r( ps.configAtParam(0,2) )
ps.pathLength(0)
ps.getWaypoints (0)
ps.getWaypoints (1)
plotPath (cl, 0, r, "pathy", 0.1) # time-step should depend on sub-path length ?
plotFrame (r, "framy", [0,0,0], 0.5)
plotThetaPlane (q1, q2, r, "ThetaPlane")
## DEBUG commands
cl.obstacle.getObstaclePosition('decor_base')
robot.getJointOuterObjects('base_joint_xyz')
robot.isConfigValid(q1)
robot.distancesToCollision()
r( ps.configAtDistance(0,5) )
ps.optimizePath (0)
ps.clearRoadmap ()
ps.resetGoalConfigs ()
from numpy import *
argmin(robot.distancesToCollision()[0])
robot.getJointNames ()
robot.getConfigSize ()
ps.setInitialConfig (qt1); ps.addGoalConfig (qt2); ps.solve ()
