def run(self):
self.start()
init_setup_commands = [{"$type": "set_screen_size",
"width": 600,
"height": 480},
{"$type": "set_render_quality",
"render_quality": 5}]
self.communicate(init_setup_commands)
# Create an empty room.
self.communicate(TDWUtils.create_empty_room(10, 10))
# Disable physics.
self.communicate({"$type": "set_gravity",
"value": False})
self.communicate(self.get_add_hdri_skybox("autumn_hockey_4k"))
# Add the avatar.
self.communicate(TDWUtils.create_avatar(position={"x": 3, "y": 1.3, "z": 0},
look_at=TDWUtils.array_to_vector3([0, 0.5, 0]),
avatar_id="avatar"))
lib = MaterialLibrarian(library="materials_med.json")
record = lib.get_record("grass_countryside")
print(record)
self.communicate({"$type": "add_material", "name": "grass_countryside", "url": record.get_url()})
self.communicate({"$type": "set_proc_gen_floor_material", "name": "grass_countryside"})
# self.communicate({"$type": "set_field_of_view",
# "field_of_view": 68.0,
# "avatar_id": "avatar"})
self.add_object(model_name="b05_clochild4",
position={"x": 0, "y": 0, "z": 0},
rotation={"x": 0, "y": 30, "z": 0},
library="models_full.json")
self.add_object(model_name="baseballbat",
position={"x": 0.5, "y": 0, "z": 0.3},
rotation={"x": 0, "y": 30, "z": 0},
library="models_full.json")
self.add_object(model_name="base-ball",
position={"x": 0.4, "y": 0, "z": 0.22},
rotation={"x": 0, "y": 30, "z": 10},
library="models_full.json")
# Enable image capture
self.communicate({"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]})
self.communicate({"$type": "send_images",
"frequency": "always"})
scene_data = self.communicate({"$type": "look_at_position",
"avatar_id": "avatar",
"position": TDWUtils.array_to_vector3([0, 0.5, 0])})
images = Images(scene_data[0])
TDWUtils.save_images(images, "kid_baseball", output_directory="/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior")
def run(self):
self.start()
init_setup_commands = [{"$type": "set_screen_size",
"width": 600,
"height": 480},
{"$type": "set_render_quality",
"render_quality": 5}]
self.communicate(init_setup_commands)
# Create an empty room.
self.communicate(TDWUtils.create_empty_room(32, 32))
# Disable physics.
self.communicate({"$type": "set_gravity",
"value": False})
# Add the avatar.
self.communicate(TDWUtils.create_avatar(position={"x": -1.5, "y": 1.5, "z": -15},
look_at=TDWUtils.array_to_vector3([-1.7, 0.7, -2.3]),
avatar_id="avatar"))
lib = MaterialLibrarian(library="materials_med.json")
record = lib.get_record("concrete_chipped_cracked")
self.communicate({"$type": "add_material", "name": "concrete_chipped_cracked", "url": record.get_url()})
self.communicate({"$type": "set_proc_gen_floor_material", "name": "concrete_chipped_cracked"})
# self.communicate({"$type": "set_proc_gen_walls_material", "name": "concrete"})
self.communicate({"$type": "set_field_of_view",
"field_of_view": 68.0,
"avatar_id": "avatar"})
bus = self.add_object(model_name="b06_bus_new",
position={"x": -2, "y": 0, "z": 0},
rotation={"x": 0, "y": -70, "z": 0},
library="models_full.json")
bus_bounds = self.get_bounds_data(bus)
bus_front = bus_bounds.get_front(0)
print(bus_front)
self.add_object(model_name="3dscan_man_004",
position={"x": -3.7, "y": 0, "z": -7.3},
rotation={"x": 0, "y": 0, "z": 0},
library="models_full.json")
# Enable image capture
self.communicate({"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]})
self.communicate({"$type": "send_images",
"frequency": "always"})
scene_data = self.communicate({"$type": "look_at_position",
"avatar_id": "avatar",
"position": TDWUtils.array_to_vector3([-1.7, 0.7, -2.3])})
images = Images(scene_data[0])
TDWUtils.save_images(images, "bus",
output_directory="/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior")
def run(self):
self.create_scene()
print("Using Controller.get_add_material wrapper function:")
self.communicate([self.get_add_material("parquet_long_horizontal_clean"),
{"$type": "set_proc_gen_floor_material",
"name": "parquet_long_horizontal_clean"}])
sleep(5)
self.create_scene()
print("Using the add_material command without any wrappers:")
lib = MaterialLibrarian()
record = lib.get_record("parquet_long_horizontal_clean")
self.communicate([{"$type": "add_material",
"name": record.name,
"url": record.get_url()},
{"$type": "set_proc_gen_floor_material",
"name": "parquet_long_horizontal_clean"}])
def run(self):
self.start()
init_setup_commands = [{
"$type": "set_screen_size",
"width": 600,
"height": 480
}, {
"$type": "set_render_quality",
"render_quality": 5
}]
self.communicate(init_setup_commands)
# Create an empty room.
self.communicate(TDWUtils.create_empty_room(8, 8))
# Disable physics.
self.communicate({"$type": "set_gravity", "value": False})
lib = MaterialLibrarian(library="materials_med.json")
record = lib.get_record("parquet_wood_mahogany")
self.communicate({
"$type": "add_material",
"name": "parquet_wood_mahogany",
"url": record.get_url()
})
self.communicate({
"$type": "set_proc_gen_floor_material",
"name": "parquet_wood_mahogany"
})
