66 lines
2.6 KiB
Python
66 lines
2.6 KiB
Python
#
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# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
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# property and proprietary rights in and to this material, related
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# documentation and any modifications thereto. Any use, reproduction,
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# disclosure or distribution of this material and related documentation
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# without an express license agreement from NVIDIA CORPORATION or
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# its affiliates is strictly prohibited.
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#
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# CuRobo
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from curobo.cuda_robot_model.cuda_robot_model import CudaRobotModel, CudaRobotModelConfig
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from curobo.cuda_robot_model.util import load_robot_yaml
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from curobo.types.file_path import ContentPath
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from curobo.types.math import Pose
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from curobo.types.robot import JointState
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from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig
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def test_xrdf_kinematics():
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robot_file = "ur10e.xrdf"
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urdf_file = "robot/ur_description/ur10e.urdf"
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content_path = ContentPath(robot_xrdf_file=robot_file, robot_urdf_file=urdf_file)
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robot_data = load_robot_yaml(content_path)
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robot_data["robot_cfg"]["kinematics"]["ee_link"] = "wrist_3_link"
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cfg = CudaRobotModelConfig.from_data_dict(robot_data["robot_cfg"]["kinematics"])
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robot = CudaRobotModel(cfg)
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q_test = robot.tensor_args.to_device([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]).view(1, -1)
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kin_pose = robot.get_state(q_test)
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expected_position = robot.tensor_args.to_device([1.1842, 0.2907, 0.0609]).view(1, -1)
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error = kin_pose.ee_pose.position - expected_position
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assert error.norm() < 0.01
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assert "link_names" not in robot_data["robot_cfg"]["kinematics"]
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def test_xrdf_motion_gen():
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robot_file = "ur10e.xrdf"
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urdf_file = "robot/ur_description/ur10e.urdf"
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content_path = ContentPath(robot_xrdf_file=robot_file, robot_urdf_file=urdf_file)
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robot_data = load_robot_yaml(content_path)
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robot_data["robot_cfg"]["kinematics"]["ee_link"] = "wrist_3_link"
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motion_gen_config = MotionGenConfig.load_from_robot_config(
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robot_data,
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"collision_table.yml",
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use_cuda_graph=True,
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ee_link_name="tool0",
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)
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motion_gen = MotionGen(motion_gen_config)
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motion_gen.warmup(warmup_js_trajopt=False)
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retract_cfg = motion_gen.get_retract_config()
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state = motion_gen.rollout_fn.compute_kinematics(
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JointState.from_position(retract_cfg.view(1, -1))
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)
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retract_pose = Pose(state.ee_pos_seq.squeeze(), quaternion=state.ee_quat_seq.squeeze())
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start_state = JointState.from_position(retract_cfg.view(1, -1) + 0.3)
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result = motion_gen.plan_single(start_state, retract_pose)
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assert result.success.item()
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