def __init__(self, handle: Object):
super(Human, self).__init__()
self.handle = handle
handle.value = 0
children = handle.get_objects_in_tree(handle)
for child in children:
name = child.get_name()
if 'Bill_goalPosCylinder' in name:
self.dummy_handle = child.get_parent()
def add(self, obj: Object, ignore_collisions: bool = False,
min_rotation: tuple = (0.0, 0.0, -3.14),
max_rotation: tuple = (0.0, 0.0, 3.14),
min_distance: float = 0.01) -> int:
"""Returns true if can add and adds it
rotation_limits: how mush we allow it to rotate from its original
position"""
# Rotate the bounding box randomly
if obj.is_model():
bb = obj.get_model_bounding_box()
else:
bb = obj.get_bounding_box()
obj_bbox = BoundingBox(*bb)
rotation = np.random.uniform(list(min_rotation), list(max_rotation))
obj_bbox = obj_bbox.rotate(rotation)
if not obj_bbox.within_boundary(self._boundary_bbox, self._is_plane):
return -1
new_pos = self._get_position_within_boundary(obj, obj_bbox)
obj.set_position(new_pos, self._boundary)
obj.rotate(list(rotation))
new_pos = np.array(new_pos)
if not ignore_collisions:
for contained_obj in self._contained_objects:
# Check for collision between each child
for cont_ob in contained_obj.get_objects_in_tree(
exclude_base=False):
for placing_ob in obj.get_objects_in_tree(
exclude_base=False):
if placing_ob.check_collision(cont_ob):
return -2
dist = np.linalg.norm(
new_pos - contained_obj.get_position(self._boundary))
if dist < min_distance:
return -3
self._contained_objects.append(obj)
return 1
def __init__(self, handle: Object):
super(Human, self).__init__()
self.handle = handle
handle.value = 0
children = handle.get_objects_in_tree(handle)
for child in children:
name = child.get_name()
if 'Bill_goalPosCylinder' in name:
self.dummy_handle = child.get_parent()
# self.dummy_handle._set_property(prop_type: int, value: bool) -> None:
pos = self.handle.get_position()
self.ss1 = Shape.create(type=PrimitiveShape.CONE,
color=[1, 0, 0],
size=[0.75, 0.75, 0.0015],
position=[pos[0], pos[1], 0],
orientation=[3.14, 0, 3.14])
self.ss1.set_color([1, 0, 0])
self.ss1.set_position([pos[0], pos[1], 0])
self.ss1.set_orientation([3.14, 0, 3.14])
self.ss1.set_dynamic(False)
self.ss1.set_renderable(False)
self.set_model(True)
