63 lines
2.1 KiB
Python
63 lines
2.1 KiB
Python
#
|
|
# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
|
|
#
|
|
# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
|
|
# property and proprietary rights in and to this material, related
|
|
# documentation and any modifications thereto. Any use, reproduction,
|
|
# disclosure or distribution of this material and related documentation
|
|
# without an express license agreement from NVIDIA CORPORATION or
|
|
# its affiliates is strictly prohibited.
|
|
#
|
|
|
|
# Third Party
|
|
import pytest
|
|
import torch
|
|
|
|
# CuRobo
|
|
from curobo.geom.types import WorldConfig
|
|
from curobo.types.base import TensorDeviceType
|
|
from curobo.types.math import Pose
|
|
from curobo.types.robot import JointState, RobotConfig
|
|
from curobo.util_file import get_robot_configs_path, get_world_configs_path, join_path, load_yaml
|
|
from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig, MotionGenPlanConfig
|
|
|
|
|
|
@pytest.fixture(scope="module")
|
|
def motion_gen():
|
|
tensor_args = TensorDeviceType()
|
|
world_file = "collision_test.yml"
|
|
robot_file = "franka.yml"
|
|
motion_gen_config = MotionGenConfig.load_from_robot_config(
|
|
robot_file,
|
|
world_file,
|
|
tensor_args,
|
|
trajopt_tsteps=26,
|
|
use_cuda_graph=False,
|
|
num_trajopt_seeds=50,
|
|
fixed_iters_trajopt=True,
|
|
evaluate_interpolated_trajectory=True,
|
|
)
|
|
motion_gen_instance = MotionGen(motion_gen_config)
|
|
return motion_gen_instance
|
|
|
|
|
|
def test_motion_gen_attach_obstacle(motion_gen):
|
|
obstacle = motion_gen.world_model.objects[-1].name
|
|
retract_cfg = motion_gen.get_retract_config()
|
|
|
|
start_state = JointState.from_position(retract_cfg.view(1, -1))
|
|
motion_gen.attach_objects_to_robot(start_state, [obstacle])
|
|
assert True
|
|
|
|
|
|
def test_motion_gen_attach_obstacle_offset(motion_gen):
|
|
obstacle = motion_gen.world_model.objects[-1].name
|
|
retract_cfg = motion_gen.get_retract_config()
|
|
|
|
start_state = JointState.from_position(retract_cfg.view(1, -1))
|
|
offset_pose = Pose.from_list([0, 0, 0.005, 1, 0, 0, 0], motion_gen.tensor_args)
|
|
motion_gen.attach_objects_to_robot(
|
|
start_state, [obstacle], world_objects_pose_offset=offset_pose
|
|
)
|
|
assert True
|