# Add the avatar.
self.communicate(
TDWUtils.create_avatar(position={
"x": -1,
"y": 1.4,
"z": -1
},
look_at=TDWUtils.array_to_vector3(
[-0.1, 0.7, -0.1]),
avatar_id="avatar"))
self.communicate({
"$type": "set_field_of_view",
"field_of_view": 68.0,
"avatar_id": "avatar"
})
table_id = self.add_object(
model_name=
"b03_restoration_hardware_pedestal_salvaged_round_tables",
position={
"x": 0,
"y": 0,
"z": 0
},
library="models_full.json")
table_bounds = self.get_bounds_data(table_id)
top = table_bounds.get_top(0)
self.add_object(model_name="club_sandwich",
position={
"x": 0.45,
"y": top[1],
"z": 0.25
},
rotation={
"x": 0,
"y": 30,
"z": 0
},
library="models_full.json")
self.add_object(model_name="coffeemug",
position={
"x": 0.03,
"y": top[1],
"z": 0.03
},
library="models_full.json")
self.add_object(model_name="knife3",
position={
"x": -0.17,
"y": top[1],
"z": 0.15
},
rotation={
"x": 0,
"y": 24,
"z": 90
},
library="models_full.json")
self.add_object(model_name="notes_02",
position={
"x": 0.17,
"y": top[1],
"z": -0.12
},
rotation={
"x": 0,
"y": 24,
"z": 0
},
library="models_full.json")
# Enable image capture
self.communicate({
"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]
})
self.communicate({"$type": "send_images", "frequency": "always"})
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([-0.1, 0.7, -0.1])
})
images = Images(scene_data[0])
TDWUtils.save_images(
images,
"sadnwich2",
output_directory=
"/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/interior"
)
def run(self):
self.start()
init_setup_commands = [{
"$type": "set_screen_size",
"width": 640,
"height": 480
}, {
"$type": "set_render_quality",
"render_quality": 5
}]
self.communicate(init_setup_commands)
self.communicate(TDWUtils.create_empty_room(8, 8))
# Disable physics.
self.communicate({"$type": "set_gravity", "value": False})
lib = MaterialLibrarian(library="materials_med.json")
record = lib.get_record("laser_cut_white_norway_spruce")
self.communicate({
"$type": "add_material",
"name": "laser_cut_white_norway_spruce",
"url": record.get_url()
})
self.communicate({
"$type": "set_proc_gen_floor_material",
"name": "laser_cut_white_norway_spruce"
})
# Add the avatar.
self.communicate(
TDWUtils.create_avatar(position={
"x": 1.5,
"y": 1.6,
"z": 0
},
look_at=TDWUtils.array_to_vector3(
[0, 0.5, 0]),
avatar_id="avatar"))
self.communicate({
"$type": "set_field_of_view",
"field_of_view": 68.0,
"avatar_id": "avatar"
})
table = self.add_object(
model_name="boconcept_lugo_dining_table_vray1.5",
position={
"x": 0,
"y": 0,
"z": 0.0
},
rotation={
"x": 0,
"y": -90,
"z": 0
},
library="models_full.json")
table_bounds = self.get_bounds_data(table)
top = table_bounds.get_top(0)
self.add_object(model_name='macbook_001',
position={
"x": 0,
"y": top[1],
"z": 0.1
},
rotation={
"x": 0,
"y": 90,
"z": 0
},
library="models_full.json")
self.add_object(model_name='spunlight_designermesh_lamp',
position={
"x": -0.19,
"y": top[1],
"z": -0.4
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library="models_full.json")
self.add_object(model_name="apple_magic_mouse_2_(2015)_vray",
position={
"x": 0,
"y": top[1],
"z": 0.32
},
rotation={
"x": 0,
"y": 86,
"z": 0
},
library="models_full.json")
self.add_object(model_name="f10_apple_iphone_4",
position={
"x": 0.14,
"y": top[1],
"z": -0.3
},
rotation={
"x": 0,
"y": 12,
"z": 0
},
library="models_full.json")
# Enable image capture
self.communicate({
"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]
})
self.communicate({"$type": "send_images", "frequency": "always"})
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([0, 0.5, 0])
})
images = Images(scene_data[0])
TDWUtils.save_images(
images,
"phone",
output_directory=
"/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/interior"
)
def run(self):
self.start()
# init_setup_commands = [{"$type": "set_screen_size",
# "width": 600,
# "height": 480},
# {"$type": "set_render_quality",
# "render_quality": 5}]
# self.communicate(init_setup_commands)
# Create an empty room.
self.communicate(TDWUtils.create_empty_room(8, 8))
# Disable physics.
self.communicate({"$type": "set_gravity", "value": False})
# Add the avatar.
self.communicate(
TDWUtils.create_avatar(position={
"x": 2.5,
"y": 1.5,
"z": 0.3
},
look_at=TDWUtils.array_to_vector3(
[3, 0.5, 0.5]),
avatar_id="avatar"))
lib = MaterialLibrarian(library="materials_med.json")
record = lib.get_record("gravel_white")
self.communicate({
"$type": "add_material",
"name": "gravel_white",
"url": record.get_url()
})
self.communicate({
"$type": "set_proc_gen_floor_material",
"name": "gravel_white"
})
# self.communicate({"$type": "set_proc_gen_walls_material", "name": "concrete"})
# self.communicate({"$type": "set_field_of_view",
# "field_of_view": 68.0,
# "avatar_id": "avatar"})
bench = self.add_object(model_name="b04_wood_metal_park_bench",
position={
"x": 3,
"y": 0,
"z": 0.5
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library="models_full.json")
bench_bounds = self.get_bounds_data(bench)
top = bench_bounds.get_top(0)
self.add_object(model_name="b05_baseball_bat_01",
position={
"x": 2.8,
"y": top[1] - 0.35,
"z": 0
},
rotation={
"x": 0,
"y": 90,
"z": 90
},
library="models_full.json")
self.add_object(model_name="b05_baseballnew_v03_12",
position={
"x": 2.9,
"y": top[1] - 0.35,
"z": 0.4
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library="models_full.json")
# Enable image capture
self.communicate({
"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]
})
self.communicate({"$type": "send_images", "frequency": "always"})
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([3, 0.5, 0.5])
})
images = Images(scene_data[0])
TDWUtils.save_images(
images,
"bench_ball",
output_directory=
"/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior"
)
class Controller(object):
"""
Base class for all controllers.
Usage:
```python
from tdw.controller import Controller
c = Controller()
c.start()
```
"""
def __init__(self,
port: int = 1071,
check_version: bool = True,
launch_build: bool = True):
"""
Create the network socket and bind the socket to the port.
:param port: The port number.
:param check_version: If true, the controller will check the version of the build and print the result.
:param launch_build: If True, automatically launch the build. If one doesn't exist, download and extract the correct version. Set this to False to use your own build, or (if you are a backend developer) to use Unity Editor.
