def get_manipulator(self, env):
"""
Look up and return the manipulator in the environment.
@param env: OpenRAVE environment
@return an OpenRAVE manipulator
"""
return from_key(env, self._manipulator)
def get_object(self, env):
"""
Look up and return the object in the environment.
@param env: OpenRAVE environment
@return a KinBody
"""
return from_key(env, self._object)
def get_hand(self, env):
"""
Look up and return the hand in the given OpenRAVE environment.
@param env: OpenRAVE environment
@return a prpy.EndEffector
"""
return from_key(env, self._hand)
def get_obj(self, env):
"""
Look up and return the object in the environment.
@param env: OpenRAVE environment
@return KinBody to be released
"""
return from_key(env, self._obj)
def plan(self, env):
"""
No planning; just create and return a GrabObjectSolution.
@param env: OpenRAVE environment
@return a GrabObjectSolution
"""
# Add PoseValidator precondition
obj = from_key(env, self._obj)
obj_pose_validator = ObjectPoseValidator(obj.GetName(),
obj.GetTransform())
return GrabObjectSolution(action=self,
obj=from_key(env, self._obj),
dof_values=self.dof_values,
dof_indices=self.dof_indices,
precondition=obj_pose_validator)
def get_on_obj(self, env):
"""
Look up and return the object to push along in the environment.
@param env: OpenRAVE environment
@return a KinBody to push the object along
"""
return from_key(env, self._on_object)
def get_obj(self, env):
"""
Look up and return the object in the environment.
@param env: OpenRAVE environment
@return KinBody that the TSR is defined on
"""
return from_key(env, self._obj)
def get_robot(self, env):
"""
Look up and return the robot in the environment.
@param env: OpenRAVE environment
@return an OpenRAVE robot
"""
return from_key(env, self._robot)
def get_on_obj(self, env):
"""
Look up and return the object to place on in the environment.
@param env: OpenRAVE environment
@return KinBody to place on
"""
return from_key(env, self._on_obj)
def get_obj(self, env):
"""
Look up and return the object in the environment.
@param env: OpenRAVE environment
@return the object to teleport
"""
return from_key(env, self._obj)
def get_obj(self, env, obj_key):
"""
Look up and return a particular object to release in the environment.
@param env: OpenRAVE environment
@param obj_key: key for the object to release
@return the KinBody to be released
"""
return from_key(env, obj_key)
def get_movables(self, env):
"""
Look up and return the moveable objects in the environment.
@param env: OpenRAVE environment
@return a list of moveable KinBodies
"""
objs = [from_key(env, m) for m in self._movables]
return objs
def get_bodies(self, env, bodies):
"""
Look up and return the bodies in the environment.
@param env: OpenRAVE environment
@param bodies: list of body keys
@return list of Kinbodies
"""
return [from_key(env, key) for key in bodies]
def get_robot(self, env):
"""
Look up and return the robot in the environment.
@param env: OpenRAVE environment
@return the robot to grab with
"""
if self._robot is None:
return None
return from_key(env, self._robot)
def get_objects(self, env):
"""
@param env: OpenRAVE environment with objects to disable
@return list of KinBodies to disable
"""
return [from_key(env, o) for o in self._objects]