Split tsr

.gitignore

@@ -7,3 +7,4 @@
 **/cmovetraj.txt
 
 doc
+*~

package.xml

@@ -33,9 +33,11 @@
   <depend>python-rospkg</depend>
   <depend>python-yaml</depend>
   <depend>python-lxml</depend>
+  <depend>tsr</depend>
   <test_depend>python-nose</test_depend>
   <!-- These optional dependencies cause unit tests can fail if missing. -->
   <test_depend>cbirrt2</test_depend>
+  <test_depend>tsr</test_depend>
   <test_depend>or_cdchomp</test_depend>
   <test_depend>or_ompl</test_depend>
   <test_depend>or_parabolicsmoother</test_depend>

setup.py

@@ -11,7 +11,6 @@
         'prpy.perception',
         'prpy.planning',
         'prpy.simulation',
-        'prpy.tsr',
     ],
     package_dir={'': 'src'},
 )

src/prpy/base/robot.py

@@ -31,12 +31,12 @@
 import functools, logging, openravepy, numpy
 from .. import bind, named_config, exceptions, util
 from ..clone import Clone, Cloned
-from ..tsr.tsrlibrary import TSRLibrary
+from tsr.tsrlibrary import TSRLibrary
 from ..planning.base import Sequence, Tags
 from ..planning.ompl import OMPLSimplifier
 from ..planning.retimer import OpenRAVEAffineRetimer, ParabolicRetimer
 from ..planning.mac_smoother import MacSmoother
-from ..util import SetTrajectoryTags
+from ..util import SetTrajectoryTags, GetManipulatorIndex
 
 logger = logging.getLogger(__name__)
 
@@ -55,7 +55,7 @@ def __init__(self, robot_name=None):
         self.robot_name = robot_name
 
         try:
-            self.tsrlibrary = TSRLibrary(self, robot_name=robot_name)
+            self.tsrlibrary = TSRLibrary(self, manipindex=GetManipulatorIndex(self), robot_name=robot_name)
         except ValueError as e:
             self.tsrlibrary = None
             logger.warning('Failed creating TSRLibrary for robot "%s": %s',

src/prpy/planning/__init__.py

@@ -46,6 +46,6 @@
 from ik import IKPlanner
 from sbpl import SBPLPlanner
 from openrave import BiRRTPlanner
-from tsr import TSRPlanner
+from tsrplanner import TSRPlanner
 from workspace import GreedyIKPlanner
 from vectorfield import VectorFieldPlanner

src/prpy/planning/adapters.py

@@ -8,7 +8,7 @@
     H_from_op_diff,
     invert_H,
 )
-from ..tsr.tsr import (
+from tsr.tsr import (
     TSR,
     TSRChain,
 )
@@ -74,7 +74,7 @@ def CreateTSRChains(cls, robot, direction, distance):
             T0_w=numpy.dot(H_world_w, Hw_end),
             Tw_e=H_w_ee,
             Bw=numpy.zeros((6, 2)),
-            manip=manip_index))
+            manipindex=manip_index))
         constraint_chain = TSRChain(constrain=True, TSR=TSR(
             T0_w=H_world_w,
             Tw_e=H_w_ee,
@@ -85,6 +85,6 @@ def CreateTSRChains(cls, robot, direction, distance):
                 [-cls.epsilon, cls.epsilon],
                 [-cls.epsilon, cls.epsilon],
                 [-cls.epsilon, cls.epsilon]]),
-            manip=manip_index))
+            manipindex=manip_index))
 
         return [goal_chain, constraint_chain]

src/prpy/planning/cbirrt.py

@@ -35,7 +35,7 @@
     DefaultRobotCollisionCheckerFactory,
     SimpleRobotCollisionCheckerFactory,
 )
-from ..tsr import TSR, TSRChain
+from tsr import TSR, TSRChain
 from ..util import SetTrajectoryTags
 from .adapters import PlanToEndEffectorOffsetTSRAdapter
 from .base import (
@@ -104,7 +104,7 @@ def PlanToEndEffectorPose(self, robot, goal_pose, **kw_args):
         @return traj output path
         """
         manipulator_index = robot.GetActiveManipulatorIndex()
-        goal_tsr = TSR(T0_w=goal_pose, manip=manipulator_index)
+        goal_tsr = TSR(T0_w=goal_pose, manipindex=manipulator_index)
         tsr_chain = TSRChain(sample_goal=True, TSR=goal_tsr)
 
         kw_args.setdefault('psample', 0.1)

src/prpy/planning/chomp.py

@@ -42,7 +42,7 @@
 from base import (BasePlanner, PlanningError, UnsupportedPlanningError,
                   ClonedPlanningMethod, Tags)
 from prpy.util import VanDerCorputSampleGenerator, SampleTimeGenerator
-import prpy.tsr
+import tsr
 
 SaveParameters = openravepy.KinBody.SaveParameters.LinkEnable
 

src/prpy/planning/ompl.py

@@ -50,7 +50,7 @@
     SetTrajectoryTags,
     GetManipulatorIndex,
 )
-from ..tsr.tsr import (
+from tsr.tsr import (
     TSR,
     TSRChain,
 )

src/prpy/serialization.py

@@ -12,7 +12,7 @@
 def serialize(obj):
     from numpy import ndarray
     from openravepy import Environment, KinBody, Robot, Trajectory
-    from prpy.tsr import TSR, TSRChain
+    from tsr import TSR, TSRChain
 
     NoneType = type(None)