"""
# Compare the installed version of the tdw Python module to the latest on PyPi.
# If there is a difference, recommend an upgrade.
if check_version:
self._check_pypi_version()
# Launch the build.
if launch_build:
Controller.launch_build()
context = zmq.Context()
self.socket = context.socket(zmq.REP)
self.socket.bind('tcp://*:' + str(port))
self.socket.recv()
self.model_librarian: Optional[ModelLibrarian] = None
self.scene_librarian: Optional[SceneLibrarian] = None
self.material_librarian: Optional[MaterialLibrarian] = None
self.hdri_skybox_librarian: Optional[HDRISkyboxLibrarian] = None
self.humanoid_librarian: Optional[HumanoidLibrarian] = None
self.humanoid_animation_librarian: Optional[
HumanoidAnimationLibrarian] = None
# Compare the version of the tdw module to the build version.
if check_version and launch_build:
self._check_build_version()
def communicate(self, commands: Union[dict, List[dict]]) -> list:
"""
Send commands and receive output data in response.
:param commands: A list of JSON commands.
:return The output data from the build.
"""
if not isinstance(commands, list):
commands = [commands]
self.socket.send_multipart([json.dumps(commands).encode('utf-8')])
return self.socket.recv_multipart()
def start(self, scene="ProcGenScene") -> None:
"""
Init TDW.
:param scene: The scene to load.
"""
self.communicate([{"$type": "load_scene", "scene_name": scene}])
def get_add_object(self,
model_name: str,
object_id: int,
position={
"x": 0,
"y": 0,
"z": 0
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library: str = "") -> dict:
"""
Returns a valid add_object command.
:param model_name: The name of the model.
:param position: The position of the model.
:param rotation: The starting rotation of the model, in Euler angles.
:param library: The path to the records file. If left empty, the default library will be selected. See `ModelLibrarian.get_library_filenames()` and `ModelLibrarian.get_default_library()`.
:param object_id: The ID of the new object.
:return An add_object command that the controller can then send.
"""
if self.model_librarian is None or (
library != "" and self.model_librarian.library != library):
self.model_librarian = ModelLibrarian(library=library)
record = self.model_librarian.get_record(model_name)
return {
"$type": "add_object",
"name": model_name,
"url": record.get_url(),
"scale_factor": record.scale_factor,
"position": position,
"rotation": rotation,
"category": record.wcategory,
"id": object_id
}
def get_add_material(self, material_name: str, library: str = "") -> dict:
"""
Returns a valid add_material command.
:param material_name: The name of the material.
:param library: The path to the records file. If left empty, the default library will be selected. See `MaterialLibrarian.get_library_filenames()` and `MaterialLibrarian.get_default_library()`.
:return An add_material command that the controller can then send.
"""
if self.material_librarian is None:
self.material_librarian = MaterialLibrarian(library=library)
record = self.material_librarian.get_record(material_name)
return {
"$type": "add_material",
"name": material_name,
"url": record.get_url()
}
def get_add_scene(self, scene_name: str, library: str = "") -> dict:
"""
Returns a valid add_scene command.
:param scene_name: The name of the scene.
:param library: The path to the records file. If left empty, the default library will be selected. See `SceneLibrarian.get_library_filenames()` and `SceneLibrarian.get_default_library()`.
:return An add_scene command that the controller can then send.
"""
if self.scene_librarian is None:
self.scene_librarian = SceneLibrarian(library=library)
record = self.scene_librarian.get_record(scene_name)
return {
"$type": "add_scene",
"name": scene_name,
"url": record.get_url()
}
def get_add_hdri_skybox(self, skybox_name: str, library: str = "") -> dict:
"""
Returns a valid add_hdri_skybox command.
:param skybox_name: The name of the skybox.
:param library: The path to the records file. If left empty, the default library will be selected. See `HDRISkyboxLibrarian.get_library_filenames()` and `HDRISkyboxLibrarian.get_default_library()`.
:return An add_hdri_skybox command that the controller can then send.
"""
if self.hdri_skybox_librarian is None:
self.hdri_skybox_librarian = HDRISkyboxLibrarian(library=library)
record = self.hdri_skybox_librarian.get_record(skybox_name)
return {
"$type": "add_hdri_skybox",
"name": skybox_name,
"url": record.get_url(),
"exposure": record.exposure,
"initial_skybox_rotation": record.initial_skybox_rotation,
"sun_elevation": record.sun_elevation,
"sun_initial_angle": record.sun_initial_angle,
"sun_intensity": record.sun_intensity
}
def get_add_humanoid(self,
humanoid_name: str,
object_id: int,
position={
"x": 0,
"y": 0,
"z": 0
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library: str = "") -> dict:
"""
Returns a valid add_humanoid command.
:param humanoid_name: The name of the humanoid.
:param position: The position of the humanoid.
:param rotation: The starting rotation of the humanoid, in Euler angles.
:param library: The path to the records file. If left empty, the default library will be selected. See `HumanoidLibrarian.get_library_filenames()` and `HumanoidLibrarian.get_default_library()`.
:param object_id: The ID of the new object.
:return An add_humanoid command that the controller can then send.
"""
if self.humanoid_librarian is None or (
library != "" and self.humanoid_librarian.library != library):
self.humanoid_librarian = HumanoidLibrarian(library=library)
record = self.humanoid_librarian.get_record(humanoid_name)
return {
"$type": "add_humanoid",
"name": humanoid_name,
"url": record.get_url(),
"position": position,
"rotation": rotation,
"id": object_id
}
def get_add_humanoid_animation(
self,
humanoid_animation_name: str,
library="") -> (dict, HumanoidAnimationRecord):
"""
Returns a valid add_humanoid_animation command and the record (which you will need to play an animation).
:param humanoid_animation_name: The name of the animation.
:param library: The path to the records file. If left empty, the default library will be selected. See `HumanoidAnimationLibrarian.get_library_filenames()` and `HumanoidAnimationLibrarian.get_default_library()`.
return An add_humanoid_animation command that the controller can then send.
