pyrobosim.planning.pddlstream.primitives.get_pick_place_at_pose_cost

pyrobosim.planning.pddlstream.primitives.get_pick_place_at_pose_cost(loc: ObjectSpawn, obj: Object, p: Pose, pr: Pose) → float

Estimates a dummy pick / place cost for a specific location / object combination, given the pose of the object and the robot.

Parameters:

  • loc – Location where pick / place action occurs.

  • obj – Object that is manipulated.

  • p – Object pose.

  • pr – Robot pose.

Returns:

Cost of performing action.