def weight_regions(oracle, body_name, region_names): # TODO - take into account the size of obstacles
region_weights = {region_name: oracle.regions[region_name].area() for region_name in region_names}
for obj in oracle.objects:
if oracle.is_active(obj) and obj != body_name:
for region in region_names:
if oracle.region_contains(region, obj, oracle.get_pose(obj)):
region_weights[region] -= aabb_area(oracle.get_aabb(obj))
return region_weights
def weight_regions(
oracle, body_name,
region_names): # TODO - take into account the size of obstacles
region_weights = {
region_name: oracle.regions[region_name].area()
for region_name in region_names
}
for obj in oracle.objects:
if oracle.is_active(obj) and obj != body_name:
for region in region_names:
if oracle.region_contains(region, obj, oracle.get_pose(obj)):
region_weights[region] -= aabb_area(oracle.get_aabb(obj))
return region_weights
def fn(self, body_name, region_name):
oracle = self.oracle
poses = []
region = oracle.get_region(region_name)
for _ in range(int(self.poses_per_ratio*region.area()/aabb_area(oracle.get_aabb(body_name)) + 1)):
theta = uniform(0, 2*PI)
quat = quat_from_z_rot(theta)
aabb = oracle.get_aabb(body_name, trans_from_quat(quat))
cspace = region.cspace(aabb)
if cspace is None: continue # NOTE - does not add more placements
((minx, maxx), (miny, maxy)) = cspace
x = uniform(minx, maxx)
y = uniform(miny, maxy)
z = region.z + aabb.extents()[2] + REGION_PLACEMENT_Z_OFFSET
point = np.array([x, y, z]) - aabb.pos()
poses.append(Pose(pose_from_quat_point(quat, point)))
return poses
def fn(self, body_name, region_name):
oracle = self.oracle
poses = []
region = oracle.get_region(region_name)
for _ in range(
int(self.poses_per_ratio * region.area() /
aabb_area(oracle.get_aabb(body_name)) + 1)):
theta = uniform(0, 2 * PI)
quat = quat_from_z_rot(theta)
aabb = oracle.get_aabb(body_name, trans_from_quat(quat))
cspace = region.cspace(aabb)
if cspace is None: continue # NOTE - does not add more placements
((minx, maxx), (miny, maxy)) = cspace
x = uniform(minx, maxx)
y = uniform(miny, maxy)
z = region.z + aabb.extents()[2] + REGION_PLACEMENT_Z_OFFSET
point = np.array([x, y, z]) - aabb.pos()
poses.append(Pose(pose_from_quat_point(quat, point)))
return poses
