pyrobosim.planning.pddlstream.primitives.get_pick_place_at_pose_cost

pyrobosim.planning.pddlstream.primitives.get_pick_place_at_pose_cost(loc, obj, p, pr)

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

Parameters:

• loc (Location) – Location where pick / place action occurs.

• obj (Object) – Object that is manipulated.

• p (pyrobosim.utils.pose.Pose) – Object pose.

• pr (pyrobosim.utils.pose.Pose) – Robot pose.

Returns:

Cost of performing action.

Return type:

float