def _execute(self, desig):
solution = desig.reference()
if solution['cmd'] == "detecting":
robot = BulletWorld.robot
object_type = solution['object']
cam_frame_name = solution['cam_frame']
front_facing_axis = solution['front_facing_axis']
objects = BulletWorld.current_bullet_world.get_objects_by_type(object_type)
for obj in objects:
if btr.visible(obj, robot.get_link_position_and_orientation(cam_frame_name), front_facing_axis):
return obj
def _execute(self, desig):
solultion = desig.reference()
if solultion['cmd'] == "detecting":
robot = BulletWorld.robot
object_type = solultion['object']
cam_frame_name = solultion['cam_frame']
objects = BulletWorld.current_bullet_world.objects
visible_objects = []
for obj in objects:
if obj.type == "environment":
continue
if btr.visible(obj, robot.get_link_position(cam_frame_name)):
visible_objects.append(obj)
for obj in visible_objects:
if obj.type == object_type:
return obj