"""
if self.humanoid_animation_librarian is None:
self.humanoid_animation_librarian = HumanoidAnimationLibrarian(
library=library)
record = self.humanoid_animation_librarian.get_record(
humanoid_animation_name)
return {
"$type": "add_humanoid_animation",
"name": humanoid_animation_name,
"url": record.get_url()
}, record
def load_streamed_scene(self, scene="tdw_room_2018") -> None:
"""
Load a streamed scene. This is equivalent to: `c.communicate(c.get_add_scene(scene))`
:param scene: The name of the streamed scene.
"""
self.communicate(self.get_add_scene(scene))
def add_object(self,
model_name: str,
position={
"x": 0,
"y": 0,
"z": 0
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library: str = "") -> int:
"""
Add a model to the scene. This is equivalent to: `c.communicate(c.get_add_object())`
:param model_name: The name of the model.
:param position: The position of the model.
:param rotation: The starting rotation of the model, in Euler angles.
:param library: The path to the records file. If left empty, the default library will be selected. See `ModelLibrarian.get_library_filenames()` and `ModelLibrarian.get_default_library()`.
:return The ID of the new object.
"""
object_id = Controller.get_unique_id()
self.communicate(
self.get_add_object(model_name, object_id, position, rotation,
library))
return object_id
def get_version(self) -> Tuple[str, str]:
"""
Send a send_version command to the build.
:return The TDW version and the Unity Engine version.
"""
resp = self.communicate({"$type": "send_version"})
for r in resp[:-1]:
if Version.get_data_type_id(r) == "vers":
v = Version(r)
return v.get_tdw_version(), v.get_unity_version()
if len(resp) == 1:
raise Exception(
"Tried receiving version output data but didn't receive anything!"
)
raise Exception(f"Expected output data with ID vers but got: " +
Version.get_data_type_id(resp[0]))
@staticmethod
def get_unique_id() -> int:
"""
Generate a unique integer. Useful when creating objects.
:return The new unique ID.
"""
return int.from_bytes(os.urandom(3), byteorder='big')
@staticmethod
def get_frame(frame: bytes) -> int:
"""
Converts the frame byte array to an integer.
:param frame: The frame as bytes.
:return The frame as an integer.
"""
return int.from_bytes(frame, byteorder='big')
@staticmethod
def launch_build() -> None:
"""
Launch the build. If a build doesn't exist at the expected location, download one to that location.
"""
# Download the build.
if not Build.BUILD_PATH.exists():
print(
f"Couldn't find build at {Build.BUILD_PATH}\nDownloading now..."
)
success = Build.download()
if not success:
print("You need to launch your own build.")
else:
success = True
# Launch the build.
if success:
Popen(str(Build.BUILD_PATH.resolve()))
def _check_build_version(self,
version: str = __version__,
build_version: str = None) -> None:
"""
Check the version of the build. If there is no build, download it.
If the build is of the wrong version, recommend an upgrade.
:param version: The version of TDW. You can set this to an arbitrary version for testing purposes.
:param build_version: If not None, this overrides the expected build version. Only override for debugging.
"""
v = PyPi.strip_post_release(version)
tdw_version, unity_version = self.get_version()
# Override the build version for testing.
if build_version is not None:
tdw_version = build_version
pypi_version = PyPi.get_latest_minor_release(tdw_version)
print(
f"Build version {tdw_version}\nUnity Engine {unity_version}\nPython tdw module version {version}"
)
if v < tdw_version:
print(
"WARNING! Your TDW build is newer than your tdw Python module. They might not be compatible."
)
print(
f"To download the correct build:\n\nfrom tdw.release.build import Build\nBuild.download(version={v})"
)
print(
f"\nTo upgrade your Python module (usually recommended):\n\npip3 install tdw=={pypi_version}"
)
elif v > tdw_version:
print(
"WARNING! Your TDW build is older than your tdw Python module. Downloading the correct build..."
)
Build.download(v)
@staticmethod
def _check_pypi_version(v_installed_override: str = None,
v_pypi_override: str = None) -> None:
"""
Compare the version of the tdw Python module to the latest on PyPi.
If there is a mismatch, offer an upgrade recommendation.
:param v_installed_override: Override for the installed version. Change this to debug.
:param v_pypi_override: Override for the PyPi version. Change this to debug.
"""
# Get the version of the installed tdw module.
installed_tdw_version = PyPi.get_installed_tdw_version()
# Get the latest version of the tdw module on PyPi.
pypi_version = PyPi.get_pypi_version()
# Apply overrides
if v_installed_override is not None:
installed_tdw_version = v_installed_override
if v_pypi_override is not None:
pypi_version = v_pypi_override
# If there is a mismatch, recommend an upgrade.
if installed_tdw_version != pypi_version:
# Strip the installed version of the post-release suffix (e.g. 1.6.3.4 to 1.6.3).
stripped_installed_version = PyPi.strip_post_release(
installed_tdw_version)
# This message is here only for debugging.
if stripped_installed_version != __version__:
print(
f"Your installed version: {stripped_installed_version} "
f"doesn't match tdw.version.__version__: {__version__} "
f"(this may be because you're using code from the tdw repo that is ahead of PyPi)."
)
# Strip the latest PyPi version of the post-release suffix.
stripped_pypi_version = PyPi.strip_post_release(pypi_version)
print(
f"You are using TDW {installed_tdw_version} but version {pypi_version} is available."
)
# If user is behind by a post release, recommend an upgrade to the latest.
# (Example: installed version is 1.6.3.4 and PyPi version is 1.6.3.5)
if stripped_installed_version == stripped_pypi_version:
print(
f"Upgrade to the latest version of TDW:\npip3 install tdw -U"
)
# Using a version behind the latest (e.g. latest is 1.6.3 and installed is 1.6.2)
# If the user is behind by a major or minor release, recommend either upgrading to a minor release
# or to a major release.
# (Example: installed version is 1.6.3.4 and PyPi version is 1.7.0.0)
else:
installed_major = PyPi.get_major_release(
stripped_installed_version)
pypi_minor = PyPi.get_latest_minor_release(
stripped_installed_version)
# Minor release mis-match.
if PyPi.strip_post_release(
pypi_minor) != stripped_installed_version:
print(
f"To upgrade to the last version of 1.{installed_major}:\n"
f"pip3 install tdw=={pypi_minor}")
pypi_major = PyPi.get_major_release(stripped_pypi_version)
# Major release mis-match.
if installed_major != pypi_major:
# Offer to upgrade to a major release.
print(
f"Consider upgrading to the latest version of TDW ({stripped_pypi_version}):"
f"\npip3 install tdw -U")
else:
print("Your installed tdw Python module is up to date with PyPi.")
