hofee/gen_data_curobo
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Add planning to grasp API

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This commit is contained in:
Balakumar Sundaralingam
2024-11-22 14:15:18 -08:00
parent 18e9ebd35f
commit 36ea382dab
38 changed files with 939 additions and 535 deletions
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5
benchmark/curobo_benchmark.py
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@@ -210,6 +210,7 @@ def load_curobo(
trajopt_dt=0.25,
finetune_dt_scale=finetune_dt_scale,
high_precision=args.high_precision,
use_cuda_graph_trajopt_metrics=cuda_graph,
)
mg = MotionGen(motion_gen_config)
mg.warmup(enable_graph=True, warmup_js_trajopt=False, parallel_finetune=parallel_finetune)
@@ -484,7 +485,7 @@ def benchmark_mb(
start_state,
q_traj,
dt=result.interpolation_dt,
save_path=join_path("benchmark/log/usd/", problem_name) + ".usd",
save_path=join_path("benchmark/log/usd/", problem_name)[1:] + ".usd",
interpolation_steps=1,
write_robot_usd_path="benchmark/log/usd/assets/",
robot_usd_local_reference="assets/",
@@ -499,7 +500,7 @@ def benchmark_mb(
result.optimized_plan,
result.optimized_dt.item(),
title=problem_name,
save_path=join_path("benchmark/log/plot/", problem_name + ".png"),
save_path=join_path("benchmark/log/plot/", problem_name + ".png")[1:],
)
m_list.append(current_metrics)