10]),
([False, 10]),
],
indirect=True,
)
@@ -186,8 +198,10 @@ def test_hold_orientation(motion_gen):
@pytest.mark.parametrize(
"motion_gen",
[
(True),
(False),
([True, -1]),
([False, -1]),
([True, 10]),
([False, 10]),
],
indirect=True,
)
@@ -224,8 +238,10 @@ def test_hold_position(motion_gen):
@pytest.mark.parametrize(
"motion_gen",
[
(False),
(True),
([True, -1]),
([False, -1]),
([True, 10]),
([False, 10]),
],
indirect=True,
)
@@ -276,8 +292,10 @@ def test_hold_partial_pose(motion_gen):
@pytest.mark.parametrize(
"motion_gen",
[
(False),
(True),
([True, -1]),
([False, -1]),
([True, 10]),
([False, 10]),
],
indirect=True,
)