hofee/gen_data_curobo
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Improved precision, quality and js planner.

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This commit is contained in:
Balakumar Sundaralingam
2024-04-11 13:19:01 -07:00
parent 774dcfd609
commit d6e600c88c
51 changed files with 2128 additions and 1054 deletions
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17
examples/usd_example.py
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@@ -51,14 +51,13 @@ def get_trajectory(robot_file="franka.yml", dt=1.0 / 60.0):
robot_file,
world_file,
tensor_args,
trajopt_tsteps=24,
trajopt_tsteps=32,
collision_checker_type=CollisionCheckerType.PRIMITIVE,
use_cuda_graph=True,
num_trajopt_seeds=2,
num_graph_seeds=2,
evaluate_interpolated_trajectory=True,
interpolation_dt=dt,
self_collision_check=True,
)
motion_gen = MotionGen(motion_gen_config)
motion_gen.warmup()
@@ -70,13 +69,15 @@ def get_trajectory(robot_file="franka.yml", dt=1.0 / 60.0):
)
retract_pose = Pose(state.ee_pos_seq.squeeze(), quaternion=state.ee_quat_seq.squeeze())
start_state = JointState.from_position(retract_cfg.view(1, -1).clone() + 0.5)
start_state = JointState.from_position(retract_cfg.view(1, -1).clone())
start_state.position[..., :-2] += 0.5
result = motion_gen.plan_single(start_state, retract_pose)
traj = result.get_interpolated_plan() # optimized plan
return traj
def save_curobo_robot_world_to_usd(robot_file="franka.yml"):
print(robot_file)
tensor_args = TensorDeviceType()
world_file = "collision_test.yml"
world_model = WorldConfig.from_dict(
@@ -87,16 +88,18 @@ def save_curobo_robot_world_to_usd(robot_file="franka.yml"):
q_traj = get_trajectory(robot_file, dt)
if q_traj is not None:
q_start = q_traj[0]
UsdHelper.write_trajectory_animation_with_robot_usd(
robot_file,
world_model,
q_start,
q_traj,
save_path="test.usda",
save_path="test.usd",
robot_color=[0.5, 0.5, 0.2, 1.0],
base_frame="/grid_world_1",
flatten_usd=True,
)
else:
print("failed")
def save_curobo_robot_to_usd(robot_file="franka.yml"):
@@ -241,5 +244,5 @@ def save_log_motion_gen(robot_file: str = "franka.yml"):
if __name__ == "__main__":
# save_curobo_world_to_usd()
setup_curobo_logger("error")
save_log_motion_gen("franka.yml")
# save_curobo_robot_world_to_usd("franka.yml")
# save_log_motion_gen("franka.yml")
save_curobo_robot_world_to_usd("ur5e_robotiq_2f_140.yml")