def __init__(self):
b1, p1 = P('b1', BODY), P('p1', GLOB_POSE)
rp, b2, p2 = P('rp', REL_POSE), P('b2', BODY), P('p2', GLOB_POSE)
Axiom.__init__(
self, AtGlobPose(b1, p1),
Or(
AtFixedPose(b1, p1),
Exists([rp, b2, p2],
And(IsPoseProd(p1, rp, p2), AtGlobPose(b2, p2),
AtRelPose(b1, rp, b2)))))
def __init__(self):
b, p, t = P('b', BLOCK), P('p', POSE), P('t', TRAJ)
Axiom.__init__(
self,
Safe(b, t),
Or(
Holding(b), # TODO - could also have equality here
Exists(
[p],
And(
AtPose(b, p),
#Not(Equal(p1, p2)), # TODO - I could always immediately outlaw them having the same pose...
IsCollisionFree(p, t)))))
def __init__(self):
b1, p1, p2 = P('b1', BLOCK), P('p1', POSE), P('p2', POSE)
Axiom.__init__(
self,
Safe(b1, p2),
Or(
Holding(b1), # TODO - could also have equality here
Exists(
[p1],
And(
AtPose(b1, p1),
#Not(Equal(p1, p2)), # TODO - I could always immediately outlaw them having the same pose...
IsCollisionFree(p1, p2)))))
def __init__(self):
b1, p1, b2, p2 = P('b1', BLOCK), P('p1',
POSE), P('b2',
BLOCK), P('p2', POSE)
Axiom.__init__(
self,
Safe(b1, b2, p2),
Or(
Holding(b1), # TODO - could also have equality here
#Or(Equal(b1, b2), # TODO - could also have equality here
Exists(
[p1],
And(
AtPose(b1, p1),
#Not(Equal(p1, p2)), # Having the same pose is certainly a collision # NOTE - cannot use equality if I have the same object
IsCollisionFree(b1, p1, b2, p2)))))