def calculate_pose(self, action: Action,
images: List[OrthographicImage]) -> None:
if action.type == 'grasp':
self.grasp_convert(action, images)
is_safe = self.grasp_check_safety(action, images)
elif action.type == 'shift':
self.shift_convert(action, images)
is_safe = self.shift_check_safety(action, images)
elif action.type == 'place':
self.place_convert(action, images)
is_safe = self.place_check_safety(action, images)
else:
raise Exception('Unknown action type f{action.type}.')
if not self.action_should_be_safe:
is_safe = True
if not is_safe:
action.safe = -1
elif not np.isfinite(action.pose.translation()).all():
action.safe = 0
else:
action.safe = 1
def calculate_pose(self, action: Action,
images: List[OrthographicImage]) -> None:
if action.type == 'grasp':
self.grasp_convert(action, images)
is_safe = self.grasp_check_safety(action, images)
elif action.type == 'shift':
self.shift_convert(action, images)
is_safe = self.shift_check_safety(action, images)
elif action.type == 'place':
self.place_convert(action, images)
is_safe = self.place_check_safety(action, images)
if not self.action_should_be_safe:
is_safe = True
if is_safe and np.isfinite(action.pose.translation()).all():
action.safe = 1
elif not is_safe:
logger.warning('Action is not safe (probably not within box).')
action.safe = -1
else:
action.safe = 0
