From 7ac85d2e033599106e896a1dec472c2aea13bccd Mon Sep 17 00:00:00 2001 From: Sai Date: Fri, 20 Feb 2026 10:36:59 -0500 Subject: [PATCH 1/2] Added ur5 support --- scripts/evaluate_mbm.cpp | 4 +- scripts/single_mbm.cpp | 4 +- src/planning/Robots.hh | 46 +++ src/planning/pRRTC.cu | 3 +- src/robots/ur5.cuh | 743 +++++++++++++++++++++++++++++++++++++++ 5 files changed, 797 insertions(+), 3 deletions(-) create mode 100644 src/robots/ur5.cuh diff --git a/scripts/evaluate_mbm.cpp b/scripts/evaluate_mbm.cpp index 4d4b5de..a6516df 100644 --- a/scripts/evaluate_mbm.cpp +++ b/scripts/evaluate_mbm.cpp @@ -185,8 +185,10 @@ int main(int argc, char* argv[]) { run_planning(problems, settings, run_name, robot_name); } else if (robot_name == "baxter") { run_planning(problems, settings, run_name, robot_name); + } else if (robot_name == "ur5") { + run_planning(problems, settings, run_name, robot_name); } else { std::cerr << "Unsupported robot type: " << robot_name << "\n"; return 1; } -} \ No newline at end of file +} diff --git a/scripts/single_mbm.cpp b/scripts/single_mbm.cpp index 4437231..932e849 100644 --- a/scripts/single_mbm.cpp +++ b/scripts/single_mbm.cpp @@ -144,8 +144,10 @@ int main(int argc, char* argv[]) { run_planner(data, env, settings); } else if (robot_name == "baxter") { run_planner(data, env, settings); + } else if (robot_name == "ur5") { + run_planner(data, env, settings); } else { std::cerr << "Unsupported robot type: " << robot_name << "\n"; return 1; } -} \ No newline at end of file +} diff --git a/src/planning/Robots.hh b/src/planning/Robots.hh index 733ecd2..cb4ec9e 100644 --- a/src/planning/Robots.hh +++ b/src/planning/Robots.hh @@ -235,4 +235,50 @@ namespace ppln::robots { scale_cfg_impl(q); } }; + + + + + + struct Ur5{ + + static constexpr auto name = "ur5"; + static constexpr std::size_t dimension = 6; + using Configuration = std::array; + + __device__ static constexpr float get_s_m(int i) { + constexpr float values[] = { + 6.2831854820251465, 6.2831854820251465, 6.2831854820251465, 6.2831854820251465, 6.2831854820251465, 6.2831854820251465 + }; + return values[i]; + } + + __device__ static constexpr float get_s_a(int i) { + constexpr float values[] = { + -3.1415927410125732, -3.1415927410125732, -3.1415927410125732, -3.1415927410125732, -3.1415927410125732, -3.1415927410125732 + }; + return values[i]; + } + + template + __device__ __forceinline__ static void scale_cfg_impl(float *q) + { + if constexpr (I < dimension) { + q[I] = q[I] * get_s_m(I) + get_s_a(I); + scale_cfg_impl(q); + } + } + + __device__ __forceinline__ static void scale_cfg(float *q) + { + scale_cfg_impl(q); + } + + inline static void print_robot_config(Configuration &cfg) { + for (int i = 0; i < dimension; i++) { + std::cout << cfg[i] << ' '; + } + std::cout << '\n'; + }; + }; } \ No newline at end of file diff --git a/src/planning/pRRTC.cu b/src/planning/pRRTC.cu index a572b0c..d257a33 100644 --- a/src/planning/pRRTC.cu +++ b/src/planning/pRRTC.cu @@ -6,6 +6,7 @@ #include "src/robots/panda.cuh" #include "src/robots/fetch.cuh" #include "src/robots/baxter.cuh" +#include "src/robots/ur5.cuh" #include #include @@ -926,5 +927,5 @@ namespace pRRTC { template PlannerResult solve(std::array&, std::vector>&, ppln::collision::Environment&, pRRTC_settings&); template PlannerResult solve(std::array&, std::vector>&, ppln::collision::Environment&, pRRTC_settings&); template PlannerResult solve(std::array&, std::vector>&, ppln::collision::Environment&, pRRTC_settings&); - + template PlannerResult solve(std::array&, std::vector>&, ppln::collision::Environment&, pRRTC_settings&); } diff --git a/src/robots/ur5.cuh b/src/robots/ur5.cuh new file mode 100644 index 0000000..377751b --- /dev/null +++ b/src/robots/ur5.cuh @@ -0,0 +1,743 @@ +namespace ppln::collision { + + + + + +#define UR5_APPROX_SPHERE_COUNT 17 +#define UR5_APPROX_JOINT_COUNT 7 +#define UR5_APPROX_SELF_CC_RANGE_COUNT 5 +#define FIXED -1 +#define X_PRISM 0 +#define Y_PRISM 1 +#define Z_PRISM 2 +#define X_ROT 3 +#define Y_ROT 4 +#define Z_ROT 5 +#define BATCH_SIZE 16 + +__device__ __constant__ float4 ur5_approx_spheres_array[17] = { + { 0.0f, 0.0f, 0.9144f, 0.08f }, + { 0.0f, 0.0f, 0.0f, 0.08f }, + { 0.0f, 0.0f, 0.21f, 0.29f }, + { 0.002f, 0.003f, 0.185f, 0.265f }, + { 0.0f, 0.09f, 0.0f, 0.07f }, + { 0.0f, 0.0f, 0.09f, 0.07f }, + { 0.0f, 0.06f, 0.0f, 0.04f }, + { 1.6e-05f, 0.0973f, 0.0f, 0.04f }, + { -3.2e-05f, 0.1573f, 0.000532f, 0.06f }, + { 0.032629f, 0.206633f, 0.000571f, 0.02f }, + { 0.047184f, 0.245142f, 0.000602f, 0.033f }, + { 0.030551f, 0.180116f, 0.00055f, 0.02f }, + { 0.062228f, 0.198208f, 0.000564f, 0.035f }, + { -0.032771f, 0.206581f, 0.000571f, 0.02f }, + { -0.046908f, 0.245428f, 0.000602f, 0.033f }, + { -0.030651f, 0.180068f, 0.00055f, 0.02f }, + { -0.062375f, 0.198441f, 0.000565f, 0.035f } +}; + +__device__ __constant__ float ur5_approx_fixed_transforms[] = { + // joint 0 + 1.0, 0.0, 0.0, 0.0, + 0.0, 1.0, 0.0, 0.0, + 0.0, 0.0, 1.0, 0.0, + 0.0, 0.0, 0.0, 1.0, + + // joint 1 + 0.000796, -1.0, 0.0, 0.0, + 1.0, 0.000796, 0.0, 0.0, + 0.0, 0.0, 1.0, 1.003559, + 0.0, 0.0, 0.0, 1.0, + + // joint 2 + 0.0, 0.0, 1.0, 0.0, + 0.0, 1.0, 0.0, 0.13585, + -1.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 1.0, + + // joint 3 + 1.0, 0.0, 0.0, 0.0, + 0.0, 1.0, 0.0, -0.1197, + 0.0, 0.0, 1.0, 0.425, + 0.0, 0.0, 0.0, 1.0, + + // joint 4 + 0.0, 0.0, 1.0, 0.0, + 0.0, 1.0, 0.0, 0.0, + -1.0, 0.0, 0.0, 0.39225, + 0.0, 0.0, 0.0, 1.0, + + // joint 5 + 1.0, 0.0, 0.0, 0.0, + 0.0, 1.0, 0.0, 0.093, + 0.0, 0.0, 1.0, 0.0, + 0.0, 0.0, 0.0, 1.0, + + // joint 6 + 1.0, 0.0, 0.0, 0.0, + 0.0, 1.0, 0.0, 0.0, + 0.0, 0.0, 1.0, 0.09465, + 0.0, 0.0, 0.0, 1.0, + + +}; + +__device__ __constant__ int ur5_approx_sphere_to_joint[17] = { + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6 +}; + +__device__ __constant__ int ur5_approx_flattened_joint_to_spheres[24] = { + 0, + -1, + 1, + -1, + 2, + -1, + 3, + -1, + 4, + -1, + 5, + -1, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + -1 +}; + +__device__ __constant__ int ur5_approx_joint_types[] = { + 3, + 5, + 4, + 4, + 4, + 5, + 4 +}; + +__device__ __constant__ int ur5_approx_self_cc_ranges[5][3] = { + { 0, 2, 16 }, + { 1, 3, 16 }, + { 2, 4, 16 }, + { 3, 5, 16 }, + { 4, 7, 7 } +}; + +__device__ __constant__ int ur5_approx_joint_parents[7] = { + 0, + 0, + 1, + 2, + 3, + 4, + 5 +}; + +__device__ __constant__ int ur5_approx_T_memory_idx[7] = { + 0, + 0, + 0, + 0, + 0, + 0, + 0 +}; + +__device__ __constant__ int ur5_approx_dfs_order[7] = { + 0, + 1, + 2, + 3, + 4, + 5, + 6 +}; + +__device__ __constant__ int ur5_approx_joint_id_to_dof[7] = { + 18446744073709551615, + 0, + 1, + 2, + 3, + 4, + 5 +}; + +template <> +__device__ void fk_approx( + const float* q, + volatile float* sphere_pos_approx, // 17 spheres x 16 robots x 3 coordinates (each column is a robot) + float *T, // 16 robots x 1 x 4x4 transform matrix , column major + const int tid +) +{ + // every 4 threads are responsible for one column of the transform matrix T + // make_transform will calculate the necessary column of T_step needed for the thread + const int col_ind = tid % 4; + const int batch_ind = tid / 4; + + int T_offset = batch_ind * 1 * 16; + float T_step_col[4]; // 4x1 column of the joint transform matrix for this thread + float *T_base = T + T_offset; // 4x4 transform matrix for the batch + + #pragma unroll + for (int i = 0; i < 1; ++i) { + float *T_col_i = T_base + i * 16 + col_ind * 4; + for (int r=0; r<4; r++) { + T_col_i[r] = 0.0f; + } + T_col_i[col_ind] = 1.0f; + } + __syncthreads(); + + int joint_to_sphere_ind = 0; + + for (int j = 0; j < UR5_APPROX_JOINT_COUNT; ++j) { + int i = ur5_approx_dfs_order[j]; + float T_col_tmp[4]; + int parent_idx = ur5_approx_joint_parents[i]; + int T_memory_idx_parent = ur5_approx_T_memory_idx[parent_idx]; + int T_memory_idx = ur5_approx_T_memory_idx[i]; + int q_idx = ur5_approx_joint_id_to_dof[i]; + if (j > 0) { + int ft_addr_start = i * 