def drop_squishy(self) -> List[dict]:
self.squishy = self.SOFT_RECORD
self.squishy_id = self._get_next_object_id()
self.squishy_position = {'x': 0., 'y': 1.0, 'z': 0.}
rotation = {k:0 for k in ['x','y','z']}
self.squishy_color = [0.0,0.8,1.0]
self.squishy_scale = get_random_xyz_transform(self.middle_scale_range)
self.squishy_mass = 2.0
commands = self.add_soft_object(
record = self.squishy,
position = self.squishy_position,
rotation = rotation,
scale=self.squishy_scale,
o_id = self.squishy_id)
# set mass
commands.append({"$type": "set_flex_object_mass",
"mass": self.squishy_mass,
"id": self.squishy_id})
commands.append(
{"$type": "set_color",
"color": {"r": self.squishy_color[0], "g": self.squishy_color[1], "b": self.squishy_color[2], "a": 1.},
"id": self.squishy_id})
self._add_name_scale_color(
self.squishy, {'color': self.squishy_color, 'scale': self.squishy_scale, 'id': self.squishy_id})
self.masses = np.append(self.masses, self.squishy_mass)
return commands
def get_rotation(self, rot_range):
if rot_range is None:
return {"x": 0,
"y": random.uniform(0, 360),
"z": 0}
else:
return get_random_xyz_transform(rot_range)
def _build_intermediate_structure(self) -> List[dict]:
ramp_pos = TDWUtils.VECTOR3_ZERO
ramp_rot = TDWUtils.VECTOR3_ZERO
self.middle = random.choice(self._middle_types)
self.middle_id = self._get_next_object_id()
self.middle_scale = get_random_xyz_transform(self.middle_scale_range)
rgb = self.middle_color or self.random_color(exclude=self.target_color)
ramp_data = {
'name': self.middle.name,
'id': self.middle_id,
'scale': self.middle_scale,
'color': rgb
}
commands = self.add_ramp(record=self.middle,
position=ramp_pos,
rotation=ramp_rot,
scale=self.middle_scale,
o_id=self.middle_id,
color=rgb,
material=self.middle_material,
mass=500,
static_friction=self.middle_friction,
dynamic_friction=self.middle_friction,
bounciness=0,
add_data=False)
# append data
self.middle_objects.append((self.middle, ramp_data))
commands.extend(super()._build_intermediate_structure())
return commands
def _place_container(self) -> List[dict]:
'''
TODO
'''
commands = []
## choose a relation type
self.relation = random.choice(self._relation_types)
## create the container
record, data = self.random_primitive(self._container_types,
scale=1.0,
color=None,
add_data=False)
self.container = record
self.container_id = data["id"]
## scale the container so it's in the required size range
self.container_scale = self.rescale_record_to_size(
record, self.container_scale_range, randomize=True)
_, cheight, _ = self.get_record_dimensions(self.container)
self.container_height = cheight * self.container_scale["y"]
## jitter the xz position of the container
self.container_position = get_random_xyz_transform(
self.container_position_range)
## rotate the container in the xz plane
self.container_rotation = self.get_y_rotation([0, 360])
## if relationship is not contain, [possibly] flip
print("RELATION", self.relation.name)
if self.relation == Relation.support:
self._flip_container()
elif self.relation == Relation.contain:
self.container_flipped = False
else:
if random.choice([0, 1]):
self._flip_container()
## place the container
add_container_cmds = self.add_primitive(
record=self.container,
position=self.container_position,
rotation=self.container_rotation,
scale=self.container_scale,
material=self.container_material,
color=data["color"],
mass=5.0,
scale_mass=True,
o_id=self.container_id,
add_data=True,
make_kinematic=True,
apply_texture=(True if self.container_material else False))
commands.extend(add_container_cmds)
return commands
def _build_intermediate_structure(self) -> List[dict]:
ramp_pos = TDWUtils.VECTOR3_ZERO
ramp_rot = TDWUtils.VECTOR3_ZERO
self.middle = random.choice(self._middle_types)
self.middle_type = self.middle.name
self.middle_id = self._get_next_object_id()
self.middle_scale = get_random_xyz_transform(self.middle_scale_range)
commands = self.add_ramp(record=self.middle,
position=ramp_pos,
rotation=ramp_rot,
scale=self.middle_scale,
o_id=self.middle_id,
add_data=True)
# give the ramp a texture and color
commands.extend(
self.get_object_material_commands(
self.middle, self.middle_id,
self.get_material_name(self.middle_material)))
rgb = self.middle_color or self.random_color(exclude=self.target_color)
commands.append({
"$type": "set_color",
"color": {
"r": rgb[0],
"g": rgb[1],
"b": rgb[2],
"a": 1.
},
"id": self.middle_id
})
self.colors = np.concatenate(
[self.colors, np.array(rgb).reshape((1, 3))], axis=0)
camera_y_aim = self.ramp_base_height
self.camera_aim = arr_to_xyz([0., camera_y_aim, 0.])
return commands
def _get_block_scale(self, offset) -> dict:
print("scale range", self.middle_scale_range)
scale = get_random_xyz_transform(self.middle_scale_range)
scale = {k: v + offset for k, v in scale.items()}
return scale
def _build_intermediate_structure(self) -> List[dict]:
commands = []
print("THIS IS A PIT!")
print(self.num_middle_objects)
# get the scale of the total pit object
scale = get_random_xyz_transform(self.middle_scale_range)
self.pit_mass = random.uniform(*get_range(self.middle_mass_range))
# get color and texture
self.pit_color = self.middle_color or self.random_color(
exclude=self.target_color)
self.pit_material = self.middle_material
# how wide are the pits?
self.pit_widths = [
random.uniform(0.0, self.spacing_jitter) * scale['x']
for _ in range(self.num_middle_objects - 1)
]
# make M cubes and scale in x accordingly
x_remaining = scale['x'] - self.pit_widths[0]
x_filled = 0.0
print("PIT WIDTHS", self.pit_widths)
for m in range(self.num_middle_objects):
print("x_filled, remaining", x_filled, x_remaining)
m_rec = random.choice(self._middle_types)
x_scale = random.uniform(0.0, x_remaining)
x_len, _, _ = self.get_record_dimensions(m_rec)
x_len *= x_scale
x_pos = self.ramp_end_x + x_filled + (0.5 * x_len)
z_pos = random.uniform(-self.lateral_jitter, self.lateral_jitter)
print(m)
print("ramp_end", self.ramp_end_x)
print("x_len", x_len)
print("x_scale", x_scale)
print("x_pos", x_pos)
print("z_pos", z_pos)
m_scale = arr_to_xyz([x_scale, scale['y'], scale['z']])
commands.extend(
self.add_primitive(record=m_rec,
position=arr_to_xyz([x_pos, 0., z_pos]),
rotation=TDWUtils.VECTOR3_ZERO,
scale=m_scale,
color=self.pit_color,
exclude_color=self.target_color,
material=self.pit_material,
mass=self.pit_mass,
dynamic_friction=self.middle_friction,
static_friction=self.middle_friction,
scale_mass=True,
make_kinematic=True,
add_data=True,
obj_list=self.middle_objects))
if m < len(self.pit_widths):
x_filled += self.pit_widths[m] + x_len
x_remaining -= (self.pit_widths[m] + x_len)
commands.extend(Gravity._build_intermediate_structure(self))
print("INTERMEDIATE")
print(commands)
return commands