def plan_base_traj(oracle, start_config, end_config, holding=None, obstacle_poses={}):
with oracle.state_saver():
oracle.set_all_object_poses(obstacle_poses)
oracle.set_robot_config(end_config)
base_trans = get_trans(oracle.robot)
oracle.set_robot_config(start_config)
open_gripper(oracle)
if holding is not None:
oracle.set_pose(holding.object_name, object_pose_from_robot_config(oracle, start_config, holding.grasp))
grab(oracle, holding.object_name)
traj = cspace_traj(oracle, CSpace.robot_base(oracle.robot), base_values_from_trans(base_trans))
if holding is not None:
release(oracle, holding.object_name)
return traj
def plan_base_traj(oracle, start_config, end_config, holding=None, obstacle_poses={}):
with oracle.state_saver():
oracle.set_all_object_poses(obstacle_poses)
oracle.set_robot_config(end_config)
base_trans = get_trans(oracle.robot)
oracle.set_robot_config(start_config)
open_gripper(oracle)
if holding is not None:
oracle.set_pose(holding.object_name, object_pose_from_robot_config(oracle, start_config, holding.grasp))
grab(oracle, holding.object_name)
traj = cspace_traj(oracle, CSpace.robot_base(oracle.robot), base_values_from_trans(base_trans))
if holding is not None:
release(oracle, holding.object_name)
return traj
