100 lines
3.8 KiB
Python
100 lines
3.8 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.
|
|
#
|
|
|
|
|
|
# CuRobo
|
|
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, join_path, load_yaml
|
|
from curobo.wrap.reacher.motion_gen import MotionGen, MotionGenConfig
|
|
|
|
|
|
def test_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=40,
|
|
use_cuda_graph=True,
|
|
)
|
|
motion_gen = MotionGen(motion_gen_config)
|
|
robot_cfg = load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
|
|
robot_cfg = RobotConfig.from_dict(robot_cfg, tensor_args)
|
|
|
|
retract_cfg = motion_gen.get_retract_config()
|
|
state = motion_gen.rollout_fn.compute_kinematics(
|
|
JointState.from_position(retract_cfg.view(1, -1))
|
|
)
|
|
|
|
retract_pose = Pose(state.ee_pos_seq.squeeze(), quaternion=state.ee_quat_seq.squeeze())
|
|
start_state = JointState.from_position(retract_cfg.view(1, -1) + 0.5)
|
|
result = motion_gen.plan(start_state, retract_pose, enable_graph=False)
|
|
assert result.success.item()
|
|
|
|
|
|
def test_motion_gen_attach_object():
|
|
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=40,
|
|
use_cuda_graph=True,
|
|
)
|
|
motion_gen = MotionGen(motion_gen_config)
|
|
robot_cfg = load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
|
|
robot_cfg = RobotConfig.from_dict(robot_cfg, tensor_args)
|
|
|
|
retract_cfg = motion_gen.get_retract_config()
|
|
state = motion_gen.rollout_fn.compute_kinematics(
|
|
JointState.from_position(retract_cfg.view(1, -1))
|
|
)
|
|
|
|
retract_pose = Pose(state.ee_pos_seq.squeeze(), quaternion=state.ee_quat_seq.squeeze())
|
|
start_state = JointState.from_position(retract_cfg.view(1, -1) + 0.5)
|
|
result = motion_gen.plan(start_state, retract_pose, enable_graph=False)
|
|
assert result.success.item()
|
|
|
|
motion_gen.attach_spheres_to_robot(sphere_radius=0.03)
|
|
result = motion_gen.plan(start_state, retract_pose, enable_graph=False)
|
|
assert result.success.item()
|
|
|
|
|
|
def test_motion_gen_graph():
|
|
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=40
|
|
)
|
|
motion_gen = MotionGen(motion_gen_config)
|
|
motion_gen.reset()
|
|
robot_cfg = load_yaml(join_path(get_robot_configs_path(), robot_file))["robot_cfg"]
|
|
robot_cfg = RobotConfig.from_dict(robot_cfg, tensor_args)
|
|
retract_cfg = motion_gen.get_retract_config()
|
|
state = motion_gen.rollout_fn.compute_kinematics(
|
|
JointState.from_position(retract_cfg.view(1, -1))
|
|
)
|
|
|
|
retract_pose = Pose(state.ee_pos_seq.squeeze(), quaternion=state.ee_quat_seq.squeeze())
|
|
start_state = JointState.from_position(retract_cfg.view(1, -1) + 0.1)
|
|
start_state.position[:, 0] = 2.0
|
|
result = motion_gen.plan(
|
|
start_state, retract_pose, enable_graph=True, partial_ik_opt=False, enable_opt=False
|
|
)
|
|
assert result.success.item()
|