16; + int joint_type = ur5_approx_joint_types[i]; + + if (joint_type <= Z_PRISM) { + prism_fn(&ur5_approx_fixed_transforms[ft_addr_start], q[q_idx], col_ind, T_step_col, joint_type); + } + else if (joint_type == X_ROT) { + xrot_fn(&ur5_approx_fixed_transforms[ft_addr_start], q[q_idx], col_ind, T_step_col); + } + else if (joint_type == Y_ROT) { + yrot_fn(&ur5_approx_fixed_transforms[ft_addr_start], q[q_idx], col_ind, T_step_col); + } + else if (joint_type == Z_ROT) { + zrot_fn(&ur5_approx_fixed_transforms[ft_addr_start], q[q_idx], col_ind, T_step_col); + } + + for (int r=0; r<4; r++){ + T_col_tmp[r] = dot4_col(&T_base[T_memory_idx_parent*16 + r], T_step_col); + } + for (int r=0; r<4; r++){ + T_base[T_memory_idx*16 + col_ind*4 + r] = T_col_tmp[r]; + } + } + __syncwarp(); + while (ur5_approx_flattened_joint_to_spheres[joint_to_sphere_ind] != -1) { + int sphere_ind = ur5_approx_flattened_joint_to_spheres[joint_to_sphere_ind]; + if (col_ind < 3) { + // sphere sphere_ind, robot batch_ind (BATCH_SIZE robots), coord col_ind + sphere_pos_approx[sphere_ind * BATCH_SIZE * 3 + batch_ind * 3 + col_ind] = + T_base[T_memory_idx*16 + col_ind] * ur5_approx_spheres_array[sphere_ind].x + + T_base[T_memory_idx*16 + col_ind + M] * ur5_approx_spheres_array[sphere_ind].y + + T_base[T_memory_idx*16 + col_ind + M*2] * ur5_approx_spheres_array[sphere_ind].z + + T_base[T_memory_idx*16 + col_ind + M*3]; + } + joint_to_sphere_ind++; + } + joint_to_sphere_ind++; + __syncthreads(); + } +} + +// 4 threads per discretized motion for self-collision check +template <> +__device__ bool self_collision_check_approx(volatile float* sphere_pos_approx, volatile int* joint_in_collision, const int tid){ + const int thread_ind = tid % 4; + const int batch_ind = tid / 4; + bool out = true; + for (int i = thread_ind; i < UR5_APPROX_SELF_CC_RANGE_COUNT; i+=4) { + int sphere_1_ind = ur5_approx_self_cc_ranges[i][0]; + float sphere_1[3] = { + sphere_pos_approx[sphere_1_ind * BATCH_SIZE * 3 + batch_ind * 3 + 0], + sphere_pos_approx[sphere_1_ind * BATCH_SIZE * 3 + batch_ind * 3 + 1], + sphere_pos_approx[sphere_1_ind * BATCH_SIZE * 3 + batch_ind * 3 + 2] + }; + for (int j = ur5_approx_self_cc_ranges[i][1]; j <= ur5_approx_self_cc_ranges[i][2]; j++) { + float sphere_2[3] = { + sphere_pos_approx[j * BATCH_SIZE * 3 + batch_ind * 3 + 0], + sphere_pos_approx[j * BATCH_SIZE * 3 + batch_ind * 3 + 1], + sphere_pos_approx[j * BATCH_SIZE * 3 + batch_ind * 3 + 2] + }; + if (sphere_sphere_self_collision( + sphere_1[0], sphere_1[1], sphere_1[2], ur5_approx_spheres_array[sphere_1_ind].w, + sphere_2[0], sphere_2[1], sphere_2[2], ur5_approx_spheres_array[j].w + )){ + atomicAdd((int*)&joint_in_collision[20*batch_ind + ur5_approx_sphere_to_joint[sphere_1_ind]], 1); + out = false; + } + } + } + return out; +} + +// 4 threads per discretized motion for env collision check +template <> +__device__ bool env_collision_check_approx(volatile float* sphere_pos_approx, volatile int* joint_in_collision, ppln::collision::Environment *env, const int tid){ + const int thread_ind = tid % 4; + const int batch_ind = tid / 4; + bool out = true; + + for (int i = thread_ind; i < UR5_APPROX_SPHERE_COUNT; i += 4){ + // sphere i, robot batch_ind (32 robots) + if ( + sphere_environment_in_collision( + env, + sphere_pos_approx[i * BATCH_SIZE * 3 + batch_ind * 3 + 0], + sphere_pos_approx[i * BATCH_SIZE * 3 + batch_ind * 3 + 1], + sphere_pos_approx[i * BATCH_SIZE * 3 + batch_ind * 3 + 2], + ur5_approx_spheres_array[i].w + ) + ) { + atomicAdd((int*)&joint_in_collision[20*batch_ind + ur5_approx_sphere_to_joint[i]],1); + out = false; + } + } + return out; +} + + + + +#define UR5_SPHERE_COUNT 40 +#define UR5_JOINT_COUNT 7 +#define UR5_SELF_CC_RANGE_COUNT 19 +#define FIXED -1 +#define X_PRISM 0 +#define Y_PRISM 1 +#define Z_PRISM 2 +#define X_ROT 3 +#define Y_ROT 4 +#define Z_ROT 5 +#define BATCH_SIZE 16 + +__device__ __constant__ float4 ur5_spheres_array[40] = { + { 0.0f, 0.0f, 0.9144f, 0.08f }, + { 0.0f, 0.0f, 0.0f, 0.08f }, + { 0.0f, 0.0f, 0.105f, 0.08f }, + { 0.0f, 0.0f, 0.21f, 0.08f }, + { 0.0f, 0.0f, 0.315f, 0.08f }, + { 0.0f, 0.0f, 0.42f, 0.08f }, + { 0.0f, 0.0f, 0.0f, 0.08f }, + { 0.0f, 0.0f, 0.0f, 0.08f }, + { 0.0f, 0.0f, 0.1f, 0.04f }, + { 0.0f, 0.0f, 0.14f, 0.04f }, + { 0.0f, 0.0f, 0.18f, 0.04f }, + { 0.0f, 0.0f, 0.22f, 0.04f }, + { 0.0f, 0.0f, 0.26f, 0.04f }, + { 0.0f, 0.0f, 0.3f, 0.04f }, + { 0.0f, 0.0f, 0.34f, 0.04f }, + { 0.0f, 0.0f, 0.38f, 0.04f }, + { 0.0f, 0.09f, 0.03f, 0.04f }, + { 0.0f, 0.09f, -0.03f, 0.04f }, + { 0.0f, 0.09f, 0.0f, 0.04f }, + { 0.0f, 0.03f, 0.09f, 0.04f }, + { 0.0f, -0.03f, 0.09f, 0.04f }, + { 0.0f, 0.0f, 0.09f, 0.04f }, + { 0.0f, 0.06f, 0.0f, 0.04f }, + { 1.6e-05f, 0.0973f, 0.0f, 0.04f }, + { -4.8e-05f, 0.1773f, 0.000548f, 0.04f }, + { -1.6e-05f, 0.1373f, 0.000516f, 0.04f }, + { 0.032629f, 0.206633f, 0.000571f, 0.02f }, + { 0.047174f, 0.257142f, 0.000611f, 0.015f }, + { 0.047194f, 0.232142f, 0.000591f, 0.015f }, + { 0.030551f, 0.180116f, 0.00055f, 0.02f }, + { 0.062212f, 0.218208f, 0.00058f, 0.015f }, + { 0.062244f, 0.178208f, 0.000548f, 0.015f }, + { 0.062228f, 0.198208f, 0.000564f, 0.015f }, + { -0.032771f, 0.206581f, 0.000571f, 0.02f }, + { -0.046918f, 0.257428f, 0.000612f, 0.015f }, + { -0.046898f, 0.232428f, 0.000592f, 0.015f }, + { -0.030651f, 0.180068f, 0.00055f, 0.02f }, + { -0.062391f, 0.218441f, 0.000581f, 0.015f }, + { -0.062359f, 0.178441f, 0.000549f, 0.015f }, + { -0.062375f, 0.198441f, 0.000565f, 0.015f } +}; + +__device__ __constant__ float ur5_fixed_transforms[] = { + // joint 0 + 1.0, 0.0, 0.0, 0.0, + 0.0, 1.0, 0.0, 0.0, + 0.0, 0.0, 1.0, 0.0, + 0.0, 0.0, 0.0, 1.0, + + // joint 1 + 0.000796, -1.0, 0.0, 0.0, + 1.0, 0.000796, 0.0, 0.0, + 0.0, 0.0, 1.0, 1.003559, + 0.0, 0.0, 0.0, 1.0, + + // joint 2 + 0.0, 0.0, 1.0, 0.0, + 0.0, 1.0, 0.0, 0.13585, + -1.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 1.0, + + // joint 3 + 1.0, 0.0, 0.0, 0.0, + 0.0, 1.0, 0.0, -0.1197, + 0.0, 0.0, 1.0, 0.425, + 0.0, 0.0, 0.0, 1.0, + + // joint 4 + 0.0, 0.0, 1.0, 0.0, + 0.0, 1.0, 0.0, 0.0, + -1.0, 0.0, 0.0, 0.39225, + 0.0, 0.0, 0.0, 1.0, + + // joint 5 + 1.0, 0.0, 0.0, 0.0, + 0.0, 1.0, 0.0, 0.093, + 0.0, 0.0, 1.0, 0.0, + 0.0, 0.0, 0.0, 1.0, + + // joint 6 + 1.0, 0.0, 0.0, 0.0, + 0.0, 1.0, 0.0, 0.0, + 0.0, 0.0, 1.0, 0.09465, + 0.0, 0.0, 0.0, 1.0, + + +}; + +__device__ __constant__ int ur5_sphere_to_joint[40] = { + 0, + 1, + 2, + 2, + 2, + 2, + 2, + 3, + 3, + 3, + 3, + 3, + 3, + 3, + 3, + 3, + 4, + 4, + 4, + 5, + 5, + 5, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6, + 6 +}; + +__device__ __constant__ int ur5_flattened_joint_to_spheres[47] = { + 0, + -1, + 1, + -1, + 2, + 3, + 4, + 5, + 6, + -1, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + -1, + 16, + 17, + 18, + -1, + 19, + 20, + 21, + -1, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + -1 +}; + +__device__ __constant__ int ur5_joint_types[] = { + 3, + 5, + 4, + 4, + 4, + 5, + 4 +}; + +__device__ __constant__ int ur5_self_cc_ranges[19][3] = { + { 0, 2, 39 }, + { 1, 7, 39 }, + { 2, 16, 39 }, + { 3, 16, 39 }, + { 4, 16, 39 }, + { 5, 16, 39 }, + { 6, 16, 39 }, + { 7, 19, 39 }, + { 8, 19, 39 }, + { 9, 19, 39 }, + { 10, 19, 39 }, + { 11, 19, 39 }, + { 12, 19, 39 }, + { 13, 19, 39 }, + { 14, 19, 39 }, + { 15, 19, 39 }, + { 16, 23, 23 }, + { 17, 23, 23 }, + { 18, 23, 23 } +}; + +__device__ __constant__ int ur5_joint_parents[7] = { + 0, + 0, + 1, + 2, + 3, + 4, + 5 +}; + +__device__ __constant__ int ur5_T_memory_idx[7] = { + 0, + 0, + 0, + 0, + 0, + 0, + 0 +}; + +__device__ __constant__ int ur5_dfs_order[7] = { + 0, + 1, + 2, + 3, + 4, + 5, + 6 +}; + +__device__ __constant__ int ur5_joint_id_to_dof[7] = { + 18446744073709551615, + 0, + 1, + 2, + 3, + 4, + 5 +}; + +template <> +__device__ void fk( + const float* q, + volatile float* sphere_pos, // 40 spheres x 16 robots x 3 coordinates (each column is a robot) + float *T, // 16 robots x 1 x 4x4 transform matrix , column major + const int tid +) +{ + // every 4 threads are responsible for one column of the transform matrix T + // make_transform will calculate the necessary column of T_step needed for the thread + const int col_ind = tid % 4; + const int batch_ind = tid / 4; + + int T_offset = batch_ind * 1 * 16; + float T_step_col[4]; // 4x1 column of the joint transform matrix for this thread + float *T_base = T + T_offset; // 4x4 transform matrix for the batch + + #pragma unroll + for (int i = 0; i < 1; ++i) { + float *T_col_i = T_base + i * 16 + col_ind * 4; + for (int r=0; r<4; r++) { + T_col_i[r] = 0.0f; + } + T_col_i[col_ind] = 1.0f; + } + __syncthreads(); + + int joint_to_sphere_ind = 0; + + for (int j = 0; j < UR5_JOINT_COUNT; ++j) { + int i = ur5_dfs_order[j]; + float T_col_tmp[4]; + int parent_idx = ur5_joint_parents[i]; + int T_memory_idx_parent = ur5_T_memory_idx[parent_idx]; + int T_memory_idx = ur5_T_memory_idx[i]; + int q_idx = ur5_joint_id_to_dof[i]; + if (j > 0) { + int ft_addr_start = i * 16; + int joint_type = ur5_joint_types[i]; + + if (joint_type <= Z_PRISM) { + prism_fn(&ur5_fixed_transforms[ft_addr_start], q[q_idx], col_ind, T_step_col, joint_type); + } + else if (joint_type == X_ROT) { + xrot_fn(&ur5_fixed_transforms[ft_addr_start], q[q_idx], col_ind, T_step_col); + } + else if (joint_type == Y_ROT) { + yrot_fn(&ur5_fixed_transforms[ft_addr_start], q[q_idx], col_ind, T_step_col); + } + else if (joint_type == Z_ROT) { + zrot_fn(&ur5_fixed_transforms[ft_addr_start], q[q_idx], col_ind, T_step_col); + } + + for (int r=0; r<4; r++){ + T_col_tmp[r] = dot4_col(&T_base[T_memory_idx_parent*16 + r], T_step_col); + } + for (int r=0; r<4; r++){ + T_base[T_memory_idx*16 + col_ind*4 + r] = T_col_tmp[r]; + } + } + __syncwarp(); + while (ur5_flattened_joint_to_spheres[joint_to_sphere_ind] != -1) { + int sphere_ind = ur5_flattened_joint_to_spheres[joint_to_sphere_ind]; + if (col_ind < 3) { + // sphere sphere_ind, robot batch_ind (BATCH_SIZE robots), coord col_ind + sphere_pos[sphere_ind * BATCH_SIZE * 3 + batch_ind * 3 + col_ind] = + T_base[T_memory_idx*16 + col_ind] * ur5_spheres_array[sphere_ind].x + + T_base[T_memory_idx*16 + col_ind + M] * ur5_spheres_array[sphere_ind].y + + T_base[T_memory_idx*16 + col_ind + M*2] * ur5_spheres_array[sphere_ind].z + + T_base[T_memory_idx*16 + col_ind + M*3]; + } + joint_to_sphere_ind++; + } + joint_to_sphere_ind++; + __syncthreads(); + } +} + +// 4 threads per discretized motion for self-collision check +template <> +__device__ bool self_collision_check(volatile float* sphere_pos, volatile int* joint_in_collision, const int tid){ + const int thread_ind = tid % 4; + const int batch_ind = tid / 4; + bool has_collision = false; + + for (int i = thread_ind; i < UR5_SELF_CC_RANGE_COUNT; i += 4) { + if (warp_any_active_mask(has_collision)) return false; + int sphere_1_ind = ur5_self_cc_ranges[i][0]; + if (joint_in_collision[20*batch_ind + ur5_sphere_to_joint[sphere_1_ind]] == 0) continue; + float sphere_1[3] = { + sphere_pos[sphere_1_ind * BATCH_SIZE * 3 + batch_ind * 3 + 0], + sphere_pos[sphere_1_ind * BATCH_SIZE * 3 + batch_ind * 3 + 1], + sphere_pos[sphere_1_ind * BATCH_SIZE * 3 + batch_ind * 3 + 2] + }; + for (int j = ur5_self_cc_ranges[i][1]; j <= ur5_self_cc_ranges[i][2]; j++) { + float sphere_2[3] = { + sphere_pos[j * BATCH_SIZE * 3 + batch_ind * 3 + 0], + sphere_pos[j * BATCH_SIZE * 3 + batch_ind * 3 + 1], + sphere_pos[j * BATCH_SIZE * 3 + batch_ind * 3 + 2] + }; + if (sphere_sphere_self_collision( + sphere_1[0], sphere_1[1], sphere_1[2], ur5_spheres_array[sphere_1_ind].w, + sphere_2[0], sphere_2[1], sphere_2[2], ur5_spheres_array[j].w + )){ + //return false; + has_collision=true; + } + } + } + return !has_collision; + +} + +// 4 threads per discretized motion for env collision check +template <> +__device__ bool env_collision_check(volatile float* sphere_pos, volatile int* joint_in_collision, ppln::collision::Environment *env, const int tid){ + const int thread_ind = tid % 4; + const int