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 openrave_base_iterator(oracle, manip_iterator, random_bases=True):
if not hasattr(oracle, 'ir_model'):
oracle.ir_model = get_openrave_ir(oracle, random_bases)
index_manip_iterator = ((manip_trans, manip_trans) for manip_trans in manip_iterator)
try:
for base_pose, manip_trans, _ in oracle.ir_model.randomBaseDistributionIterator(index_manip_iterator) if random_bases else \
oracle.ir_model.sampleBaseDistributionIterator(index_manip_iterator, logllthresh=-INF, Nprematuresamples=1):
yield trans_from_pose(base_pose), manip_trans
except (ValueError, planning_error): # ValueError: low >= high because of an empty sequence
raise StopIteration
