45 lines
1.6 KiB
Python
45 lines
1.6 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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# Third Party
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import torch
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# CuRobo
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from curobo.types.robot import JointState
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from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig, MotionGenPlanConfig
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def test_motion_gen_plan_js():
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world_file = "collision_table.yml"
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robot_file = "ur5e.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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trajopt_tsteps=32,
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use_cuda_graph=False,
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num_trajopt_seeds=4,
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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 = MotionGen(motion_gen_config)
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motion_gen.warmup(warmup_js_trajopt=True)
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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).clone())
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goal_state = JointState.from_position(retract_cfg.view(1, -1).clone())
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goal_state.position[:] = torch.as_tensor(
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[1.000, -2.2000, 1.9000, -1.3830, -1.5700, 0.0000], device=motion_gen.tensor_args.device
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)
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result = motion_gen.plan_single_js(start_state, goal_state, MotionGenPlanConfig(max_attempts=1))
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assert result.success.item()
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