def test_base_motion(pr2, base_start, base_goal):
#disabled_collisions = get_disabled_collisions(pr2)
set_base_values(pr2, base_start)
user_input('Plan Base?')
base_limits = ((-2.5, -2.5), (2.5, 2.5))
base_path = plan_base_motion(pr2, base_goal, base_limits)
if base_path is None:
print('Unable to find a base path')
return
print(len(base_path))
for bq in base_path:
set_base_values(pr2, bq)
user_input('Continue?')
def test_base_motion(pr2, base_start, base_goal, obstacles=[]):
#disabled_collisions = get_disabled_collisions(pr2)
set_base_values(pr2, base_start)
wait_for_user('Plan Base?')
base_limits = ((-2.5, -2.5), (2.5, 2.5))
base_path = plan_base_motion(
pr2, base_goal, base_limits, obstacles=obstacles)
if base_path is None:
print('Unable to find a base path')
return
print(len(base_path))
for bq in base_path:
set_base_values(pr2, bq)
if SLEEP is None:
wait_for_user('Continue?')
else:
time.sleep(SLEEP)
def test_base_motion(pr2, base_start, base_goal, obstacles=[]):
#disabled_collisions = get_disabled_collisions(pr2)
set_base_values(pr2, base_start)
wait_if_gui('Plan Base-pr2?')
base_limits = ((-2.5, -2.5), (2.5, 2.5))
with LockRenderer(lock=False):
base_path = plan_base_motion(pr2, base_goal, base_limits, obstacles=obstacles)
if base_path is None:
print('Unable to find a base path')
return
print(len(base_path))
for bq in base_path:
set_base_values(pr2, bq)
if SLEEP is None:
wait_if_gui('Continue?')
else:
wait_for_duration(SLEEP)