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Update planner.py #70

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merged 3 commits into from
Mar 13, 2024
Merged

Update planner.py #70

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88ba0b9
Update planner.py
Lexseal Mar 13, 2024
2760cdc
more bugs -_-
Lexseal Mar 13, 2024
012de61
change all srdf to self.srdf
Lexseal Mar 13, 2024
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19 changes: 11 additions & 8 deletions mplib/planner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -55,20 +55,21 @@ def __init__(
if joint_acc_limits is None:
joint_acc_limits = []
self.urdf = urdf
if srdf == "" and os.path.exists(urdf.replace(".urdf", ".srdf")):
self.srdf = srdf
if self.srdf == "" and os.path.exists(urdf.replace(".urdf", ".srdf")):
self.srdf = urdf.replace(".urdf", ".srdf")
print(f"No SRDF file provided but found {self.srdf}")

# replace package:// keyword if exists
urdf = self.replace_package_keyword(package_keyword_replacement)

self.robot = ArticulatedModel(
urdf,
srdf,
self.urdf,
self.srdf,
[0, 0, -9.81],
user_link_names,
user_joint_names,
convex=True,
convex=kwargs.get("convex", False),
verbose=False,
)
self.pinocchio_model = self.robot.get_pinocchio_model()
Expand All @@ -82,17 +83,17 @@ def __init__(
kwargs.get("normal_object_names", []),
)

if srdf == "":
self.generate_collision_pair()
self.robot.update_SRDF(self.srdf)

self.joint_name_2_idx = {}
for i, joint in enumerate(self.user_joint_names):
self.joint_name_2_idx[joint] = i
self.link_name_2_idx = {}
for i, link in enumerate(self.user_link_names):
self.link_name_2_idx[link] = i

if self.srdf == "":
self.generate_collision_pair()
self.robot.update_SRDF(self.srdf)

assert (
move_group in self.user_link_names
), f"end-effector not found as one of the links in {self.user_link_names}"
Expand Down Expand Up @@ -674,6 +675,8 @@ def plan_qpos_to_pose(
if current_qpos[i] > self.joint_limits[i][1]:
current_qpos[i] = self.joint_limits[i][1] - 1e-3

current_qpos = self.pad_qpos(current_qpos)

if wrt_world:
goal_pose = self.transform_goal_to_wrt_base(goal_pose)

Expand Down