Isaac Sim 4.0 support, Kinematics API doc, Windows support

tests/cuda_graph_test.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.
+#
+
+
+# CuRobo
+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, join_path, load_yaml
+from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig
+from curobo.wrap.reacher.mpc import MpcSolver, MpcSolverConfig
+
+
+def test_motion_gen_mpc():
+    tensor_args = TensorDeviceType()
+    world_file = "collision_test.yml"
+    robot_file = "ur5e.yml"
+    motion_gen_config = MotionGenConfig.load_from_robot_config(
+        robot_file,
+        world_file,
+        tensor_args,
+        use_cuda_graph=True,
+    )
+    motion_gen = MotionGen(motion_gen_config)
+    robot_cfg = load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
+    robot_cfg = RobotConfig.from_dict(robot_cfg, tensor_args)
+
+    retract_cfg = motion_gen.get_retract_config()
+    state = motion_gen.rollout_fn.compute_kinematics(
+        JointState.from_position(retract_cfg.view(1, -1))
+    )
+    motion_gen.warmup(warmup_js_trajopt=False)
+
+    retract_pose = Pose(state.ee_pos_seq.squeeze(), quaternion=state.ee_quat_seq.squeeze())
+    start_state = JointState.from_position(retract_cfg.view(1, -1) + 0.5)
+
+    tensor_args = TensorDeviceType()
+    robot_cfg = load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
+    robot_cfg = RobotConfig.from_dict(robot_cfg, tensor_args)
+
+    world_file = "collision_test.yml"
+
+    if True:
+        new_motion_gen_config = MotionGenConfig.load_from_robot_config(
+            robot_file,
+            world_file,
+            tensor_args,
+            use_cuda_graph=True,
+        )
+        new_motion_gen = MotionGen(new_motion_gen_config)
+    new_motion_gen.warmup()
+
+    if True:
+        mpc_config = MpcSolverConfig.load_from_robot_config(
+            robot_file,
+            world_file,
+            use_cuda_graph=True,
+            use_cuda_graph_metrics=False,
+            use_cuda_graph_full_step=False,
+        )
+        mpc = MpcSolver(mpc_config)
+        retract_cfg = robot_cfg.cspace.retract_config.view(1, -1)
+
+    result = motion_gen.plan(start_state, retract_pose, enable_graph=False)
+    assert result.success
+    result = new_motion_gen.plan(start_state, retract_pose, enable_graph=False)
+    assert result.success