76 lines
2.7 KiB
Python
76 lines
2.7 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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# CuRobo
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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, join_path, load_yaml
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from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig
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from curobo.wrap.reacher.mpc import MpcSolver, MpcSolverConfig
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def test_motion_gen_mpc():
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tensor_args = TensorDeviceType()
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world_file = "collision_test.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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tensor_args,
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use_cuda_graph=True,
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)
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motion_gen = MotionGen(motion_gen_config)
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robot_cfg = load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
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robot_cfg = RobotConfig.from_dict(robot_cfg, tensor_args)
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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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motion_gen.warmup(warmup_js_trajopt=False)
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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) + 0.5)
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tensor_args = TensorDeviceType()
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robot_cfg = load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
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robot_cfg = RobotConfig.from_dict(robot_cfg, tensor_args)
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world_file = "collision_test.yml"
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if True:
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new_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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use_cuda_graph=True,
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)
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new_motion_gen = MotionGen(new_motion_gen_config)
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new_motion_gen.warmup()
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if True:
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mpc_config = MpcSolverConfig.load_from_robot_config(
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robot_file,
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world_file,
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use_cuda_graph=True,
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use_cuda_graph_metrics=False,
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use_cuda_graph_full_step=False,
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)
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mpc = MpcSolver(mpc_config)
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retract_cfg = robot_cfg.cspace.retract_config.view(1, -1)
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result = motion_gen.plan(start_state, retract_pose, enable_graph=False)
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assert result.success
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result = new_motion_gen.plan(start_state, retract_pose, enable_graph=False)
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assert result.success
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