212 lines
8.7 KiB
Python
212 lines
8.7 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 torch
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# CuRobo
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from curobo.geom.sdf.world import (
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CollisionQueryBuffer,
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WorldCollisionConfig,
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WorldPrimitiveCollision,
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)
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from curobo.geom.sdf.world_mesh import WorldMeshCollision
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from curobo.geom.types import Cuboid, 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.util_file import get_world_configs_path, join_path, load_yaml
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def test_world_primitive():
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# load a world:
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tensor_args = TensorDeviceType()
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world_file = "collision_test.yml"
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data_dict = load_yaml(join_path(get_world_configs_path(), world_file))
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world_cfg = WorldConfig.from_dict(data_dict)
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coll_cfg = WorldCollisionConfig(world_model=world_cfg, tensor_args=TensorDeviceType())
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coll_check = WorldPrimitiveCollision(coll_cfg)
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x_sph = torch.as_tensor(
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[[0.0, 0.0, 0.0, 0.1], [10.0, 0.0, 0.0, 0.0], [0.01, 0.01, 0.0, 0.1]], **vars(tensor_args)
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).view(1, 1, -1, 4)
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# create buffers:
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query_buffer = CollisionQueryBuffer.initialize_from_shape(
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x_sph.shape, tensor_args, coll_check.collision_types
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)
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weight = tensor_args.to_device([1])
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act_distance = tensor_args.to_device([0.0])
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d_sph = coll_check.get_sphere_distance(x_sph, query_buffer, weight, act_distance).view(-1)
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assert abs(d_sph[0].item() - 0.1) < 1e-3
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assert abs(d_sph[1].item() - 0.0) < 1e-9
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assert abs(d_sph[2].item() - 0.1) < 1e-3
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def test_batch_world_primitive():
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"""This tests collision checking across different environments"""
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tensor_args = TensorDeviceType()
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world_file = "collision_test.yml"
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data_dict = load_yaml(join_path(get_world_configs_path(), world_file))
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world_cfg = WorldConfig.from_dict(data_dict)
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coll_cfg = WorldCollisionConfig(world_model=world_cfg, tensor_args=TensorDeviceType())
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coll_check = WorldPrimitiveCollision(coll_cfg)
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x_sph = torch.as_tensor(
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[[0.0, 0.0, 0.0, 0.1], [10.0, 0.0, 0.0, 0.0], [0.01, 0.01, 0.0, 0.1]], **vars(tensor_args)
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).view(-1, 1, 1, 4)
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env_query_idx = torch.zeros((x_sph.shape[0]), device=tensor_args.device, dtype=torch.int32)
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# create buffers:
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query_buffer = CollisionQueryBuffer.initialize_from_shape(
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x_sph.shape, tensor_args, coll_check.collision_types
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)
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act_distance = tensor_args.to_device([0.0])
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weight = tensor_args.to_device([1])
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d_sph = coll_check.get_sphere_distance(
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x_sph, query_buffer, weight, act_distance, env_query_idx
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).view(-1)
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assert abs(d_sph[0].item() - 0.1) < 1e-3
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assert abs(d_sph[1].item() - 0.0) < 1e-9
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assert abs(d_sph[2].item() - 0.1) < 1e-3
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def test_swept_world_primitive():
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"""This tests collision checking across different environments"""
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tensor_args = TensorDeviceType()
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world_file = "collision_test.yml"
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data_dict = load_yaml(join_path(get_world_configs_path(), world_file))
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world_cfg = WorldConfig.from_dict(data_dict)
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coll_cfg = WorldCollisionConfig(world_model=world_cfg, tensor_args=TensorDeviceType())
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coll_cfg.cache = {"obb": 5}
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coll_check = WorldPrimitiveCollision(coll_cfg)
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# add an obstacle:
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new_cube = Cuboid("cube_1", [0, 0, 1, 1, 0, 0, 0], None, [0.1, 0.2, 0.2])
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coll_check.add_obb(new_cube, 0)
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x_sph = torch.as_tensor(
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[[0.0, 0.0, 0.0, 0.1], [10.0, 0.0, 0.0, 0.0], [0.01, 0.01, 0.0, 0.1]], **vars(tensor_args)
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).view(1, 1, -1, 4)
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env_query_idx = None
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env_query_idx = torch.zeros((x_sph.shape[0]), device=tensor_args.device, dtype=torch.int32)
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# create buffers:
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query_buffer = CollisionQueryBuffer.initialize_from_shape(
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x_sph.shape, tensor_args, coll_check.collision_types
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)
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weight = tensor_args.to_device([1])
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act_distance = tensor_args.to_device([0.0])
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dt = act_distance.clone()
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d_sph_swept = coll_check.get_swept_sphere_distance(
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x_sph, query_buffer, weight, act_distance, dt, 10, env_query_idx
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).view(-1)
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d_sph = coll_check.get_sphere_distance(
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x_sph, query_buffer.clone() * 0.0, weight, act_distance, env_query_idx
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).view(-1)
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assert abs(d_sph[0].item() - 0.1) < 1e-3
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assert abs(d_sph[1].item() - 0.0) < 1e-9
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assert abs(d_sph[2].item() - 0.1) < 1e-3
