69 lines
2.3 KiB
Python
69 lines
2.3 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.types.robot import JointState
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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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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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)
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motion_gen_instance = MotionGen(motion_gen_config)
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motion_gen_instance.warmup(warmup_js_trajopt=True)
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return motion_gen_instance
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def test_motion_gen_plan_js(motion_gen):
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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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@pytest.mark.parametrize(
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"motion_gen_str, delta",
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[
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("motion_gen", 0.1),
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("motion_gen", 0.2),
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("motion_gen", 0.3),
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("motion_gen", 0.4),
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("motion_gen", 0.5),
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],
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)
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def test_motion_gen_plan_js_delta(motion_gen_str, delta, request):
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motion_gen = request.getfixturevalue(motion_gen_str)
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start_state = JointState.from_position(
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motion_gen.get_retract_config().view(1, -1).clone(),
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joint_names=motion_gen.joint_names,
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)
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goal_state = JointState.from_position(
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motion_gen.get_retract_config().view(1, -1).clone() + delta,
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joint_names=motion_gen.joint_names,
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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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