def run(self):
self.start()
init_setup_commands = [{
"$type": "set_screen_size",
"width": 600,
"height": 480
}, {
"$type": "set_render_quality",
"render_quality": 5
}]
self.communicate(init_setup_commands)
# Create an empty room.
self.communicate({
"$type": "create_empty_environment",
"center": {
"x": 0,
"y": 0,
"z": 0
},
"bounds": {
"x": 8,
"y": 8,
"z": 8
}
})
self.communicate({"$type": "set_gravity", "value": False})
cube_record = ModelLibrarian("models_special.json").get_record(
"prim_cube")
self.communicate({
"$type": "add_object",
"name": "prim_cube",
"url": cube_record.get_url(),
"scale_factor": cube_record.scale_factor,
"position": {
"x": 0,
"y": 0,
"z": 0
},
"rotation": {
"x": 0,
"y": 0,
"z": 0
},
"category": cube_record.wcategory,
"id": 1
})
self.communicate({
"$type": "scale_object",
"scale_factor": {
"x": 30,
"y": 0.0001,
"z": 30
},
"id": 1
})
# Add the avatar.
self.communicate(
TDWUtils.create_avatar(position={
"x": 0,
"y": 0.6,
"z": 0
},
look_at=TDWUtils.array_to_vector3(
[0.5, 0.5, 0]),
avatar_id="avatar"))
self.communicate(self.get_add_hdri_skybox("table_mountain_1_4k"))
self.communicate({"$type": "rotate_hdri_skybox_by", "angle": 90})
lib = MaterialLibrarian(library="materials_med.json")
record = lib.get_record("bricks_chatham_gray_used")
self.communicate({
"$type": "add_material",
"name": "bricks_chatham_gray_used",
"url": record.get_url()
})
self.communicate(
TDWUtils.set_visual_material(c=self,
substructure=cube_record.substructure,
object_id=1,
material="bricks_chatham_gray_used"))
# self.communicate({"$type": "set_field_of_view",
# "field_of_view": 68.0,
# "avatar_id": "avatar"})
bench = self.add_object(model_name="b04_wood_metal_park_bench",
position={
"x": 2,
"y": 0,
"z": 0.5
},
rotation={
"x": 0,
"y": -90,
"z": 0
},
library="models_full.json")
self.add_object(model_name="b04_wood_metal_park_bench",
position={
"x": 5,
"y": 0,
"z": 0.5
},
rotation={
"x": 0,
"y": -90,
"z": 0
},
library="models_full.json")
bench_bounds = self.get_bounds_data(bench)
top = bench_bounds.get_top(0)
self.add_object(model_name="cgaxis_models_65_06_vray",
position={
"x": 1.8,
"y": top[1] - 0.42,
"z": 0.35
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library="models_full.json")
# Enable image capture
self.communicate({
"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]
})
self.communicate({"$type": "send_images", "frequency": "always"})
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([0.5, 0.5, 0])
})
images = Images(scene_data[0])
TDWUtils.save_images(
images,
"bench_book",
output_directory=
"/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior"
)
def run(self):
self.start()
init_setup_commands = [{
"$type": "set_screen_size",
"width": 600,
"height": 480
}, {
"$type": "set_render_quality",
"render_quality": 5
}]
self.communicate(init_setup_commands)
self.communicate(self.get_add_hdri_skybox("industrial_sunset_4k"))
# Create an empty room.
self.communicate(TDWUtils.create_empty_room(8, 8))
# Disable physics.
self.communicate({"$type": "set_gravity", "value": False})
# Add the avatar.
self.communicate(
TDWUtils.create_avatar(position={
"x": 1,
"y": 1.5,
"z": 0.3
},
look_at=TDWUtils.array_to_vector3(
[2.5, 0.5, 0.5]),
avatar_id="avatar"))
lib = MaterialLibrarian(library="materials_med.json")
record = lib.get_record("concrete_049")
self.communicate({
"$type": "add_material",
"name": "concrete_049",
"url": record.get_url()
})
self.communicate({
"$type": "set_proc_gen_floor_material",
"name": "concrete_049"
})
# self.communicate({"$type": "set_proc_gen_walls_material", "name": "concrete"})
# self.communicate({"$type": "set_field_of_view",
# "field_of_view": 68.0,
# "avatar_id": "avatar"})
bench = self.add_object(model_name="cgaxis_models_51_19_01",
position={
"x": 2.5,
"y": 0,
"z": 0.5
},
rotation={
"x": 0,
"y": 90,
"z": 0
},
library="models_full.json")
bench_bounds = self.get_bounds_data(bench)
top = bench_bounds.get_top(0)
self.add_object(model_name="b05_cat_model_3dmax2012",
position={
"x": 2.5,
"y": top[1],
"z": 0.2
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library="models_full.json")
self.add_object(model_name="azor",
position={
"x": 3,
"y": 0,
"z": 0.5
},
rotation={
"x": 0,
"y": 90,
"z": 0
},
library="models_full.json")
""" Post-scene construction """
# Enable image capture
self.communicate({
"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_id"]
})
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([3, 0.5, 0.5])
})
# images = Images(scene_data[0])
im = cv2.imread(
"/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/"
"compare_COCO_TDW/replicated_images/exterior/id_bench_bike.png")
im = cv2.cvtColor(im, cv2.COLOR_BGR2RGB)
# WRITE THIS TO JSON!
segmentation_data = []
COCO_to_TDW = pd.read_csv(
'/Users/leonard/Desktop/coco/COCO_to_TDW.csv',
header=None,
index_col=0,
squeeze=True).to_dict()
segmentation_colors = self.communicate({
"$type": "send_segmentation_colors",
"frequency": "once"
})
for r in segmentation_colors[:-1]:
r_id = OutputData.get_data_type_id(r)
if r_id == "segm":
s = SegmentationColors(r)
for i in range(s.get_num()):
name = s.get_object_name(i)
category = get_COCO(name, COCO_to_TDW)
color = s.get_object_color(i)
indices = np.where(im != 0) # Segmentation pixels
print(color)
print(indices)
print(im[indices[0][0]]
) # some random RGB val -- MUSt match one of the 3
segmentation_data.append([indices, category])
# TDWUtils.save_images(images, "bench_bike",
# output_directory="/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior")
# Consider using zip() to clean up coordinates
return segmentation_data
def run(self):
self.start()
init_setup_commands = [{
"$type": "set_screen_size",
"width": 600,
"height": 480
}, {
"$type": "set_render_quality",
"render_quality": 5
}]
self.communicate(init_setup_commands)
