hofee/gen_data_curobo
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

update to 0.6.2

Browse Source
This commit is contained in:
Balakumar Sundaralingam
2023-12-15 02:01:33 -08:00
parent d85ae41fba
commit 58958bbcce
105 changed files with 2514 additions and 934 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
benchmark/curobo_nvblox_profile.py
View File

@@ -17,6 +17,7 @@ from typing import Any, Dict, List
import numpy as np
import torch
import torch.autograd.profiler as profiler
from nvblox_torch.datasets.sun3d_dataset import Sun3dDataset
from robometrics.datasets import demo_raw
from torch.profiler import ProfilerActivity, profile, record_function
from tqdm import tqdm
@@ -55,7 +56,7 @@ from curobo.types.camera import CameraObservation
def load_curobo(n_cubes: int, enable_log: bool = False):
robot_cfg = load_yaml(join_path(get_robot_configs_path(), "franka.yml"))["robot_cfg"]
robot_cfg["kinematics"]["collision_sphere_buffer"] = -0.015
robot_cfg["kinematics"]["collision_sphere_buffer"] = -0.0
motion_gen_config = MotionGenConfig.load_from_robot_config(
robot_cfg,
"collision_nvblox_online.yml",
@@ -67,7 +68,6 @@ def load_curobo(n_cubes: int, enable_log: bool = False):
num_ik_seeds=30,
num_trajopt_seeds=12,
interpolation_dt=0.02,
# grad_trajopt_iters=200,
store_ik_debug=enable_log,
store_trajopt_debug=enable_log,
)
@@ -85,7 +85,7 @@ def benchmark_mb(write_usd=False, save_log=False):
spheres = load_yaml(join_path(get_robot_configs_path(), spheres))["collision_spheres"]
plan_config = MotionGenPlanConfig(
max_attempts=2,
max_attempts=1,
enable_graph_attempt=3,
enable_finetune_trajopt=True,
partial_ik_opt=False,
@@ -107,7 +107,7 @@ def benchmark_mb(write_usd=False, save_log=False):
n_cubes = check_problems(scene_problems)
mg = load_curobo(n_cubes, save_log)
m_list = []
i = 0
i = 1
for problem in tqdm(scene_problems, leave=False):
q_start = problem["start"]
pose = (
@@ -124,9 +124,13 @@ def benchmark_mb(write_usd=False, save_log=False):
mg.clear_world_cache()
obs = []
# get camera_observations:
m_dataset = MeshDataset(
None, n_frames=200, image_size=640, save_data_dir=None, trimesh_mesh=mesh
)
save_path = "benchmark/log/nvblox/" + key + "_" + str(i)
m_dataset = Sun3dDataset(save_path)
# m_dataset = MeshDataset(
# None, n_frames=200, image_size=640, save_data_dir=None, trimesh_mesh=mesh
# )
obs = []
tensor_args = mg.tensor_args
for j in range(len(m_dataset)):
@@ -158,7 +162,7 @@ def benchmark_mb(write_usd=False, save_log=False):
plan_config,
)
print("Exporting the trace..")
prof.export_chrome_trace("log/trace/trajopt_global_nvblox.json")
prof.export_chrome_trace("benchmark/log/trace/motion_gen_nvblox.json")
print(result.success, result.status)
exit()