def random_place(body, surface, fixed=(), region=None, max_attempt=10):
for _ in range(max_attempt):
if region is None:
pose = sample_placement(body, surface, percent=0.6)
else:
pose = sample_placement_region(body, surface, region=region, percent=0.3)
set_pose(body, pose)
if (pose is None) or any(pairwise_collision(body, b) for b in fixed):
continue
return pose
return False
def add_object(self, task_object, init_pose=None, randomly_place_on=None):
assert(task_object.type in self.all_types)
assert('/' not in task_object.type)
assert(isinstance(task_object.type, str))
assert(isinstance(task_object.uid, int))
assert(task_object.uid not in self._odb_id)
tname = task_object.type
if tname not in self._odb_type:
self._odb_type[tname] = []
# rename the object
task_object.name = '%s/%i' % (tname, len(self._odb_type[tname]))
self._odb_type[tname].append(task_object)
self._odb_id[task_object.uid] = task_object
# place the object
if init_pose is not None:
assert (randomly_place_on is None)
set_pose(task_object.uid, init_pose)
elif randomly_place_on is not None:
self.random_place(task_object.uid, randomly_place_on)
def place(self, body, surface, pose):
body_id = self[body].uid
surface_id = self[surface].uid
z = stable_z(body_id, surface_id)
pose[0][-1] = z
set_pose(body_id, pose)