def check_legal(self, x):
grasp_ratio, rel_x, rel_y, dangle, cw1, ch1, cw2, ch2 = x
print(x)
dangle *= np.sign(rel_x)
settings[0]['do_gui'] = self.do_gui
kitchen = Kitchen2D(**settings[0])
gripper = Gripper(kitchen, (5, 8), 0)
cup1 = ks.make_cup(kitchen, (0, 0), 0, cw1, ch1, 0.5)
cup2 = ks.make_cup(kitchen, (-15, 0),
0,
cw2,
ch2,
0.5,
user_data='cup2')
gripper.set_grasped(cup2, grasp_ratio, (-15, 0), 0)
gripper.set_position((rel_x, rel_y), 0)
if not kitchen.planning:
g2 = gripper.simulate_itself()
_, collision = g2.check_path_collision((rel_x, rel_y), 0,
(rel_x, rel_y), dangle)
if collision:
return False
self.kitchen = kitchen
self.gripper = gripper
self.cup1 = cup1
self.cup2 = cup2
return True
def check_legal(self, x):
grasp_ratio, rel_x, rel_y, dangle, \
cw1, ch1, cw2, ch2, cw3, ch3, \
pos_x1, pos_x2, pos_x3 = x
dangle *= np.sign(rel_x)
settings[0]['do_gui'] = self.do_gui
kitchen = Kitchen2D(**settings[0])
kitchen.gui_world.colors['water'] = self.water_color
gripper = Gripper(kitchen, (5,8), 0)
cup1 = ks.make_cup(kitchen, (pos_x1, 0), 0, cw1, ch1, 0.5, user_data=self.base_cup_type)
cup2 = ks.make_cup(kitchen, (pos_x2, 0), 0, cw2, ch2, 0.5, user_data='cup2')
cup3 = ks.make_cup(kitchen, (pos_x3, 0), 0, cw3, ch3, 0.5, user_data=self.base_cup_type)
gripper.set_grasped(cup2, grasp_ratio, (pos_x2, 0), 0)
gripper.set_position((rel_x, rel_y), 0)
if not kitchen.planning:
g2 = gripper.simulate_itself()
_, collision = g2.check_path_collision((rel_x, rel_y), 0, (rel_x, rel_y), dangle)
if collision:
return False
self.kitchen = kitchen
self.gripper = gripper
self.cup1 = cup1
self.cup2 = cup2
self.cup3 = cup3
self.properties = x[4:10]
return True
