def fn(self, edge, object_name, object_pose):
oracle = self.oracle
preprocess_edge(oracle, edge)
object_aabb = oracle.get_aabb(object_name,
trans_from_pose(object_pose.value))
object_aabb_min, object_aabb_max = aabb_min(object_aabb), aabb_max(
object_aabb)
configs = [
q for q in edge.configs()
if fast_aabb_overlap(object_aabb_min, object_aabb_max, q.aabbs)
]
if len(configs) == 0: return False
#distance = oracle.get_radius2('pr2') + oracle.get_radius2(object_name)
#z = get_point(oracle.robot)[-1]
#configs = [q for q in edge.configs() if length2(np.array([q.value[-3], q.value[-2], z]) - point_from_pose(object_pose.value)) <= distance]
#if len(configs) == 0: return False
# TODO - oracle.robot.SetActiveDOFValues(q.value) is the bottleneck: check each object at the same time
with oracle.body_saver(object_name):
oracle.set_pose(object_name, object_pose)
with oracle.robot_saver():
CSpace.robot_arm_and_base(
oracle.robot.GetActiveManipulator()).set_active()
with collision_saver(
oracle.env, openravepy_int.CollisionOptions.ActiveDOFs
): # TODO - does this really do what I think?
for q in configs: # TODO - do this with other other collision functions
q.saver.Restore()
if robot_collision(oracle, object_name):
return True
return False
def fn(self, edge, object_name, object_pose):
oracle = self.oracle
preprocess_edge(oracle, edge)
object_aabb = oracle.get_aabb(object_name, trans_from_pose(object_pose.value))
object_aabb_min, object_aabb_max = aabb_min(object_aabb), aabb_max(object_aabb)
configs = [q for q in edge.configs() if fast_aabb_overlap(object_aabb_min, object_aabb_max, q.aabbs)]
if len(configs) == 0: return False
#distance = oracle.get_radius2('pr2') + oracle.get_radius2(object_name)
#z = get_point(oracle.robot)[-1]
#configs = [q for q in edge.configs() if length2(np.array([q.value[-3], q.value[-2], z]) - point_from_pose(object_pose.value)) <= distance]
#if len(configs) == 0: return False
# TODO - oracle.robot.SetActiveDOFValues(q.value) is the bottleneck: check each object at the same time
with oracle.body_saver(object_name):
oracle.set_pose(object_name, object_pose)
with oracle.robot_saver():
CSpace.robot_arm_and_base(oracle.robot.GetActiveManipulator()).set_active()
with collision_saver(oracle.env, openravepy_int.CollisionOptions.ActiveDOFs): # TODO - does this really do what I think?
for q in configs: # TODO - do this with other other collision functions
q.saver.Restore()
if robot_collision(oracle, object_name):
return True
return False
def preprocess_edge(oracle, edge):
if not hasattr(edge, 'preprocessed'):
edge.preprocessed = True
with oracle.robot_saver():
CSpace.robot_arm_and_base(oracle.robot.GetActiveManipulator()).set_active()
for q in edge.configs():
if not hasattr(q, 'saver'):
oracle.robot.SetActiveDOFValues(q.value)
q.saver = oracle.robot_saver()
q.manip_trans = get_manip_trans(oracle)
q.aabbs = [(aabb_min(aabb), aabb_max(aabb)) for aabb in [oracle.compute_part_aabb(part) for part in USE_ROBOT_PARTS]]
def preprocess_edge(oracle, edge):
if not hasattr(edge, 'preprocessed'):
edge.preprocessed = True
with oracle.robot_saver():
CSpace.robot_arm_and_base(
oracle.robot.GetActiveManipulator()).set_active()
for q in edge.configs():
if not hasattr(q, 'saver'):
oracle.robot.SetActiveDOFValues(q.value)
q.saver = oracle.robot_saver()
q.manip_trans = get_manip_trans(oracle)
q.aabbs = [(aabb_min(aabb), aabb_max(aabb)) for aabb in [
oracle.compute_part_aabb(part)
for part in USE_ROBOT_PARTS
]]