batch_ind = tid / 4; + bool has_collision=false; + + for (int i = thread_ind; i < UR5_SPHERE_COUNT-UR5_SPHERE_COUNT%4; i += 4){ + // sphere i, robot batch_ind (16 robots) + if (joint_in_collision[20*batch_ind + ur5_sphere_to_joint[i]] > 0 && + sphere_environment_in_collision( + env, + sphere_pos[i * BATCH_SIZE * 3 + batch_ind * 3 + 0], + sphere_pos[i * BATCH_SIZE * 3 + batch_ind * 3 + 1], + sphere_pos[i * BATCH_SIZE * 3 + batch_ind * 3 + 2], + ur5_spheres_array[i].w + ) + ) { + //return false; + has_collision=true; + } + if (warp_any_full_mask(has_collision)) return false; + } + int i=UR5_SPHERE_COUNT-1-thread_ind; + if (joint_in_collision[20*batch_ind + ur5_sphere_to_joint[i]] > 0 && + sphere_environment_in_collision( + env, + sphere_pos[i * BATCH_SIZE * 3 + batch_ind * 3 + 0], + sphere_pos[i * BATCH_SIZE * 3 + batch_ind * 3 + 1], + sphere_pos[i * BATCH_SIZE * 3 + batch_ind * 3 + 2], + ur5_spheres_array[i].w + ) + ) { + return false; + } + return true; +} +} From e7cf83b5740bd099e782b8483ef651ee631b580c Mon Sep 17 00:00:00 2001 From: Sai Date: Tue, 24 Feb 2026 12:29:30 -0500 Subject: [PATCH 2/2] added ur5 problems json --- .gitignore | 1 - scripts/ur5_problems.json | 1 + 2 files changed, 1 insertion(+), 1 deletion(-) create mode 100644 scripts/ur5_problems.json diff --git a/.gitignore b/.gitignore index 5eed7cf..37102d8 100644 --- a/.gitignore +++ b/.gitignore @@ -1,7 +1,6 @@ build problems.pkl *.out -*.json *.sqlite *.nsys-rep Pipfile diff --git a/scripts/ur5_problems.json b/scripts/ur5_problems.json new file mode 100644 index 0000000..d6780e7 --- /dev/null +++ b/scripts/ur5_problems.json @@ -0,0 +1 @@ +{"robot": "ur5", "joints": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"], "problems": {"bookshelf_tall": [{"sphere": [], "cylinder": [{"name": "Can1", "length": 0.14, "radius": 0.03, "position": [-0.5598009266208086, 1.005725422198861, 1.38], "orientation_euler_xyz": [0.0, -0.0, 1.7182726725950555], "orientation_quat_xyzw": [0.0, 0.0, 0.7572787937628963, 0.6530917458650146]}, {"name": "Can2", "length": 0.14, "radius": 0.03, "position": [-0.3570174057363556, 0.8336550946275331, 1.38], "orientation_euler_xyz": [0.0, -0.0, 1.7182726725950555], "orientation_quat_xyzw": [0.0, 0.0, 0.7572787937628963, 0.6530917458650146]}, {"name": "Can3", "length": 0.14, "radius": 0.03, "position": [-0.06550662299262433, 0.6747656363566861, 1.38], "orientation_euler_xyz": [0.0, -0.0, 1.7182726725950555], "orientation_quat_xyzw": [0.0, 0.0, 0.7572787937628963, 0.6530917458650146]}, {"name": "Can4", "length": 0.14, "radius": 0.03, "position": [-0.3352544623207289, 1.039082899211037, 0.7799999999999999], "orientation_euler_xyz": [0.0, -0.0, 1.7182726725950555], "orientation_quat_xyzw": [0.0, 0.0, 0.7572787937628963, 0.6530917458650146]}, {"name": "Can5", "length": 0.14, "radius": 0.03, "position": [0.07167793499669166, 0.8973398870748516, 0.7799999999999999], "orientation_euler_xyz": [0.0, -0.0, 1.7182726725950555], "orientation_quat_xyzw": [0.0, 0.0, 0.7572787937628963, 0.6530917458650146]}, {"name": "Can6", "length": 0.14, "radius": 0.03, "position": [-0.2970443149773672, 0.6403695782316653, 0.7799999999999999], "orientation_euler_xyz": [0.0, -0.0, 1.7182726725950555], "orientation_quat_xyzw": [0.0, 0.0, 0.7572787937628963, 0.6530917458650146]}, {"name": "Can7", "length": 0.14, "radius": 0.03, "position": [0.2916512284347242, 1.132212809910638, 1.08], "orientation_euler_xyz": [0.0, -0.0, 1.7182726725950555], "orientation_quat_xyzw": [0.0, 0.0, 0.7572787937628963, 0.6530917458650146]}, {"name": "Can8", "length": 0.14, "radius": 0.03, "position": [-0.3654079788699392, 0.8324086338948071, 1.08], "orientation_euler_xyz": [0.0, -0.0, 1.7182726725950555], "orientation_quat_xyzw": [0.0, 0.0, 0.7572787937628963, 0.6530917458650146]}, {"name": "Can9", "length": 0.14, "radius": 0.03, "position": [-0.3060953925819315, 0.6390249963248836, 1.08], "orientation_euler_xyz": [0.0, -0.0, 1.7182726725950555], "orientation_quat_xyzw": [0.0, 