def get_generator(initial, goal, oracle, planner):
if planner == MANIPULATION_PLANNERS.FFROB:
return ffrob_generator(initial, goal, oracle)
if planner == MANIPULATION_PLANNERS.TRAJECTORY_HBF:
return default_scheduler_generator(goal, lambda rg: TrajectoryScheduler(rg, oracle))
if planner == MANIPULATION_PLANNERS.ROADMAP_HBF:
return default_scheduler_generator(goal, lambda rg: RoadmapScheduler(rg, oracle))
if planner == MANIPULATION_PLANNERS.HBF:
return default_scheduler_generator(goal, lambda rg: GeneratingScheduler(rg, [SP(oracle) for SP in USE_SUBPLANNERS]))
if planner == MANIPULATION_PLANNERS.RMMP:
return pick_and_place_generator(initial, goal, oracle)
raise RuntimeError(planner + ' is not a valid manipulation planner')
def run_experiment(oracle, configuration):
if hasattr(oracle, 'crg'): delattr(oracle, 'crg') # TODO - reuse the crg for some experiments
# search is set by configuration? NOt sure what a configuration is
search, successor = configuration
initial, goal = get_representation(oracle, MANIPULATION_PLANNERS.FFROB)
# This one gets the plan from the initial state to the goal
plan, state_space = search(initial, goal, ffrob_generator(initial, goal, oracle, successor()))
if plan is not None:
plan = Plan(plan.cost, plan.length, sum(get_sample_time(operator) for operator in plan.operators))
return Outcome(plan, state_space.time_elapsed(), state_space.iterations, len(state_space),
state_space.num_expanded(), state_space.num_generations(), oracle.ffrob_sample_time, oracle.ffrob_sample_attempts)