# Create an empty room.
self.communicate(TDWUtils.create_empty_room(16, 16))
# Disable physics.
self.communicate({"$type": "set_gravity", "value": False})
# Add the avatar.
self.communicate(
TDWUtils.create_avatar(position={
"x": -7.5,
"y": 1.5,
"z": 0
},
look_at=TDWUtils.array_to_vector3(
[0, 0.7, 0]),
avatar_id="avatar"))
self.communicate(self.get_add_hdri_skybox("industrial_sunset_4k"))
lib = MaterialLibrarian(library="materials_med.json")
record = lib.get_record("concrete_asphalt_rolled")
self.communicate({
"$type": "add_material",
"name": "concrete_asphalt_rolled",
"url": record.get_url()
})
self.communicate({
"$type": "set_proc_gen_floor_material",
"name": "concrete_asphalt_rolled"
})
# self.communicate({"$type": "set_proc_gen_walls_material", "name": "concrete"})
self.communicate({
"$type": "set_field_of_view",
"field_of_view": 68.0,
"avatar_id": "avatar"
})
self.add_object(model_name="b05_model_sell",
position={
"x": 2.5,
"y": 0,
"z": 4
},
rotation={
"x": 0,
"y": 90,
"z": 0
},
library="models_full.json")
self.add_object(model_name="b03_fire_hydrant",
position={
"x": 2,
"y": 0,
"z": -1
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library="models_full.json")
# record = ModelLibrarian(library='models_full.json').get_record("bigben_clock")
# self.communicate({"$type": "add_object",
# "name": "bigben_clock",
# "url": record.get_url(),
# "scale_factor": record.scale_factor * 10,
# "position": {"x": 1.7, "y": 0, "z": -3},
# "rotation": TDWUtils.VECTOR3_ZERO,
# "category": record.wcategory,
# "id": self.get_unique_id()})
self.add_object(model_name="bench",
position={
"x": 1.7,
"y": 0,
"z": -3
},
rotation={
"x": 0,
"y": 90,
"z": 0
},
library="models_full.json")
# Enable image capture
self.communicate({
"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]
})
self.communicate({"$type": "send_images", "frequency": "always"})
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([0, 0.7, 0])
})
images = Images(scene_data[0])
TDWUtils.save_images(
images,
"hydrant_clock",
output_directory=
"/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior"
)
def run(self):
self.start()
init_setup_commands = [{
"$type": "set_screen_size",
"width": 600,
"height": 480
}, {
"$type": "set_render_quality",
"render_quality": 5
}]
self.communicate(init_setup_commands)
# Create an empty scene (no walls)
self.communicate({
"$type": "create_empty_environment",
"center": {
"x": 0,
"y": 0,
"z": 0
},
"bounds": {
"x": 30,
"y": 30,
"z": 30
}
})
self.communicate(self.get_add_hdri_skybox("pink_sunrise_4k"))
cube = self.communicate({
"$type": "load_primitive_from_resources",
"primitive_type": "Cube",
"id": 1,
"position": {
"x": 0,
"y": 0,
"z": 0
},
"orientation": {
"x": 0,
"y": 0,
"z": 0
}
})
self.communicate({
"$type": "scale_object",
"scale_factor": {
"x": 30,
"y": 0.0001,
"z": 30
},
"id": 1
})
lib = MaterialLibrarian(library="materials_med.json")
record = lib.get_record("concrete_chipped_cracked")
self.communicate({
"$type": "add_material",
"name": "concrete_chipped_cracked",
"url": record.get_url()
})
# self.communicate({"$type": "set_visual_material",
# "material_index": 1,
# "material_name": "concrete_chipped_cracked",
# "object_name": "cube",
# "id": 1})
# Disable physics.
self.communicate({"$type": "set_gravity", "value": False})
# Add the avatar.
self.communicate(
TDWUtils.create_avatar(position={
"x": -13,
"y": 1.5,
"z": 0
},
look_at=TDWUtils.array_to_vector3(
[5, 1.5, 0]),
avatar_id="avatar"))
self.communicate({
"$type": "set_field_of_view",
"field_of_view": 68.0,
"avatar_id": "avatar"
})
self.add_object(model_name="spitfire_2012",
position={
"x": 0,
"y": 0,
"z": 2
},
rotation={
"x": 0,
"y": 90,
"z": 0
},
library="models_full.json")
self.add_object(model_name="b03_topkicktruck",
position={
"x": -7,
"y": 0,
"z": -5
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library="models_full.json")
self.add_object(model_name="3dscan_man_012",
position={
"x": -4,
"y": 0,
"z": 3
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library="models_full.json")
# Enable image capture
self.communicate({
"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]
})
self.communicate({"$type": "send_images", "frequency": "always"})
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([5, 1.5, 0])
})
images = Images(scene_data[0])
TDWUtils.save_images(
images,
"airplane",
output_directory=
"/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior"
)
def run(self):
self.start()
init_setup_commands = [{
"$type": "set_screen_size",
"width": 600,
"height": 480
}, {
"$type": "set_render_quality",
"render_quality": 5
}]
self.communicate(init_setup_commands)
# Create an empty room.
self.communicate(TDWUtils.create_empty_room(16, 16))
# Disable physics.
self.communicate({"$type": "set_gravity", "value": False})
