def draw(self, env):
from manipulation.primitives.display import draw_node, draw_edge
color = (0, 0, 1, .5) if self.solution else (1, 0, 0, .5)
self.node_handle = draw_node(env, self.config, color=color)
if self.parent is not None:
self.edge_handle = draw_edge(
env, self.config, self.parent.config, color=color)
def draw(self, env):
# https://github.mit.edu/caelan/lis-openrave
from manipulation.primitives.display import draw_node, draw_edge
color = apply_alpha(BLUE if self.solution else RED, alpha=0.5)
self.node_handle = draw_node(env, self.config, color=color)
if self.parent is not None:
self.edge_handle = draw_edge(
env, self.config, self.parent.config, color=color)
def get_next(self, **kwargs):
samples = [self.cond_stream.sample() for _ in range(self.num)]
samples = filter(lambda s: not self.cond_stream.collision(s),
samples) # TODO - replace with more then?
for sample in samples:
self.handles.append(
draw_node(self.cond_stream.oracle.env,
sample,
color=(1, 0, 0, .5)))
return [(Conf(Config(sample)), ) for sample in samples]
def draw(self, env, color=(1, 0, 0, .5)):
from manipulation.primitives.display import draw_node
self._handle = draw_node(env, self.q, color=color)
def draw(self, env, color=apply_alpha(RED, alpha=0.5)):
# https://github.mit.edu/caelan/lis-openrave
from manipulation.primitives.display import draw_node
self._handle = draw_node(env, self.q, color=color)
