def main():
parser = argparse.ArgumentParser()
#parser.add_argument('-attempts', default=100, type=int,
# help='The number of attempts')
parser.add_argument('-cfree', action='store_true',
help='When enabled, disables collision checking (for debugging).')
#parser.add_argument('-grasp_type', default=GRASP_TYPES[0],
# help='Specifies the type of grasp.')
#parser.add_argument('-problem', default='test_block',
# help='The name of the problem to solve.')
parser.add_argument('-max_time', default=10*60, type=float,
help='The maximum runtime')
parser.add_argument('-num_samples', default=1000, type=int,
help='The number of samples')
parser.add_argument('-robot', default=FRANKA_CARTER, choices=[FRANKA_CARTER, EVE],
help='The robot to use.')
parser.add_argument('-seed', default=None,
help='The random seed to use.')
parser.add_argument('-teleport', action='store_true',
help='Uses unit costs')
parser.add_argument('-visualize', action='store_true',
help='When enabled, visualizes planning rather than the world (for debugging).')
args = parser.parse_args()
world = World(use_gui=args.visualize, robot_name=args.robot)
#dump_body(world.robot)
for joint in world.kitchen_joints:
world.open_door(joint) # open_door | close_door
world.open_gripper()
# TODO: sample from set of objects?
object_name = '{}_{}_block{}'.format(BLOCK_SIZES[-1], BLOCK_COLORS[0], 0)
world.add_body(object_name)
# TODO: could constrain Eve to be within a torso cone
grasp_colors = {
TOP_GRASP: RED,
SIDE_GRASP: BLUE,
}
#combinations = list(product(OPEN_SURFACES, GRASP_TYPES)) \
# + [(surface_name, TOP_GRASP) for surface_name in DRAWERS] \
# + [(surface_name, SIDE_GRASP) for surface_name in CABINETS] # ENV_SURFACES
combinations = []
for surface_name in ZED_LEFT_SURFACES:
if surface_name in (OPEN_SURFACES + DRAWERS):
combinations.append((surface_name, TOP_GRASP))
if surface_name in (OPEN_SURFACES + CABINETS):
combinations.append((surface_name, SIDE_GRASP))
# TODO: parallelize
print('Combinations:', combinations)
wait_for_user('Start?')
for surface_name, grasp_type in combinations:
#draw_picks(world, object_name, surface_name, grasp_type, color=grasp_colors[grasp_type])
collect_place(world, object_name, surface_name, grasp_type, args)
world.destroy()
def main():
parser = argparse.ArgumentParser()
#parser.add_argument('-attempts', default=100, type=int,
# help='The number of attempts')
parser.add_argument(
'-cfree',
action='store_true',
help='When enabled, disables collision checking (for debugging).')
parser.add_argument('-max_time',
default=10 * 60,
type=float,
help='The maximum runtime')
parser.add_argument('-num_samples',
default=1000,
type=int,
help='The number of samples')
parser.add_argument('-seed', default=None, help='The random seed to use.')
parser.add_argument('-teleport',
action='store_true',
help='Uses unit costs')
parser.add_argument(
'-visualize',
action='store_true',
help=
'When enabled, visualizes planning rather than the world (for debugging).'
)
args = parser.parse_args()
# TODO: could record the full trajectories here
world = World(use_gui=args.visualize)
world.open_gripper()
#joint_names = DRAWER_JOINTS + CABINET_JOINTS
joint_names = ZED_LEFT_JOINTS
print('Joints:', joint_names)
print('Knobs:', KNOBS)
wait_for_user('Start?')
for joint_name in joint_names:
collect_pull(world, joint_name, args)
for knob_name in KNOBS:
collect_pull(world, knob_name, args)
world.destroy()
