mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-05-23 22:12:28 +00:00
9ef24b7768
Replace scipy differential_evolution with custom DE loop for per-device crossover, circular θ wrapping, and configurable mutation strategy (currenttobest1bin default, best1bin as turbo mode). Key improvements: - Graduate ALL hard constraints during DE (proportional penalty instead of flat inf), giving DE smooth gradient for reachability, min_spacing, etc. Binary inf preserved for final pass/fail reporting. - 2-axis sweep-and-prune AABB broad phase for collision pair pruning - Multi-seed injection from multiple seeder presets + Gaussian variants - snap_theta_safe: collision-check after angle snapping, revert on violation - Weight normalization (100 distance / 60 angle / 5× hard multiplier) - Constraint priority field (critical/high/normal/low → weight multiplier) with LLM intent interpreter setting priority per constraint type - Final success field now checks user hard constraints in binary mode - arm_slider added to mock checker reach table (1.07m) Tests: 202 passed, 24 new tests added (optimizer 7, constraints 6, broad_phase 11) Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
111 lines
4.0 KiB
Python
111 lines
4.0 KiB
Python
"""Mock 检测器：无 ROS 依赖的简化碰撞与可达性检测。
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碰撞检测基于 OBB SAT（O(n²) 两两比较）。
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可达性检测基于最大臂展半径的欧几里得距离判断。
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集成阶段由 ros_checkers.py 中的 MoveItCollisionChecker / IKFastReachabilityChecker 替代。
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"""
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from __future__ import annotations
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import math
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from .obb import obb_corners, obb_overlap
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class MockCollisionChecker:
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"""基于 OBB SAT 的碰撞检测。
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输入格式与 CollisionChecker Protocol 一致：
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placements: [{"id": str, "bbox": (w, d), "pos": (x, y, θ)}, ...]
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"""
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def check(self, placements: list[dict]) -> list[tuple[str, str]]:
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"""返回所有碰撞的设备对。"""
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collisions: list[tuple[str, str]] = []
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n = len(placements)
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for i in range(n):
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for j in range(i + 1, n):
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a, b = placements[i], placements[j]
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corners_a = obb_corners(
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a["pos"][0], a["pos"][1],
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a["bbox"][0], a["bbox"][1],
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a["pos"][2] if len(a["pos"]) > 2 else 0.0,
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)
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corners_b = obb_corners(
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b["pos"][0], b["pos"][1],
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b["bbox"][0], b["bbox"][1],
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b["pos"][2] if len(b["pos"]) > 2 else 0.0,
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)
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if obb_overlap(corners_a, corners_b):
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collisions.append((a["id"], b["id"]))
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return collisions
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def check_bounds(
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self, placements: list[dict], lab_width: float, lab_depth: float
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) -> list[str]:
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"""返回超出实验室边界的设备 ID 列表。"""
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out_of_bounds: list[str] = []
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for p in placements:
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hw, hd = self._rotated_half_extents(p)
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x, y = p["pos"][:2]
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if x - hw < 0 or x + hw > lab_width or y - hd < 0 or y + hd > lab_depth:
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out_of_bounds.append(p["id"])
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return out_of_bounds
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@staticmethod
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def _rotated_half_extents(p: dict) -> tuple[float, float]:
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"""计算旋转后 AABB 的半宽和半深。"""
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w, d = p["bbox"]
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theta = p["pos"][2] if len(p["pos"]) > 2 else 0.0
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cos_t = abs(math.cos(theta))
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sin_t = abs(math.sin(theta))
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half_w = (w * cos_t + d * sin_t) / 2
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half_d = (w * sin_t + d * cos_t) / 2
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return half_w, half_d
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class MockReachabilityChecker:
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"""基于最大臂展半径的简化可达性判断。
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内置常见 Elite CS 系列机械臂的臂展参数。
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自定义臂展可通过构造参数传入。
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"""
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# 默认臂展参数（单位：米）
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DEFAULT_ARM_REACH: dict[str, float] = {
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"elite_cs63": 0.624,
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"elite_cs66": 0.914,
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"elite_cs612": 1.304,
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"elite_cs620": 1.800,
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"arm_slider": 1.07, # 线性导轨臂：body 2.14m × 0.35m，reach ≈ half length
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}
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# 未知型号回退臂展：realistic default for lab-scale arms
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DEFAULT_FALLBACK_REACH: float = 0.4
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def __init__(self, arm_reach: dict[str, float] | None = None):
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self.arm_reach = {**self.DEFAULT_ARM_REACH, **(arm_reach or {})}
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def is_reachable(self, arm_id: str, arm_pose: dict, target: dict) -> bool:
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"""判断目标点是否在机械臂最大臂展半径内。
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Uses OBB edge-to-edge distance when available (passed as _obb_dist),
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otherwise falls back to center-to-center Euclidean distance.
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Args:
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arm_id: 机械臂型号 ID（用于查臂展）
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arm_pose: {"x": float, "y": float, "theta": float}
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target: {"x": float, "y": float, "z": float, "_obb_dist": float (optional)}
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Returns:
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True 如果目标在臂展半径内
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"""
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max_reach = self.arm_reach.get(arm_id, self.DEFAULT_FALLBACK_REACH)
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if "_obb_dist" in target:
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return target["_obb_dist"] <= max_reach
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dx = target["x"] - arm_pose["x"]
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dy = target["y"] - arm_pose["y"]
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dist_sq = dx**2 + dy**2
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return dist_sq <= max_reach**2
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