Neil T. Dantam
Neil T. Dantam
OK, there is a partial CLPython binding already: https://github.com/golems/amino/blob/master/lisp/py/user.lisp Just need to include the additional functions for scene graph I/O and manipulation. Please give me a couple days to look...
You can get the start/goal task expressions by calling `tmsmt --write-facts=FACTS.pddl ...`, which will output the PDDL facts for the input scene/semantics.
This probably means either (1) the goal is in collision or (2) there are no IK solutions for the goal. You could try loading/viewing the scene and drawing in some...
Yes, absolute is with respect to the scene's root.
Possible that there is some detected self-collision in the robot at the goal state. The simplified collision geometry for many robots results in spurious collisions that need to be "allowed"...
Yes, the `collision` attribute sets whether the geometry is considered for collisions. There is also a `visual` attribute for collision-only geometry
Just the documentation here: http://amino.golems.org/scenefile.html. Here is the parser: https://github.com/golems/amino/blob/master/lisp/rx/scenefile/curly.lisp
Nothing defined yet. See the demo domain semantics python files for some examples of packages to import. `dir()` works as expected. `import CL` followed by `CL.DESCRIBE(FOO)` will access the docstrings.
Also: http://tmkit.kavrakilab.org/tmsmtpy.html
An expanded API: http://amino.golems.org/AMINO_CLPYTHON.html A simple demo: https://github.com/golems/amino/blob/master/demo/python/baxter-view.py