Python object_pose_from_robot_config示例

示例#1

文件： visualizations.py 项目： lukeshimanuki/guiding_gtamp_light

def set_state(state, oracle):
  if state['robot'] is not False:
    set_robot_config(oracle.robot, state['robot'])
  for object_name in oracle.objects:
    if state[object_name] is not False:
      oracle.set_pose(object_name, state[object_name])
  if state['holding'] is not False:
    holding = state['holding']
    oracle.set_pose(holding.object_name, object_pose_from_robot_config(oracle, oracle.get_robot_config(), holding.grasp))

示例#2

文件： visualizations.py 项目： beomjoonkim/openrave_repo

def set_state(state, oracle):
  if state['robot'] is not False:
    set_robot_config(oracle.robot, state['robot'])
  for object_name in oracle.objects:
    if state[object_name] is not False:
      oracle.set_pose(object_name, state[object_name])
  if state['holding'] is not False:
    holding = state['holding']
    oracle.set_pose(holding.object_name, object_pose_from_robot_config(oracle, oracle.get_robot_config(), holding.grasp))

示例#3

文件： multi_query.py 项目： beomjoonkim/openrave_repo

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

示例#4

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