# Add the avatar.
self.communicate(
TDWUtils.create_avatar(position={
"x": -7.5,
"y": 1.5,
"z": 0
},
look_at=TDWUtils.array_to_vector3(
[0, 0.7, 0]),
avatar_id="avatar"))
lib = MaterialLibrarian(library="materials_med.json")
record = lib.get_record("concrete_asphalt_rolled")
self.communicate({
"$type": "add_material",
"name": "concrete_asphalt_rolled",
"url": record.get_url()
})
self.communicate({
"$type": "set_proc_gen_floor_material",
"name": "concrete_asphalt_rolled"
})
# self.communicate({"$type": "set_proc_gen_walls_material", "name": "concrete"})
self.communicate({
"$type": "set_field_of_view",
"field_of_view": 68.0,
"avatar_id": "avatar"
})
self.add_object(model_name="b05_2018_chevy_tahoe_rst",
position={
"x": 3,
"y": 0,
"z": 0.5
},
rotation={
"x": 0,
"y": 90,
"z": 0
},
library="models_full.json")
self.add_object(model_name="b05_chevrolet_camaro_3ds_max_2010_v-ray",
position={
"x": -2,
"y": 0,
"z": -3
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library="models_full.json")
self.add_object(model_name="b04_harley_davidson_3dsmax2014",
position={
"x": -4.2,
"y": 0,
"z": 2
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library="models_full.json")
self.add_object(model_name="audia7_2018_vray",
position={
"x": -6.5,
"y": 0,
"z": -3
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library="models_full.json")
# Enable image capture
self.communicate({
"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]
})
self.communicate({"$type": "send_images", "frequency": "always"})
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([0, 0.7, 0])
})
images = Images(scene_data[0])
TDWUtils.save_images(
images,
"cars_bikes",
output_directory=
"/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior"
)
def run(self):
self.start()
init_setup_commands = [{
"$type": "set_screen_size",
"width": 600,
"height": 480
}, {
"$type": "set_render_quality",
"render_quality": 5
}]
self.communicate(init_setup_commands)
# Create an empty room.
self.communicate(TDWUtils.create_empty_room(8, 8))
# Disable physics.
self.communicate({"$type": "set_gravity", "value": False})
# Add the avatar.
self.communicate(
TDWUtils.create_avatar(position={
"x": 0,
"y": 1,
"z": 0
},
look_at=TDWUtils.array_to_vector3(
[4, 0.3, -0.3]),
avatar_id="avatar"))
lib = MaterialLibrarian(library="materials_med.json")
record = lib.get_record("concrete")
self.communicate({
"$type": "add_material",
"name": "concrete",
"url": record.get_url()
})
self.communicate({
"$type": "set_proc_gen_floor_material",
"name": "concrete"
})
self.communicate({
"$type": "set_proc_gen_wall_material",
"name": "concrete"
})
# self.communicate({"$type": "set_field_of_view",
# "field_of_view": 68.0,
# "avatar_id": "avatar"})
self.add_object(model_name="b05_skateboard",
position={
"x": 3.2,
"y": 0.3,
"z": -0.5
},
rotation={
"x": 0,
"y": 0,
"z": 80
},
library="models_full.json")
self.add_object(model_name="skateboard_3",
position={
"x": 3,
"y": 0,
"z": 0.6
},
rotation={
"x": 0,
"y": 30,
"z": 0
},
library="models_full.json")
self.add_object(model_name="b03_3wheels",
position={
"x": 1.8,
"y": 0,
"z": 0.2
},
rotation={
"x": 0,
"y": 30,
"z": 0
},
library="models_full.json")
self.add_object(model_name="bicycle_001",
position={
"x": 2.7,
"y": 0,
"z": -1.1
},
rotation={
"x": 0,
"y": 34,
"z": 0
},
library="models_full.json")
# Enable image capture
self.communicate({
"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]
})
self.communicate({"$type": "send_images", "frequency": "always"})
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([4, 0.3, -0.3])
})
images = Images(scene_data[0])
TDWUtils.save_images(
images,
"skateboard",
output_directory=
"/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/interior"
)
class Controller(object):
"""
Base class for all controllers.
Usage:
```python
from tdw.controller import Controller
c = Controller()
c.start()
```
"""
def __init__(self, port: int = 1071, check_version: bool = True):
"""
Create the network socket and bind the socket to the port.
:param port: The port number.
:param check_version: If true, the controller will check the version of the build and print the result.
"""
context = zmq.Context()
self.socket = context.socket(zmq.REP)
self.socket.bind('tcp://*:' + str(port))
self.socket.recv()
self.model_librarian: Optional[ModelLibrarian] = None
self.scene_librarian: Optional[SceneLibrarian] = None
self.material_librarian: Optional[MaterialLibrarian] = None
self.hdri_skybox_librarian: Optional[HDRISkyboxLibrarian] = None
self.humanoid_librarian: Optional[HumanoidLibrarian] = None
self.humanoid_animation_librarian: Optional[
HumanoidAnimationLibrarian] = None
# Compare the version of the tdw module to the build version.
if check_version:
tdw_version, unity_version = self.get_version()
print(
f"Build version {tdw_version}\nUnity Engine {unity_version}\nPython tdw module version {__version__}"
)
if __version__ != tdw_version:
print(
"WARNING! Your Python code is not the same version as the build. They might not be compatible."
)
print(
"Either use the latest prerelease build, or use the last stable release via:\n"
)
print("git checkout v" + last_stable_release)
def communicate(self, commands: Union[dict, List[dict]]) -> list:
"""
Send commands and receive output data in response.
:param commands: A list of JSON commands.
:return The output data from the build.
"""
if not isinstance(commands, list):
commands = [commands]
self.socket.send_multipart([json.dumps(commands).encode('utf-8')])
return self.socket.recv_multipart()
def start(self, scene="ProcGenScene") -> None:
"""
Init TDW.
:param scene: The scene to load.
"""
self.communicate([{"$type": "load_scene", "scene_name": scene}])
def get_add_object(self,
model_name: str,
object_id: int,
position={
"x": 0,
"y": 0,
"z": 0
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library: str = "") -> dict:
"""
Returns a valid add_object command.
:param model_name: The name of the model.
:param position: The position of the model.
:param rotation: The starting rotation of the model, in Euler angles.
:param library: The path to the records file. If left empty, the default library will be selected. See `ModelLibrarian.get_library_filenames()` and `ModelLibrarian.get_default_library()`.
:param object_id: The ID of the new object.
:return An add_object command that the controller can then send.