0.0, 0.7572787937628963, 0.6530917458650146]}], "box": [{"name": "shelf_bottom", "half_extents": [0.6, 0.5, 0.02], "position": [-0.1357171668761452, 1.169822548081023, 0.6999999999999998], "orientation_euler_xyz": [0.0, -0.0, 1.7182726725950555], "orientation_quat_xyzw": [0.0, 0.0, 0.7572787937628964, 0.6530917458650146]}, {"name": "shelf_middle_bottom", "half_extents": [0.6, 0.5, 0.02], "position": [-0.1357171668761452, 1.169822548081023, 1.0], "orientation_euler_xyz": [0.0, -0.0, 1.7182726725950555], "orientation_quat_xyzw": [0.0, 0.0, 0.7572787937628964, 0.6530917458650146]}, {"name": "shelf_middle_top", "half_extents": [0.6, 0.5, 0.02], "position": [-0.1357171668761452, 1.169822548081023, 1.3], "orientation_euler_xyz": [0.0, -0.0, 1.7182726725950555], "orientation_quat_xyzw": [0.0, 0.0, 0.7572787937628964, 0.6530917458650146]}, {"name": "shelf_top", "half_extents": [0.6, 0.5, 0.02], "position": [-0.1357171668761452, 1.169822548081023, 1.6], "orientation_euler_xyz": [0.0, -0.0, 1.7182726725950555], "orientation_quat_xyzw": [0.0, 0.0, 0.7572787937628964, 0.6530917458650146]}, {"name": "side_left", "half_extents": [0.65, 0.02, 0.82], "position": [0.3588553626490171, 1.24329371956401, 0.82], "orientation_euler_xyz": [0.0, -0.0, 1.7182726725950555], "orientation_quat_xyzw": [0.0, 0.0, 0.7572787937628964, 0.6530917458650146]}, {"name": "side_right", "half_extents": [0.65, 0.02, 0.82], "position": [-0.6302896964013074, 1.096351376598036, 0.82], "orientation_euler_xyz": [0.0, -0.0, 1.7182726725950555], "orientation_quat_xyzw": [0.0, 0.0, 0.7572787937628964, 0.6530917458650146]}], "index": 1, "problem": "bookshelf_tall", "start": [1.57, -1.5707, 0, -1.5707, -1.57, 3.14], "goals": [[-2.809498012708093, -1.567506499208656, -1.817198071237368, 0.2366630976375464, 1.395819898033502, 0.007601902829659224]], "valid": true}, {"sphere": [], "cylinder": [{"name": "Can1", "length": 0.14, "radius": 0.03, "position": [0.5079105984342367, 0.9009121074665633, 1.38], "orientation_euler_xyz": [0.0, -0.0, 0.7226900426365399], "orientation_quat_xyzw": [0.0, 0.0, 0.3535327154285919, 0.9354221609100815]}, {"name": "Can2", "length": 0.14, "radius": 0.03, "position": [0.4412737700893261, 0.6740911664181161, 1.38], "orientation_euler_xyz": [0.0, -0.0, 0.7226900426365399], "orientation_quat_xyzw": [0.0, 0.0, 0.3535327154285919, 0.9354221609100815]}, {"name": "Can3", "length": 0.14, "radius": 0.03, "position": [0.4424437386143065, 0.3703776930639516, 1.38], "orientation_euler_xyz": [0.0, -0.0, 0.7226900426365399], "orientation_quat_xyzw": [0.0, 0.0, 0.3535327154285919, 0.9354221609100815]}, {"name": "Can4", "length": 0.14, "radius": 0.03, "position": [0.972486657407904, 0.3740854282526698, 0.7799999999999999], "orientation_euler_xyz": [0.0, -0.0, 0.7226900426365399], "orientation_quat_xyzw": [0.0, 0.0, 0.3535327154285919, 0.9354221609100815]}, {"name": "Can5", "length": 0.14, "radius": 0.03, "position": [0.3719263352914493, 0.7527307736059636, 0.7799999999999999], "orientation_euler_xyz": [0.0, -0.0, 0.7226900426365399], "orientation_quat_xyzw": [0.0, 0.0, 0.3535327154285919, 0.9354221609100815]}, {"name": "Can6", "length": 0.14, "radius": 0.03, "position": [0.2442271389921157, 0.5951542198069011, 0.7799999999999999], "orientation_euler_xyz": [0.0, -0.0, 0.7226900426365399], "orientation_quat_xyzw": [0.0, 0.0, 0.3535327154285919, 0.9354221609100815]}, {"name": "Can7", "length": 0.14, "radius": 0.03, "position": [0.893821515119964, 0.4632912641560495, 1.08], "orientation_euler_xyz": [0.0, -0.0, 0.7226900426365399], "orientation_quat_xyzw": [0.0, 0.0, 0.3535327154285919, 0.9354221609100815]}, {"name": "Can8", "length": 0.14, "radius": 0.03, "position": [0.6454311101976595, 0.4425778728488685, 1.08], "orientation_euler_xyz": [0.0, -0.0, 0.7226900426365399], "orientation_quat_xyzw": [0.0, 0.0, 0.3535327154285919, 0.9354221609100815]}, {"name": "Can9", "length": 0.14, "radius": 0.03, "position": [0.2877063407544516, 