def SweepAt(robot, start, end, manip=None, margin=0.3, render=True):
"""
@param robot The robot performing the sweep
@param start The object or 3-d position that marks the start
@param end The object of 3-d position that marks the end
@param manip The manipulator to perform the sweep
@param margin The distance between the start object and the hand,
so the vertical space between the hand and objects.
This must be enough to clear the objects themselves.
@param render Render tsr samples during planning
"""
start_coord = GetPointFrom(start)
end_coord = GetPointFrom(end)
return Sweep(robot, start_coord, end_coord, manip, margin, render)
def SweepAt(robot, start, end, manip=None, margin=0.3, render=True):
""" Make a robot 'sweep' its arm from one object or position to another.
Note that this is identical to Sweep except start and end can be designated
by objects.
@param robot The robot performing the sweep
@param start The object or 3-D position that marks the start
@param end The object or 3-D position that marks the end
@param manip The manipulator to perform the sweep
@param margin The distance between the start object and the hand,
so the vertical space between the hand and objects.
This must be enough to clear the objects themselves.
@param render Render tsr samples during planning
"""
start_coord = GetPointFrom(start)
end_coord = GetPointFrom(end)
return Sweep(robot, start_coord, end_coord, manip, margin, render)
def PointAt(robot, focus, manip=None, render=False):
"""
@param robot The robot performing the point
@param focus The 3-D coordinate in space or object
that is being pointed at
@param manip The manipulator to perform the point with.
This must be the right arm
@param render Render tsr samples during planning
"""
pointing_coord = GetPointFrom(focus)
return Point(robot, pointing_coord, manip, render)
def PresentAt(robot, focus, manip=None, render=True):
""" Make a robot 'present' at a 3d position or object.
Note that this is identical to Present except that the focus can be an
object or 3d position.
@param robot The robot performing the presentation
@param focus The 3-D coordinate in space or object that
is being presented
@param manip The manipulator to perform the presentation with.
@param render Render tsr samples during planning
"""
presenting_coord = GetPointFrom(focus)
return Present(robot, presenting_coord, manip, render)
def PointAt(robot, focus, manip=None, render=False):
pointing_coord = GetPointFrom(focus)
return Point(robot, pointing_coord, manip, render)