"""
if self.model_librarian is None or (
library != "" and self.model_librarian.library != library):
self.model_librarian = ModelLibrarian(library=library)
record = self.model_librarian.get_record(model_name)
return {
"$type": "add_object",
"name": model_name,
"url": record.get_url(),
"scale_factor": record.scale_factor,
"position": position,
"rotation": rotation,
"category": record.wcategory,
"id": object_id
}
def get_add_material(self, material_name: str, library: str = "") -> dict:
"""
Returns a valid add_material command.
:param material_name: The name of the material.
:param library: The path to the records file. If left empty, the default library will be selected. See `MaterialLibrarian.get_library_filenames()` and `MaterialLibrarian.get_default_library()`.
:return An add_material command that the controller can then send.
"""
if self.material_librarian is None:
self.material_librarian = MaterialLibrarian(library=library)
record = self.material_librarian.get_record(material_name)
return {
"$type": "add_material",
"name": material_name,
"url": record.get_url()
}
def get_add_scene(self, scene_name: str, library: str = "") -> dict:
"""
Returns a valid add_scene command.
:param scene_name: The name of the scene.
:param library: The path to the records file. If left empty, the default library will be selected. See `SceneLibrarian.get_library_filenames()` and `SceneLibrarian.get_default_library()`.
:return An add_scene command that the controller can then send.
"""
if self.scene_librarian is None:
self.scene_librarian = SceneLibrarian(library=library)
record = self.scene_librarian.get_record(scene_name)
return {
"$type": "add_scene",
"name": scene_name,
"url": record.get_url()
}
def get_add_hdri_skybox(self, skybox_name: str, library: str = "") -> dict:
"""
Returns a valid add_hdri_skybox command.
:param skybox_name: The name of the skybox.
:param library: The path to the records file. If left empty, the default library will be selected. See `HDRISkyboxLibrarian.get_library_filenames()` and `HDRISkyboxLibrarian.get_default_library()`.
:return An add_hdri_skybox command that the controller can then send.
"""
if self.hdri_skybox_librarian is None:
self.hdri_skybox_librarian = HDRISkyboxLibrarian(library=library)
record = self.hdri_skybox_librarian.get_record(skybox_name)
return {
"$type": "add_hdri_skybox",
"name": skybox_name,
"url": record.get_url(),
"exposure": record.exposure,
"initial_skybox_rotation": record.initial_skybox_rotation,
"sun_elevation": record.sun_elevation,
"sun_initial_angle": record.sun_initial_angle,
"sun_intensity": record.sun_intensity
}
def get_add_humanoid(self,
humanoid_name: str,
object_id: int,
position={
"x": 0,
"y": 0,
"z": 0
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library: str = "") -> dict:
"""
Returns a valid add_humanoid command.
:param humanoid_name: The name of the humanoid.
:param position: The position of the humanoid.
:param rotation: The starting rotation of the humanoid, in Euler angles.
:param library: The path to the records file. If left empty, the default library will be selected. See `HumanoidLibrarian.get_library_filenames()` and `HumanoidLibrarian.get_default_library()`.
:param object_id: The ID of the new object.
:return An add_humanoid command that the controller can then send.
"""
if self.humanoid_librarian is None or (
library != "" and self.humanoid_librarian.library != library):
self.humanoid_librarian = HumanoidLibrarian(library=library)
record = self.humanoid_librarian.get_record(humanoid_name)
return {
"$type": "add_humanoid",
"name": humanoid_name,
"url": record.get_url(),
"position": position,
"rotation": rotation,
"id": object_id
}
def get_add_humanoid_animation(
self,
humanoid_animation_name: str,
library="") -> (dict, HumanoidAnimationRecord):
"""
Returns a valid add_humanoid_animation command and the record (which you will need to play an animation).
:param humanoid_animation_name: The name of the animation.
:param library: The path to the records file. If left empty, the default library will be selected. See `HumanoidAnimationLibrarian.get_library_filenames()` and `HumanoidAnimationLibrarian.get_default_library()`.
return An add_humanoid_animation command that the controller can then send.
"""
if self.humanoid_animation_librarian is None:
self.humanoid_animation_librarian = HumanoidAnimationLibrarian(
library=library)
record = self.humanoid_animation_librarian.get_record(
humanoid_animation_name)
return {
"$type": "add_humanoid_animation",
"name": humanoid_animation_name,
"url": record.get_url()
}, record
def load_streamed_scene(self, scene="tdw_room_2018") -> None:
"""
Load a streamed scene. This is equivalent to: `c.communicate(c.get_add_scene(scene))`
:param scene: The name of the streamed scene.
"""
self.communicate(self.get_add_scene(scene))
def add_object(self,
model_name: str,
position={
"x": 0,
"y": 0,
"z": 0
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library: str = "") -> int:
"""
Add a model to the scene. This is equivalent to: `c.communicate(c.get_add_object())`
:param model_name: The name of the model.
:param position: The position of the model.
:param rotation: The starting rotation of the model, in Euler angles.
:param library: The path to the records file. If left empty, the default library will be selected. See `ModelLibrarian.get_library_filenames()` and `ModelLibrarian.get_default_library()`.
:return The ID of the new object.
"""
object_id = Controller.get_unique_id()
self.communicate(
self.get_add_object(model_name, object_id, position, rotation,
library))
return object_id
def get_version(self) -> Tuple[str, str]:
"""
Send a send_version command to the build.
:return The TDW version and the Unity Engine version.
"""
resp = self.communicate({"$type": "send_version"})
for r in resp[:-1]:
if Version.get_data_type_id(r) == "vers":
v = Version(r)
return v.get_tdw_version(), v.get_unity_version()
if len(resp) == 1:
raise Exception(
"Tried receiving version output data but didn't receive anything!"
)
raise Exception(f"Expected output data with ID vers but got: " +
Version.get_data_type_id(resp[0]))
@staticmethod
def get_unique_id() -> int:
"""
Generate a unique integer. Useful when creating objects.
:return The new unique ID.
"""
return int.from_bytes(os.urandom(3), byteorder='big')
@staticmethod
def get_frame(frame: bytes) -> int:
"""
Converts the frame byte array to an integer.
:param frame: The frame as bytes.
:return The frame as an integer.
"""
return int.from_bytes(frame, byteorder='big')