pyrobosim.planning.pddlstream.primitives

Helper primitives for PDDLStream based planning.

Functions

get_grasp_at_pose_cost(g, pr)	Estimates the cost of grasping a specific object, given the grasp properties and the pose of the robot.
get_nav_poses(loc)	Gets a finite list of navigation poses for a specific location.
get_path_length(path)	Simple wrapper to get the length of a path.
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.
get_pick_place_cost(loc, obj)	Estimates a dummy pick / place cost for a specific location / object combination, which a constant value plus the height of the location and half height of the object.
get_straight_line_distance(l1, l2)	Optimistically estimate the distance between two locations by getting the minimum straight-line distance between any two navigation poses.
sample_grasp_pose(grasp_gen, obj, p_obj, p_robot)	Samples feasible grasps for an object given its pose and the relative robot pose.
sample_motion(planner, p1, p2)	Samples a feasible motion plan from a start to a goal pose.
sample_place_pose(loc, obj[, max_tries])	Samples a feasible placement pose for an object at a specific location.
test_collision_free(o1, p1, o2, p2)	Test for collisions between two objects at specified poses.