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]