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assert abs(d_sph_swept[0].item() - 0.1) < 1e-3
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assert abs(d_sph_swept[1].item() - 0.0) < 1e-9
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assert abs(d_sph_swept[2].item() - 0.1) < 1e-3
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def test_world_primitive_mesh_instance():
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# load a world:
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tensor_args = TensorDeviceType()
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world_file = "collision_test.yml"
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data_dict = load_yaml(join_path(get_world_configs_path(), world_file))
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world_cfg = WorldConfig.from_dict(data_dict)
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coll_cfg = WorldCollisionConfig(world_model=world_cfg, tensor_args=TensorDeviceType())
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coll_check = WorldMeshCollision(coll_cfg)
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x_sph = torch.as_tensor(
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[[0.0, 0.0, 0.0, 0.1], [10.0, 0.0, 0.0, 0.0], [0.01, 0.01, 0.0, 0.1]], **vars(tensor_args)
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).view(1, 1, -1, 4)
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# create buffers:
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query_buffer = CollisionQueryBuffer.initialize_from_shape(
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x_sph.shape, tensor_args, coll_check.collision_types
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)
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act_distance = tensor_args.to_device([0.0])
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weight = tensor_args.to_device([1])
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d_sph = coll_check.get_sphere_distance(x_sph, query_buffer, weight, act_distance).view(-1)
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assert abs(d_sph[0].item() - 0.1) < 1e-3
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assert abs(d_sph[1].item() - 0.0) < 1e-9
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assert abs(d_sph[2].item() - 0.1) < 1e-3
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def test_batch_world_primitive_mesh_instance():
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"""This tests collision checking across different environments"""
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tensor_args = TensorDeviceType()
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world_file = "collision_test.yml"
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data_dict = load_yaml(join_path(get_world_configs_path(), world_file))
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world_cfg = WorldConfig.from_dict(data_dict)
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coll_cfg = WorldCollisionConfig(world_model=world_cfg, tensor_args=TensorDeviceType())
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coll_check = WorldMeshCollision(coll_cfg)
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x_sph = torch.as_tensor(
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[[0.0, 0.0, 0.0, 0.1], [10.0, 0.0, 0.0, 0.0], [0.01, 0.01, 0.0, 0.1]], **vars(tensor_args)
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).view(-1, 1, 1, 4)
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env_query_idx = torch.zeros((x_sph.shape[0]), device=tensor_args.device, dtype=torch.int32)
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# create buffers:
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query_buffer = CollisionQueryBuffer.initialize_from_shape(
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x_sph.shape, tensor_args, coll_check.collision_types
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)
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weight = tensor_args.to_device([1])
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act_distance = tensor_args.to_device([0.0])
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d_sph = coll_check.get_sphere_distance(
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x_sph, query_buffer, weight, act_distance, env_query_idx
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).view(-1)
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assert abs(d_sph[0].item() - 0.1) < 1e-3
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assert abs(d_sph[1].item() - 0.0) < 1e-9
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assert abs(d_sph[2].item() - 0.1) < 1e-3
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def test_swept_world_primitive_mesh_instance():
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"""This tests collision checking across different environments"""
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tensor_args = TensorDeviceType()
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world_file = "collision_test.yml"
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data_dict = load_yaml(join_path(get_world_configs_path(), world_file))
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world_cfg = WorldConfig.from_dict(data_dict)
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coll_cfg = WorldCollisionConfig(world_model=world_cfg, tensor_args=TensorDeviceType())
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coll_cfg.cache = {"obb": 5}
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coll_check = WorldMeshCollision(coll_cfg)
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# add an obstacle:
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dims = tensor_args.to_device([0.1, 0.2, 0.2])
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w_obj_pose = Pose.from_list([0, 0, 1, 1, 0, 0, 0], tensor_args)
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coll_check.add_obb_from_raw("cube_1", dims, 0, w_obj_pose=w_obj_pose)
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x_sph = torch.as_tensor(
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[[0.0, 0.0, 0.0, 0.1], [10.0, 0.0, 0.0, 0.0], [0.01, 0.01, 0.0, 0.1]], **vars(tensor_args)
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).view(1, 1, -1, 4)
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env_query_idx = None
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env_query_idx = torch.zeros((x_sph.shape[0]), device=tensor_args.device, dtype=torch.int32)
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# create buffers:
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query_buffer = CollisionQueryBuffer.initialize_from_shape(
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x_sph.shape, tensor_args, coll_check.collision_types
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)
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weight = tensor_args.to_device([1])
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act_distance = tensor_args.to_device([0.0])
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dt = act_distance.clone() + 0.01
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d_sph_swept = coll_check.get_swept_sphere_distance(
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x_sph, query_buffer, weight, act_distance, dt, 10, env_query_idx
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).view(-1)
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d_sph = coll_check.get_sphere_distance(
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x_sph, query_buffer.clone() * 0.0, weight, act_distance, env_query_idx
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).view(-1)
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assert abs(d_sph[0].item() - 0.1) < 1e-3
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assert abs(d_sph[1].item() - 0.0) < 1e-9
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assert abs(d_sph[2].item() - 0.1) < 1e-3
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assert abs(d_sph_swept[0].item() - 0.1) < 1e-3
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assert abs(d_sph_swept[1].item() - 0.0) < 1e-9
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assert abs(d_sph_swept[2].item() - 0.1) < 1e-3
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