def vertices_to_polygon(vertices):
poly_vertices = []
for v in vertices:
poly_vertices.append(scene_if.Vector(v[0], v[1]))
shape = scene_if.Shape(polygon=scene_if.Polygon(vertices=poly_vertices))
assert is_valid_convex_polygon(poly_vertices)
return shape
def update_task(self,
body1,
body2,
relationships,
over=True,
phantom_vertices=None,
description=None):
assert body1.dynamic or body2.dynamic, (
'At least one dynamic body needed.')
assert len(relationships) == 1, 'Not supported'
if relationships[0] == self.SpatialRelationship.LEFT_OF:
relationships = [self.SpatialRelationship.RIGHT_OF]
body1, body2 = body2, body1
self.task.relationships = relationships
self.task.bodyId1 = self.body_list.index(body1)
self.task.bodyId2 = self.body_list.index(body2)
# Add phantom vertices.
if phantom_vertices is not None:
poly_vertices = []
for v in phantom_vertices:
poly_vertices.append(scene_if.Vector(v[0], v[1]))
shape = scene_if.Shape(polygon=scene_if.Polygon(
vertices=poly_vertices))
self.task.phantomShape = shape
if description is None:
self._recolor_objects(body1, body2, over)
# Add description.
relation_name = (self.SpatialRelationship._VALUES_TO_NAMES[
relationships[0]].lower())
description = 'Make sure the %s is %s the %s.' % (
(body1.description, relation_name, body2.description))
# Check that task description is unambiguous.
for task_body in ['bodyId1', 'bodyId2']:
reference_body = self.body_list[getattr(self.task, task_body)]
for body in self.body_list:
if body != reference_body:
assert body.description != reference_body.description, (
'Ambiguous body description: %s' %
body.description)
self.task.description = description