51 lines
1.7 KiB
Python
51 lines
1.7 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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# Third Party
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import pytest
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import torch
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# CuRobo
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from curobo.geom.types import WorldConfig
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from curobo.types.base import TensorDeviceType
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from curobo.types.math import Pose
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from curobo.types.robot import JointState, RobotConfig
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from curobo.util_file import get_robot_configs_path, get_world_configs_path, join_path, load_yaml
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from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig, MotionGenPlanConfig
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@pytest.fixture(scope="module")
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def motion_gen():
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tensor_args = TensorDeviceType()
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world_file = "collision_test.yml"
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robot_file = "franka.yml"
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motion_gen_config = MotionGenConfig.load_from_robot_config(
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robot_file,
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world_file,
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tensor_args,
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trajopt_tsteps=26,
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use_cuda_graph=False,
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num_trajopt_seeds=50,
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fixed_iters_trajopt=True,
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evaluate_interpolated_trajectory=True,
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)
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motion_gen_instance = MotionGen(motion_gen_config)
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return motion_gen_instance
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def test_motion_gen_attach_obstacle(motion_gen):
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obstacle = motion_gen.world_model.objects[-1].name
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retract_cfg = motion_gen.get_retract_config()
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start_state = JointState.from_position(retract_cfg.view(1, -1))
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motion_gen.attach_objects_to_robot(start_state, [obstacle])
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assert True
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