From 9a69bb3dc88fcc4458f927d588f24b4243370da9 Mon Sep 17 00:00:00 2001 From: Kolin Guo Date: Mon, 15 Apr 2024 15:57:14 -0700 Subject: [PATCH] Rename Planner.plan_qpos_to_qpos/plan_qpos_to_pose methods * Planner.plan_qpos_to_qpos => Planner.plan_qpos * Planner.plan_qpos_to_pose => Planner.plan_pose --- mplib/planner.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/mplib/planner.py b/mplib/planner.py index e9f87ee..cc2ce7a 100644 --- a/mplib/planner.py +++ b/mplib/planner.py @@ -520,7 +520,7 @@ def remove_object(self, name) -> bool: """returns true if the object was removed, false if it was not found""" return self.planning_world.remove_object(name) - def plan_qpos_to_qpos( + def plan_qpos( self, goal_qposes: list[np.ndarray], current_qpos: np.ndarray, @@ -617,7 +617,7 @@ def _transform_goal_to_wrt_base(self, goal_pose: Pose) -> Pose: """Converts goal pose from T_world_goal to T_base_goal""" return self.robot.get_base_pose().inv() * goal_pose - def plan_qpos_to_pose( + def plan_pose( self, goal_pose: Pose, current_qpos: np.ndarray, @@ -675,7 +675,7 @@ def plan_qpos_to_pose( for i in range(len(goal_qpos)): # type: ignore print(goal_qpos[i]) # type: ignore - return self.plan_qpos_to_qpos( + return self.plan_qpos( goal_qpos, # type: ignore current_qpos, time_step=time_step, @@ -708,7 +708,7 @@ def plan_screw( Args: goal_pose: pose of the goal current_qpos: current joint configuration (either full or move_group joints) - qpos_step: size of the random step for RRT + qpos_step: size of the random step time_step: time step for the discretization wrt_world: if True, interpret the target pose with respect to the world frame instead of the base frame