def main(viewer=False, display=True, simulate=False, teleport=False):
# TODO: fix argparse & FastDownward
#parser = argparse.ArgumentParser() # Automatically includes help
#parser.add_argument('-viewer', action='store_true', help='enable viewer.')
#parser.add_argument('-display', action='store_true', help='enable viewer.')
#args = parser.parse_args()
connect(use_gui=viewer)
problem_fn = holding_problem
# holding_problem | stacking_problem | cleaning_problem | cooking_problem
# cleaning_button_problem | cooking_button_problem
problem = problem_fn()
state_id = save_state()
#saved_world = WorldSaver()
dump_world()
pddlstream_problem = pddlstream_from_problem(problem, teleport=teleport)
_, _, _, stream_map, init, goal = pddlstream_problem
synthesizers = [
#StreamSynthesizer('safe-base-motion', {'plan-base-motion': 1,
# 'TrajPoseCollision': 0, 'TrajGraspCollision': 0, 'TrajArmCollision': 0},
# from_fn(get_base_motion_synth(problem, teleport))),
]
print('Init:', init)
print('Goal:', goal)
print('Streams:', stream_map.keys())
print('Synthesizers:', synthesizers)
pr = cProfile.Profile()
pr.enable()
solution = solve_focused(pddlstream_problem,
synthesizers=synthesizers,
success_cost=INF)
print_solution(solution)
plan, cost, evaluations = solution
pr.disable()
pstats.Stats(pr).sort_stats('tottime').print_stats(10)
if plan is None:
return
if (not display) or (plan is None):
disconnect()
return
if viewer:
restore_state(state_id)
else:
disconnect()
connect(use_gui=True)
problem = problem_fn() # TODO: way of doing this without reloading?
user_input('Execute?')
commands = post_process(problem, plan)
if simulate:
enable_gravity()
control_commands(commands)
else:
step_commands(commands, time_step=0.01)
user_input('Finish?')
disconnect()
def simulate_plan(plan, time_step=0.0, real_time=False): #time_step=np.inf
wait_for_interrupt()
enable_gravity()
if real_time:
enable_real_time()
for action, args in plan:
trajectory = args[-1]
if action == 'move':
simulate_trajectory(trajectory, time_step)
elif action == 'pick':
attachment = trajectory.attachments.pop()
simulate_trajectory(trajectory, time_step)
add_fixed_constraint(attachment.child, attachment.parent,
attachment.parent_link)
simulate_trajectory(trajectory.reverse(), time_step)
elif action == 'place':
attachment = trajectory.attachments.pop()
simulate_trajectory(trajectory, time_step)
remove_fixed_constraint(attachment.child, attachment.parent,
attachment.parent_link)
simulate_trajectory(trajectory.reverse(), time_step)
else:
raise NotImplementedError(action)
wait_for_interrupt()
def main(display=True, simulate=False, teleport=False):
parser = argparse.ArgumentParser()
parser.add_argument('-viewer',
action='store_true',
help='enable the viewer while planning')
#parser.add_argument('-display', action='store_true', help='displays the solution')
args = parser.parse_args()
connect(use_gui=args.viewer)
problem_fn = cooking_problem
# holding_problem | stacking_problem | cleaning_problem | cooking_problem
# cleaning_button_problem | cooking_button_problem
with HideOutput():
problem = problem_fn()
state_id = save_state()
#saved_world = WorldSaver()
#dump_world()
pddlstream_problem = pddlstream_from_problem(problem, teleport=teleport)
stream_info = {
'sample-pose': StreamInfo(PartialInputs('?r')),
'inverse-kinematics': StreamInfo(PartialInputs('?p')),
'plan-base-motion': StreamInfo(PartialInputs('?q1 ?q2')),
'MoveCost': FunctionInfo(opt_move_cost_fn),
}
synthesizers = [
StreamSynthesizer(
'safe-base-motion', {
'plan-base-motion': 1,
'TrajPoseCollision': 0,
'TrajGraspCollision': 0,
'TrajArmCollision': 0,
}, from_fn(get_base_motion_synth(problem, teleport))),
] if USE_SYNTHESIZERS else []
_, _, _, stream_map, init, goal = pddlstream_problem
print('Init:', init)
print('Goal:', goal)
print('Streams:', stream_map.keys())
print('Synthesizers:', synthesizers)
pr = cProfile.Profile()
pr.enable()
solution = solve_focused(pddlstream_problem,
stream_info=stream_info,
synthesizers=synthesizers,
success_cost=INF)
print_solution(solution)
plan, cost, evaluations = solution
pr.disable()
pstats.Stats(pr).sort_stats('tottime').print_stats(10)
if plan is None:
return
if (not display) or (plan is None):
disconnect()
return
commands = post_process(problem, plan)
if args.viewer:
restore_state(state_id)
else:
disconnect()
connect(use_gui=True)
with HideOutput():
problem_fn() # TODO: way of doing this without reloading?
if simulate:
enable_gravity()
control_commands(commands)
else:
step_commands(commands, time_step=0.01)
user_input('Finish?')
disconnect()