0.5458490456876712, 1.08], "orientation_euler_xyz": [0.0, -0.0, 0.7226900426365399], "orientation_quat_xyzw": [0.0, 0.0, 0.3535327154285919, 0.9354221609100815]}], "box": [{"name": "shelf_bottom", "half_extents": [0.6, 0.5, 0.02], "position": [0.8737129450324873, 0.6372876390857953, 0.6999999999999998], "orientation_euler_xyz": [0.0, -0.0, 0.7226900426365399], "orientation_quat_xyzw": [0.0, 0.0, 0.3535327154285919, 0.9354221609100815]}, {"name": "shelf_middle_bottom", "half_extents": [0.6, 0.5, 0.02], "position": [0.8737129450324873, 0.6372876390857953, 1.0], "orientation_euler_xyz": [0.0, -0.0, 0.7226900426365399], "orientation_quat_xyzw": [0.0, 0.0, 0.3535327154285919, 0.9354221609100815]}, {"name": "shelf_middle_top", "half_extents": [0.6, 0.5, 0.02], "position": [0.8737129450324873, 0.6372876390857953, 1.3], "orientation_euler_xyz": [0.0, -0.0, 0.7226900426365399], "orientation_quat_xyzw": [0.0, 0.0, 0.3535327154285919, 0.9354221609100815]}, {"name": "shelf_top", "half_extents": [0.6, 0.5, 0.02], "position": [0.8737129450324873, 0.6372876390857953, 1.6], "orientation_euler_xyz": [0.0, -0.0, 0.7226900426365399], "orientation_quat_xyzw": [0.0, 0.0, 0.3535327154285919, 0.9354221609100815]}, {"name": "side_left", "half_extents": [0.65, 0.02, 0.82], "position": [1.204415281651109, 0.2622730199641089, 0.82], "orientation_euler_xyz": [0.0, -0.0, 0.7226900426365399], "orientation_quat_xyzw": [0.0, 0.0, 0.3535327154285919, 0.9354221609100815]}, {"name": "side_right", "half_extents": [0.65, 0.02, 0.82], "position": [0.5430106084138651, 1.012302258207482, 0.82], "orientation_euler_xyz": [0.0, -0.0, 0.7226900426365399], "orientation_quat_xyzw": [0.0, 0.0, 0.3535327154285919, 0.9354221609100815]}], "index": 2, "problem": "bookshelf_tall", "start": [1.57, -1.5707, 0, -1.5707, -1.57, 3.14], "goals": [[-1.283071830281348, -1.824495974980294, 1.532254191962192, 0.2977629700687189, 1.142364337956107, -3.140720768887801]], "valid": true}, {"sphere": [], "cylinder": [{"name": "Can1", "length": 0.14, "radius": 0.03, "position": [-0.3496681858335434, 0.8162912256314346, 1.38], "orientation_euler_xyz": [0.0, -0.0, 1.9699868212082132], "orientation_quat_xyzw": [0.0, 0.0, 0.8332684473736495, 0.5528686051961237]}, {"name": "Can2", "length": 0.14, "radius": 0.03, "position": [-0.3400425120406989, 0.6032850484953503, 1.38], "orientation_euler_xyz": [0.0, -0.0, 1.9699868212082132], "orientation_quat_xyzw": [0.0, 0.0, 0.8332684473736495, 0.5528686051961237]}, {"name": "Can3", "length": 0.14, "radius": 0.03, "position": [-0.3129198300106152, 0.3976597977129371, 1.38], "orientation_euler_xyz": [0.0, -0.0, 1.9699868212082132], "orientation_quat_xyzw": [0.0, 0.0, 0.8332684473736495, 0.5528686051961237]}, {"name": "Can4", "length": 0.14, "radius": 0.03, "position": [-0.07067300141227847, 0.9339823692441767, 0.7799999999999999], "orientation_euler_xyz": [0.0, -0.0, 1.9699868212082132], "orientation_quat_xyzw": [0.0, 0.0, 0.8332684473736495, 0.5528686051961237]}, {"name": "Can5", "length": 0.14, "radius": 0.03, "position": [-0.1161653298182834, 0.6977252506056848, 0.7799999999999999], "orientation_euler_xyz": [0.0, -0.0, 1.9699868212082132], "orientation_quat_xyzw": [0.0, 0.0, 0.8332684473736495, 0.5528686051961237]}, {"name": "Can6", "length": 0.14, "radius": 0.03, "position": [0.008998559154266068, 0.5334576375551466, 0.7799999999999999], "orientation_euler_xyz": [0.0, -0.0, 1.9699868212082132], "orientation_quat_xyzw": [0.0, 0.0, 0.8332684473736495, 0.5528686051961237]}, {"name": "Can7", "length": 0.14, "radius": 0.03, "position": [-0.4565156977040612, 0.7712187420675972, 1.08], "orientation_euler_xyz": [0.0, -0.0, 1.9699868212082132], "orientation_quat_xyzw": [0.0, 0.0, 0.8332684473736495, 0.5528686051961237]}, {"name": "Can8", "length": 0.14, "radius": 0.03, "position": [0.05352751905803485, 0.7693083694634019, 1.08], "orientation_euler_xyz": [0.0, -0.0, 1.9699868212082132], 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