121 lines
3.4 KiB
Python
121 lines
3.4 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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# Standard Library
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# CuRobo
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# CuRobo
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from curobo.geom.sdf.world import CollisionCheckerType
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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, MotionGenPlanConfig
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def plot_traj(trajectory):
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# Third Party
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import matplotlib.pyplot as plt
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_, axs = plt.subplots(1, 1)
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q = trajectory
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for i in range(q.shape[-1]):
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axs.plot(q[:, i], label=str(i))
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plt.legend()
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plt.show()
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def plot_iters_traj(trajectory, d_id=1, dof=7, seed=0):
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# Third Party
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import matplotlib.pyplot as plt
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_, axs = plt.subplots(len(trajectory), 1)
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if len(trajectory) == 1:
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axs = [axs]
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for k in range(len(trajectory)):
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q = trajectory[k]
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for i in range(len(q)):
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axs[k].plot(
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q[i][seed, :-1, d_id].cpu(),
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"r+-",
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label=str(i),
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alpha=0.1 + min(0.9, float(i) / (len(q))),
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)
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plt.legend()
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plt.show()
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def plot_iters_traj_3d(trajectory, d_id=1, dof=7, seed=0):
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# Third Party
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import matplotlib.pyplot as plt
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ax = plt.axes(projection="3d")
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c = 0
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h = trajectory[0][0].shape[1] - 1
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x = [x for x in range(h)]
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for k in range(len(trajectory)):
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q = trajectory[k]
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for i in range(len(q)):
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# ax.plot3D(x,[c for _ in range(h)], q[i][seed, :, d_id].cpu())#, 'r')
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ax.scatter3D(
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x, [c for _ in range(h)], q[i][seed, :h, d_id].cpu(), c=q[i][seed, :, d_id].cpu()
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)
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# @plt.show()
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c += 1
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# plt.legend()
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plt.show()
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def demo_motion_gen_nvblox():
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PLOT = True
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tensor_args = TensorDeviceType()
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world_file = "collision_nvblox.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=32,
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collision_checker_type=CollisionCheckerType.BLOX,
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use_cuda_graph=False,
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num_trajopt_seeds=2,
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num_graph_seeds=2,
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evaluate_interpolated_trajectory=True,
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)
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goals = tensor_args.to_device(
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[
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[0.5881, 0.0589, 0.3055],
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[0.5881, 0.4155, 0.3055],
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[0.5881, 0.4155, 0.1238],
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[0.5881, -0.4093, 0.1238],
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[0.7451, 0.0287, 0.2539],
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]
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).view(-1, 3)
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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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motion_gen.warmup()
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print("ready")
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# print("Trajectory Generated: ", result.success)
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# if PLOT:
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# plot_traj(traj.cpu().numpy())
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if __name__ == "__main__":
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demo_motion_gen_nvblox()
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