def fn(self, config, object_name, object_pose, holding):
oracle = self.oracle
if not hasattr(config, 'preprocessed'):
config.processed = True
with oracle.robot_saver():
oracle.set_robot_config(config)
config.saver = oracle.robot_saver()
config.manip_trans = get_manip_trans(oracle)
config.aabbs = [(aabb_min(aabb), aabb_max(aabb)) for aabb in [oracle.compute_part_aabb(part) for part in USE_ROBOT_PARTS]]
trans = object_trans_from_manip_trans(config.manip_trans, holding.grasp.grasp_trans)
distance = oracle.get_radius2(object_name) + oracle.get_radius2(holding.object_name)
check_holding = length2(point_from_trans(trans) - point_from_pose(object_pose.value)) <= distance
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)
check_robot = fast_aabb_overlap(object_aabb_min, object_aabb_max, config.aabbs)
if not check_holding or not check_robot: return False
with oracle.body_saver(object_name):
oracle.set_pose(object_name, object_pose)
if check_robot:
with oracle.robot_saver():
with collision_saver(oracle.env, openravepy_int.CollisionOptions.ActiveDOFs):
config.saver.Restore()
if robot_collision(oracle, object_name):
return True
if check_holding:
with oracle.body_saver(holding.object_name):
set_trans(oracle.get_body(holding.object_name), trans)
if collision(oracle, object_name, holding.object_name):
return True
return False
def fn(self, body_name1, pose1, body_name2, pose2):
oracle = self.oracle
if not oracle.necessary_collision(body_name1, pose1, body_name2, pose2): return False
with oracle.body_saver(body_name1):
with oracle.body_saver(body_name2):
oracle.set_pose(body_name1, pose1)
oracle.set_pose(body_name2, pose2)
return collision(oracle, body_name1, body_name2)
def fn(self, body_name, pose, grasp):
oracle = self.oracle
manip_trans, vector = manip_from_pose_grasp(oracle, pose, grasp)
body_trans, gripper_trans = trans_from_pose(pose.value), gripper_trans_from_manip_trans(oracle, manip_trans)
distance, direction = length(vector), normalize(vector)
steps = int(max(ceil(distance/MIN_DELTA), 1)) + 1
with oracle.robot:
with oracle.body_saver(body_name):
for dist in (s*distance/steps for s in reversed(range(steps))):
set_trans(oracle.get_body(body_name), vector_trans(body_trans, dist*direction))
set_trans(oracle.gripper, vector_trans(gripper_trans, dist*direction))
if any(gripper_collision(oracle, obst_name) for obst_name in oracle.obstacles) or \
any(collision(oracle, body_name, obst_name) for obst_name in oracle.obstacles):
return True
return False
def fn(self, start_config, trajs, object_name, object_pose, holding):
oracle = self.oracle
if oracle.traj_collision(start_config, trajs, object_name, object_pose): return True
all_trans = [object_trans_from_manip_trans(manip_trans, holding.grasp.grasp_trans) for traj in trajs for manip_trans in traj.manip_trans] # TODO - cache these transforms
distance = oracle.get_radius2(object_name) + oracle.get_radius2(holding.object_name)
manip_trans = [trans for trans in all_trans if length2(point_from_trans(trans) - point_from_pose(object_pose.value)) <= distance]
if len(manip_trans) == 0: return False
with oracle.body_saver(object_name):
oracle.set_pose(object_name, object_pose)
with oracle.body_saver(holding.object_name):
for trans in manip_trans:
set_trans(oracle.get_body(holding.object_name), trans)
if collision(oracle, object_name, holding.object_name):
return True
return False
def fn(self, edge, object_name, object_pose, holding):
oracle = self.oracle
preprocess_edge(oracle, edge)
all_trans = [object_trans_from_manip_trans(q.manip_trans, holding.grasp.grasp_trans) for q in edge.configs()] # TODO - cache these transforms
distance = oracle.get_radius2(object_name) + oracle.get_radius2(holding.object_name)
nearby_trans = [trans for trans in all_trans if length2(point_from_trans(trans) - point_from_pose(object_pose.value)) <= distance]
if len(nearby_trans) == 0: return False
with oracle.body_saver(object_name):
oracle.set_pose(object_name, object_pose)
with oracle.body_saver(holding.object_name):
for trans in nearby_trans:
set_trans(oracle.get_body(holding.object_name), trans)
if collision(oracle, object_name, holding.object_name):
return True
return False
def fn(self, body_name1, pose1, grasp, body_name2, pose2):
oracle = self.oracle
manip_trans, vector = manip_from_pose_grasp(oracle, pose1, grasp)
distance, direction = length(vector), normalize(vector)
steps = int(max(ceil(distance/MIN_DELTA), 1)) + 1
poses = [Pose(pose_from_trans(vector_trans(trans_from_pose(pose1.value), direction*s*distance/steps))) for s in reversed(range(steps))]
# USE OBJECT COLLISION CACHE?
if not any(oracle.necessary_collision(body_name1, pose, body_name2, pose2) for pose in poses): return False
with oracle.body_saver(body_name1):
with oracle.body_saver(body_name2):
oracle.set_pose(body_name2, pose2)
for pose in poses:
oracle.set_pose(body_name1, pose)
if collision(oracle, body_name1, body_name2): # TODO - consider using gripper as well
return True
return False
