rofunc.utils.robolab.rdf.bbo_planning#

1.  Module Contents#

1.1.  Classes#

BBOPlanner

1.2.  API#

class rofunc.utils.robolab.rdf.bbo_planning.BBOPlanner(args, rdf_model, box_size, box_pos, box_rotation)[source]#

Initialization

Bimanual box carrying using Robot distance field (RDF)

Parameters:

  • args – the arguments

  • rdf_model – the RDF model

  • box_size – the size of the box

  • box_pos – the position of the box

  • box_rotation – the rotation of the box

load_box_object()[source]#

load a box with size .3*.3*.3 based on urdf path

compute_internal_points(num=10, use_surface_points=False)[source]#
compute_contact_points()[source]#
reaching_cost(joint_value, p, base_trans)[source]#
collision_cost(joint_value, p, base_trans)[source]#
normal_cost(joint_value, p, tgt_normal, base_trans)[source]#
limit_angles(joint_value)[source]#
joint_limits_cost(joint_value, theta_max, theta_min)[source]#
middle_joint_cost(joint_value, theta_mid)[source]#
optimizer(p, n, theta_mid, base_trans=None, batch=64)[source]#