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Significantly improved convergence for mesh and cuboid, new ESDF collision.

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This commit is contained in:
Balakumar Sundaralingam
2024-03-18 11:19:48 -07:00
parent 286b3820a5
commit b1f63e8778
100 changed files with 7587 additions and 2589 deletions
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25
tests/nvblox_test.py
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@@ -17,9 +17,11 @@ import pytest
import torch
# CuRobo
from curobo.geom.sdf.world import CollisionQueryBuffer, WorldCollisionConfig
from curobo.geom.types import Cuboid, WorldConfig
from curobo.geom.sdf.world import CollisionCheckerType, CollisionQueryBuffer, WorldCollisionConfig
from curobo.geom.types import BloxMap, Cuboid, WorldConfig
from curobo.types.base import TensorDeviceType
from curobo.types.camera import CameraObservation
from curobo.types.math import Pose
from curobo.util_file import get_world_configs_path, join_path, load_yaml
try:
@@ -41,7 +43,8 @@ def test_world_blox_trajectory():
coll_cfg = WorldCollisionConfig(world_model=world_cfg, tensor_args=TensorDeviceType())
coll_check = WorldBloxCollision(coll_cfg)
x_sph = torch.as_tensor(
[[0.1, 0.2, 0.0, 10.5], [10.0, 0.0, 0.0, 0.0], [0.01, 0.01, 0.0, 0.1]], **vars(tensor_args)
[[0.1, 0.2, 0.0, 10.5], [10.0, 0.0, 0.0, 0.0], [0.01, 0.01, 0.0, 0.1]],
**(tensor_args.as_torch_dict())
).view(1, -1, 1, 4)
# create buffers:
query_buffer = CollisionQueryBuffer.initialize_from_shape(
@@ -66,7 +69,8 @@ def test_world_blox():
coll_cfg = WorldCollisionConfig(world_model=world_cfg, tensor_args=TensorDeviceType())
coll_check = WorldBloxCollision(coll_cfg)
x_sph = torch.as_tensor(
[[0.1, 0.2, 0.0, 10.5], [10.0, 0.0, 0.0, 0.0], [0.01, 0.01, 0.0, 0.1]], **vars(tensor_args)
[[0.1, 0.2, 0.0, 10.5], [10.0, 0.0, 0.0, 0.0], [0.01, 0.01, 0.0, 0.1]],
**(tensor_args.as_torch_dict())
).view(1, 1, -1, 4)
# create buffers:
query_buffer = CollisionQueryBuffer.initialize_from_shape(
@@ -116,15 +120,12 @@ def test_nvblox_world_from_primitive_world():
data_dict = load_yaml(join_path(get_world_configs_path(), world_file))
world_cfg = WorldConfig.from_dict(data_dict).get_mesh_world(True)
mesh = world_cfg.mesh[0].get_trimesh_mesh()
# world_cfg.mesh[0].save_as_mesh("world.obj")
# Third Party
from nvblox_torch.datasets.mesh_dataset import MeshDataset
# CuRobo
from curobo.geom.sdf.world import CollisionCheckerType
from curobo.geom.types import BloxMap
from curobo.types.camera import CameraObservation
from curobo.types.math import Pose
try:
# Third Party
from nvblox_torch.datasets.mesh_dataset import MeshDataset
except ImportError:
pytest.skip("pyrender and scikit-image is not installed")
# create a nvblox collision checker:
world_config = WorldConfig(