def build_user_input(points=None, rectangulars=None, balls=None):
points, rectangulars, balls = _prepare_user_input(points, rectangulars,
balls)
user_input = scene_if.UserInput(
flattened_point_list=points.flatten().tolist(), balls=[], polygons=[])
for start in range(0, len(rectangulars), 8):
rect = rectangulars[start:start + 8]
vertices = []
for i in range(4):
vertices.append(
scene_if.Vector(rect[2 * i] - rect[0],
rect[2 * i + 1] - rect[1]))
user_input.polygons.append(
scene_if.PolygonWithPosition(
vertices=vertices,
position=scene_if.Vector(rect[0], rect[1]),
angle=0,
))
for start in range(0, len(balls), 3):
ball = balls[start:start + 3]
user_input.balls.append(
scene_if.CircleWithPosition(position=scene_if.Vector(
ball[0], ball[1]),
radius=ball[2]))
return user_input
def get_last_input(self):
assert self._config['mode'] == DEV_MODE
if os.path.exists(LAST_INPUT_PATH):
user_input = util.load_user_input(LAST_INPUT_PATH)
else:
user_input = scene_if.UserInput()
logging.warning('No last user input found')
return user_input
def action_to_user_input(self, action):
if not all(0 <= x <= 1 for x in action):
return EMPTY_USER_INPUT, False
user_input = scene_if.UserInput(flattened_point_list=[],
balls=[],
polygons=[])
BallScaler.add_to_user_input(action, user_input)
if not _is_inside_scene(user_input):
return EMPTY_USER_INPUT, False
_quantize_user_input_in_place(user_input)
return user_input, True
def load_user_input(fpath):
# Try to read in text format first.
points = _maybe_read_text_solution(fpath)
user_input = scene_if.UserInput(flattened_point_list=[],
polygons=[],
balls=[])
if points is not None:
user_input.flattened_point_list = np.array(points).flatten().tolist()
else:
with open(fpath, 'rb') as stream:
simulator.deserialize(user_input, stream.read())
return user_input
def featurized_objects_vector_to_scene(featurized_objects: np.ndarray
) -> scene_if.Scene:
"""Convert an array of featurized objects into a Scene.
Args:
featurized_objects: np.ndarray of size (num_objects, OBJECT_FEATURE_SIZE)
Returns:
A scene_if.Scene contianing each of the featurized objects.
"""
task = creator.creator.TaskCreator()
user_input = scene_if.UserInput(flattened_point_list=[],
balls=[],
polygons=[])
for features in featurized_objects:
object_properties = _object_features_to_values(features)
if object_properties['user_input']:
assert object_properties['shape_type'] == 'ball', (
'User input objects must be balls')
user_input.balls.append(
scene_if.CircleWithPosition(
position=scene_if.Vector(x=object_properties['x'],
y=object_properties['y']),
radius=object_properties['diameter'] / 2.0))
else:
builder = shapes_lib.get_builders()[object_properties['shape_type']]
shapes, phantom_vertices = builder.build(
diameter=object_properties['diameter'])
body = Body(shapes, object_properties['dynamic'],
object_properties['shape_type'],
object_properties['diameter'], phantom_vertices)
body.push(object_properties['x'], object_properties['y'])
body.set_angle(object_properties['angle'])
body.set_color(object_properties['color'])
task.scene.bodies.append(body._thrift_body)
task.body_list.append(body)
scene = phyre.simulator.add_user_input_to_scene(task.scene,
user_input,
allow_occlusions=True)
return scene
def action_to_user_input(
self,
action: GeneralizedAction) -> Tuple[scene_if.UserInput, bool]:
if not all(0 <= x <= 1 for x in action):
return EMPTY_USER_INPUT, False
user_input = scene_if.UserInput(flattened_point_list=[],
balls=[],
polygons=[])
BallScaler.add_to_user_input(action[:3], user_input)
BallScaler.add_to_user_input(action[3:], user_input)
if not _is_inside_scene(user_input):
return EMPTY_USER_INPUT, False
ball1, ball2 = user_input.balls
x1, x2 = ball1.position.x, ball2.position.x
y1, y2 = ball1.position.y, ball2.position.y
dist = ((x1 - x2)**2 + (y1 - y2)**2)**0.5
if dist < ball1.radius + ball2.radius + 1:
return EMPTY_USER_INPUT, False
if not _is_inside_scene(user_input):
return EMPTY_USER_INPUT, False
_quantize_user_input_in_place(user_input)
return user_input, True
def test_simulate_task(self):
sim = self._handler.simulate_task_by_id(
self._first_task_id, user_input=scene_if.UserInput(),
dilate=False).simulation
self.assertEqual(len(sim.sceneList),
1 + (simulator.DEFAULT_MAX_STEPS - 1) // 3)
from typing import ClassVar, Dict, FrozenSet, Optional, Sequence, Tuple, Union
import abc
import enum
import numpy as np
import phyre.creator
import phyre.interface.scene.ttypes as scene_if
GeneralizedAction = Union[np.ndarray, Sequence[float]]
SCENE_HEIGHT = phyre.creator.SCENE_HEIGHT
SCENE_WIDTH = phyre.creator.SCENE_WIDTH
EMPTY_USER_INPUT = scene_if.UserInput(flattened_point_list=[],
balls=[],
polygons=[])
def get_action_mapper(name: str) -> 'ActionMapper':
"""Get action mapper instance by name."""
return ACTION_MAPPERS[name]()
class DimensionType(enum.IntEnum):
"""Type of values in a component of an action."""
POSITION = 0
SIZE = 1
ANGLE = 2