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Add use_link_poses to motion_gen warmup #266

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Add use_link_poses to motion_gen warmup #266

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15 changes: 11 additions & 4 deletions src/curobo/wrap/reacher/motion_gen.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1757,6 +1757,7 @@ def warmup(
n_goalset: int = -1,
warmup_joint_index: int = 0,
warmup_joint_delta: float = 0.1,
use_link_poses: bool = False,
):
"""Warmup planning methods for motion generation.

Expand All @@ -1774,6 +1775,8 @@ def warmup(
and the method will internally pad the extra goals with the first goal.
warmup_joint_index: Index of the joint to perturb for warmup.
warmup_joint_delta: Delta to perturb the joint for warmup.
use_link_poses: Use poses of other links for warmup. This is needed when you will be
using link_poses to plan for multiple links in the robot.
"""
log_info("Warmup")
if warmup_js_trajopt:
Expand Down Expand Up @@ -1817,7 +1820,7 @@ def warmup(
enable_finetune_trajopt=True,
parallel_finetune=parallel_finetune,
),
link_poses=link_poses,
link_poses=link_poses if use_link_poses else None,
)

self.plan_single(
Expand All @@ -1829,7 +1832,7 @@ def warmup(
enable_graph=enable_graph,
parallel_finetune=parallel_finetune,
),
link_poses=link_poses,
link_poses=link_poses if use_link_poses else None,
)
else:
retract_pose = Pose(
Expand All @@ -1846,7 +1849,7 @@ def warmup(
enable_finetune_trajopt=True,
parallel_finetune=parallel_finetune,
),
link_poses=link_poses,
link_poses=link_poses if use_link_poses else None,
)

self.plan_goalset(
Expand All @@ -1858,7 +1861,7 @@ def warmup(
enable_graph=enable_graph,
parallel_finetune=parallel_finetune,
),
link_poses=link_poses,
link_poses=link_poses if use_link_poses else None,
)

else:
Expand All @@ -1884,6 +1887,7 @@ def warmup(
enable_graph=False,
enable_graph_attempt=None,
),
link_poses=link_poses if use_link_poses else None,
)
else:
self.plan_batch(
Expand All @@ -1895,6 +1899,7 @@ def warmup(
enable_graph=enable_graph,
enable_graph_attempt=None if not enable_graph else 20,
),
link_poses=link_poses if use_link_poses else None,
)
else:
retract_pose = Pose(
Expand All @@ -1914,6 +1919,7 @@ def warmup(
enable_finetune_trajopt=True,
enable_graph=False,
),
link_poses=link_poses if use_link_poses else None,
)
else:
self.plan_batch_goalset(
Expand All @@ -1925,6 +1931,7 @@ def warmup(
enable_graph=enable_graph,
enable_graph_attempt=None if not enable_graph else 20,
),
link_poses=link_poses if use_link_poses else None,
)

log_info("Warmup complete")
Expand Down