def main(time_step=0.01):
parser = create_parser()
parser.add_argument('-teleport',
action='store_true',
help='Teleports between configurations')
parser.add_argument('-viewer',
action='store_true',
help='enable the viewer while planning')
# TODO: argument for selecting prior
args = parser.parse_args()
print('Arguments:', args)
# TODO: nonuniform distribution to bias towards other actions
# TODO: closed world and open world
real_world = connect(use_gui=not args.viewer)
add_data_path()
task, state = get_problem1(localized='rooms',
p_other=0.25) # surfaces | rooms
for body in task.get_bodies():
add_body_name(body)
robot = task.robot
#dump_body(robot)
assert (USE_DRAKE_PR2 == is_drake_pr2(robot))
attach_viewcone(robot) # Doesn't work for the normal pr2?
draw_base_limits(get_base_limits(robot), color=(0, 1, 0))
#wait_for_user()
# TODO: partially observable values
# TODO: base movements preventing pick without look
# TODO: do everything in local coordinate frame
# TODO: automatically determine an action/command cannot be applied
# TODO: convert numpy arrays into what they are close to
# TODO: compute whether a plan will still achieve a goal and do that
# TODO: update the initial state directly and then just redraw it to ensure uniqueness
step = 0
while True:
step += 1
print('\n' + 50 * '-')
print(step, state)
wait_for_user()
#print({b: p.value for b, p in state.poses.items()})
with ClientSaver():
commands = plan_commands(state, args)
print()
if commands is None:
print('Failure!')
break
if not commands:
print('Success!')
break
apply_commands(state, commands, time_step=time_step)
print(state)
wait_for_user()
disconnect()
def main(time_step=0.01):
# TODO: closed world and open world
real_world = connect(use_gui=True)
add_data_path()
task, state = get_problem1(localized='rooms',
p_other=0.5) # surfaces | rooms
for body in task.get_bodies():
add_body_name(body)
robot = task.robot
#dump_body(robot)
assert (USE_DRAKE_PR2 == is_drake_pr2(robot))
attach_viewcone(robot) # Doesn't work for the normal pr2?
draw_base_limits(get_base_limits(robot), color=(0, 1, 0))
#wait_for_interrupt()
# TODO: partially observable values
# TODO: base movements preventing pick without look
# TODO: do everything in local coordinate frame
# TODO: automatically determine an action/command cannot be applied
# TODO: convert numpy arrays into what they are close to
# TODO: compute whether a plan will still achieve a goal and do that
# TODO: update the initial state directly and then just redraw it to ensure uniqueness
step = 0
while True:
step += 1
print('\n' + 50 * '-')
print(step, state)
#print({b: p.value for b, p in state.poses.items()})
with ClientSaver():
commands = plan_commands(state)
print()
if commands is None:
print('Failure!')
break
if not commands:
print('Success!')
break
apply_commands(state, commands, time_step=time_step)
print(state)
wait_for_interrupt()
disconnect()