[WIP] Ensure contact happens within slicer volume before slicing #588
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| @@ -89,6 +89,7 @@ def main(random_selection=False, headless=False, short_exec=False): | |||
| knife.set_position_orientation( | |||
| position=apple.get_position() + np.array([-0.15, 0.0, 0.2]), | |||
| orientation=T.euler2quat([-np.pi / 2, 0, 0]), | |||
| # orientation=T.euler2quat([np.pi / 2, 0, 0]) # The back of the knife cuts the apple as well | |||
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In tests/test_transition_rules.py create two unit tests, one that has the object falling on the sharp side and cutting, one that has the object falling on the blunt side and not cutting. Essentially you need to create a function called test_{test_name_here} and run it using pytest tests/test_transition_rules.py and it should pass. Ask for in-person help from Eric if you can't figure out how to run pytest. Once the test is ready, remove this change.
omnigibson/transition_rules.py
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| class TouchingVolumeCheckCondition(TouchingAnyCondition): | ||
| def __init__(self, filter_1_name, filter_2_name): | ||
| ''' | ||
| Checks if filter_2_bodies have a contact point within the collision volume generated from each obj in filter_1 |
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Let's explicitly say that we are using the slicer meta link as the volume here.
omnigibson/transition_rules.py
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| slicer_volume = None | ||
| for name, link in self.obj.links.items(): | ||
| if 'slicer' in name: | ||
| slicer_volume = link | ||
| break |
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Ask @cremebrule if this is the best way to do this.
| check_in_volume, _ = generate_points_in_volume_checker_function( | ||
| obj=obj, | ||
| volume_link=slicer_volume | ||
| ) |
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Ask @cremebrule if repeatedly creating this function incurs a big performance penalty. We could do something clever here where the volume is known and the checker function pointer is held by the SlicerActive state and here we can just query it.
At the very least, add before this line:
# TODO: Consider moving this to the SlicerActive state for performance.
cgokmen
changed the title
Final changes to the transition test
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Issue here is that contact points dont show up where you expect them to. We need to figure out what to do |
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@cgokmen to look into this later (low prio) |
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