Improved precision, quality and js planner.

tests/motion_gen_js_test.py

@@ -0,0 +1,44 @@
+#
+# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+# property and proprietary rights in and to this material, related
+# documentation and any modifications thereto. Any use, reproduction,
+# disclosure or distribution of this material and related documentation
+# without an express license agreement from NVIDIA CORPORATION or
+# its affiliates is strictly prohibited.
+#
+
+
+# Third Party
+import torch
+
+# CuRobo
+from curobo.types.robot import JointState
+from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig, MotionGenPlanConfig
+
+
+def test_motion_gen_plan_js():
+    world_file = "collision_table.yml"
+    robot_file = "ur5e.yml"
+    motion_gen_config = MotionGenConfig.load_from_robot_config(
+        robot_file,
+        world_file,
+        trajopt_tsteps=32,
+        use_cuda_graph=False,
+        num_trajopt_seeds=4,
+        fixed_iters_trajopt=True,
+        evaluate_interpolated_trajectory=True,
+    )
+    motion_gen = MotionGen(motion_gen_config)
+    motion_gen.warmup(warmup_js_trajopt=True)
+
+    retract_cfg = motion_gen.get_retract_config()
+
+    start_state = JointState.from_position(retract_cfg.view(1, -1).clone())
+    goal_state = JointState.from_position(retract_cfg.view(1, -1).clone())
+    goal_state.position[:] = torch.as_tensor(
+        [1.000, -2.2000, 1.9000, -1.3830, -1.5700, 0.0000], device=motion_gen.tensor_args.device
+    )
+    result = motion_gen.plan_single_js(start_state, goal_state, MotionGenPlanConfig(max_attempts=1))
+    assert result.success.item()