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feat(layout): Expose limit_reach_range and max_orient_diff in bfs_placement.

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Xinjie 2025-09-28 14:27:21 +08:00 committed by GitHub
parent a34b1dacea
commit 137855bdc6
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GPG Key ID: B5690EEEBB952194
2 changed files with 27 additions and 6 deletions
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1
embodied_gen/scripts/gen_layout.py
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@ -128,7 +128,6 @@ def entrypoint() -> None:
layout_info = bfs_placement(
layout_path,
limit_reach_range=True if args.insert_robot else False,
seed=args.seed_layout,
)
layout_path = f"{output_root}/layout.json"

32
embodied_gen/utils/geometry.py
View File

@ -233,7 +233,8 @@ def bfs_placement(
rotate_objs: bool = True,
rotate_bg: bool = True,
rotate_context: bool = True,
limit_reach_range: bool = True,
limit_reach_range: tuple[float, float] | None = (0.20, 0.85),
max_orient_diff: float | None = 60,
robot_dim: float = 0.12,
seed: int = None,
) -> LayoutInfo:
@ -249,7 +250,8 @@ def bfs_placement(
rotate_objs: If True, apply a random rotation around the Z-axis for manipulated and distractor objects.
rotate_bg: If True, apply a random rotation around the Y-axis for the background object.
rotate_context: If True, apply a random rotation around the Z-axis for the context object.
limit_reach_range: If True, enforce a check that manipulated objects are within the robot's reach.
limit_reach_range: If set, enforce a check that manipulated objects are within the robot's reach range, in meter.
max_orient_diff: If set, enforce a check that manipulated objects are within the robot's orientation range, in degree.
robot_dim: The approximate dimension (e.g., diameter) of the robot for box representation.
seed: Random seed for reproducible placement.
@ -376,20 +378,40 @@ def bfs_placement(
continue
# Make sure the manipulated object is reachable by robot.
if (
limit_reach_range
limit_reach_range is not None
and object_mapping[node]
== Scene3DItemEnum.MANIPULATED_OBJS.value
):
cx = parent_pos[0] + node_box[0] + obj_dx / 2
cy = parent_pos[1] + node_box[2] + obj_dy / 2
cz = parent_pos[2] + p_z2 - z1
robot_pose = position[robot_node][:3]
robot_pos = position[robot_node][:3]
if not check_reachable(
base_xyz=np.array(robot_pose),
base_xyz=np.array(robot_pos),
reach_xyz=np.array([cx, cy, cz]),
min_reach=limit_reach_range[0],
max_reach=limit_reach_range[1],
):
continue
# Make sure the manipulated object is inside the robot's orientation.
if (
max_orient_diff is not None
and object_mapping[node]
== Scene3DItemEnum.MANIPULATED_OBJS.value
):
cx = parent_pos[0] + node_box[0] + obj_dx / 2
cy = parent_pos[1] + node_box[2] + obj_dy / 2
cx2, cy2 = position[robot_node][:2]
v1 = np.array([-cx2, -cy2])
v2 = np.array([cx - cx2, cy - cy2])
dot = np.dot(v1, v2)
norms = np.linalg.norm(v1) * np.linalg.norm(v2)
theta = np.arccos(np.clip(dot / norms, -1.0, 1.0))
theta = np.rad2deg(theta)
if theta > max_orient_diff:
continue
if not has_iou_conflict(
node_box, placed_boxes_map[parent_node]
):