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Isaac Sim 4.0 support, Kinematics API doc, Windows support

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This commit is contained in:
Balakumar Sundaralingam
2024-07-20 14:51:43 -07:00
parent 2ae381f328
commit 3690d28c54
83 changed files with 2818 additions and 497 deletions
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96
tests/motion_gen_module_test.py
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@@ -18,6 +18,7 @@ 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.torch_utils import is_cuda_graph_reset_available
from curobo.util.trajectory import InterpolateType
from curobo.util_file import get_robot_configs_path, get_world_configs_path, join_path, load_yaml
from curobo.wrap.reacher.motion_gen import (
@@ -43,6 +44,21 @@ def motion_gen():
return motion_gen_instance
@pytest.fixture(scope="module")
def motion_gen_cg():
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,
)
motion_gen_instance = MotionGen(motion_gen_config)
return motion_gen_instance
@pytest.fixture(scope="module")
def motion_gen_batch_env():
tensor_args = TensorDeviceType()
@@ -63,13 +79,53 @@ def motion_gen_batch_env():
return motion_gen_instance
@pytest.fixture(scope="module")
def motion_gen_batch_env_cg():
tensor_args = TensorDeviceType()
world_files = ["collision_table.yml", "collision_test.yml"]
world_cfg = [
WorldConfig.from_dict(load_yaml(join_path(get_world_configs_path(), world_file)))
for world_file in world_files
]
robot_file = "franka.yml"
motion_gen_config = MotionGenConfig.load_from_robot_config(
robot_file,
world_cfg,
tensor_args,
use_cuda_graph=True,
)
motion_gen_instance = MotionGen(motion_gen_config)
return motion_gen_instance
@pytest.mark.parametrize(
"motion_gen_str,interpolation",
[
("motion_gen", InterpolateType.LINEAR),
("motion_gen", InterpolateType.CUBIC),
# ("motion_gen", InterpolateType.KUNZ_STILMAN_OPTIMAL),
("motion_gen", InterpolateType.LINEAR_CUDA),
pytest.param(
"motion_gen_cg",
InterpolateType.LINEAR,
marks=pytest.mark.skipif(
not is_cuda_graph_reset_available(), reason="CUDAGraph.reset() not available"
),
),
pytest.param(
"motion_gen_cg",
InterpolateType.CUBIC,
marks=pytest.mark.skipif(
not is_cuda_graph_reset_available(), reason="CUDAGraph.reset() not available"
),
),
pytest.param(
"motion_gen_cg",
InterpolateType.LINEAR_CUDA,
marks=pytest.mark.skipif(
not is_cuda_graph_reset_available(), reason="CUDAGraph.reset() not available"
),
),
],
)
def test_motion_gen_single(motion_gen_str, interpolation, request):
@@ -95,7 +151,21 @@ def test_motion_gen_single(motion_gen_str, interpolation, request):
assert torch.norm(goal_pose.position - reached_state.ee_pos_seq) < 0.005
def test_motion_gen_goalset(motion_gen):
@pytest.mark.parametrize(
"motion_gen_str",
[
("motion_gen"),
pytest.param(
"motion_gen_cg",
marks=pytest.mark.skipif(
not is_cuda_graph_reset_available(), reason="CUDAGraph.reset() not available"
),
),
],
)
def test_motion_gen_goalset(motion_gen_str, request):
motion_gen = request.getfixturevalue(motion_gen_str)
motion_gen.reset()
retract_cfg = motion_gen.get_retract_config()
@@ -203,8 +273,28 @@ def test_motion_gen_batch(motion_gen):
[
("motion_gen", InterpolateType.LINEAR),
("motion_gen", InterpolateType.CUBIC),
# ("motion_gen", InterpolateType.KUNZ_STILMAN_OPTIMAL),
("motion_gen", InterpolateType.LINEAR_CUDA),
pytest.param(
"motion_gen_cg",
InterpolateType.LINEAR,
marks=pytest.mark.skipif(
not is_cuda_graph_reset_available(), reason="CUDAGraph.reset() not available"
),
),
pytest.param(
"motion_gen_cg",
InterpolateType.CUBIC,
marks=pytest.mark.skipif(
not is_cuda_graph_reset_available(), reason="CUDAGraph.reset() not available"
),
),
pytest.param(
"motion_gen_cg",
InterpolateType.LINEAR_CUDA,
marks=pytest.mark.skipif(
not is_cuda_graph_reset_available(), reason="CUDAGraph.reset() not available"
),
),
],
)
def test_motion_gen_batch_graph(motion_gen_str: str, interpolation: InterpolateType, request):