commands.append({
"$type": "rotate_object_by",
"angle": random.uniform(-15, 15),
"id": toy_id,
"axis": axis,
"is_world": False
})
# Apply a force.
commands.append({
"$type": "apply_force_magnitude_to_object",
"magnitude": random.uniform(20, 40),
"id": toy_id
})
return commands
def get_per_frame_commands(self, resp: List[bytes],
frame: int) -> List[dict]:
return []
def is_done(self, resp: List[bytes], frame: int) -> bool:
return frame >= 500
if __name__ == "__main__":
args = get_args("bouncing")
Bouncing().run(num=args.num,
output_dir=args.dir,
temp_path=args.temp,
width=args.width,
height=args.height)
:return: A list of commands to teleport the avatar and rotate the sensor container.
"""
return [{
"$type": "teleport_avatar_to",
"position": a_pos
}, {
"$type": "look_at_position",
"position": cam_aim
}, {
"$type": "set_focus_distance",
"focus_distance": TDWUtils.get_distance(a_pos, cam_aim)
}, {
"$type": "rotate_sensor_container_by",
"axis": "pitch",
"angle": random.uniform(-3, 3)
}, {
"$type": "rotate_sensor_container_by",
"axis": "yaw",
"angle": random.uniform(-3, 3)
}]
if __name__ == "__main__":
args = get_args("squishing")
Squishing().run(num=args.num,
output_dir=args.dir,
temp_path=args.temp,
width=args.width,
height=args.height)
"id": self._occ_id},
{"$type": "set_object_collision_detection_mode",
"mode": "continuous_speculative",
"id": self._occ_id},
{"$type": "set_kinematic_state",
"id": self._occ_id,
"is_kinematic": True,
"use_gravity": False}])
# Reset the avatar.
occ_y = occ_record.bounds["top"]["y"] * s_occ
commands.extend([{"$type": "teleport_avatar_to",
"position": {"x": random.uniform(-0.05, 0.05),
"y": random.uniform(occ_y * 0.3, occ_y * 0.8),
"z": random.uniform(-1.5, -1.8)}},
{"$type": "look_at",
"object_id": self._occ_id,
"use_centroid": True},
{"$type": "rotate_sensor_container_by",
"axis": "pitch",
"angle": random.uniform(-5, 5)},
{"$type": "rotate_sensor_container_by",
"axis": "yaw",
"angle": random.uniform(-5, 5)}])
return commands
if __name__ == "__main__":
args = get_args("permanence")
td = Permanence()
td.run(num=args.num, output_dir=args.dir, temp_path=args.temp, width=args.width, height=args.height)
# Set a random color.
# Scale the object.
commands.extend([{
"$type": "set_color",
"color": {
"r": random.random(),
"g": random.random(),
"b": random.random(),
"a": 1.0
},
"id": o_id
}, {
"$type": "scale_object",
"id": o_id,
"scale_factor": {
"x": scale,
"y": scale,
"z": scale
}
}])
return commands
if __name__ == "__main__":
args = get_args("stability")
Stability().run(num=args.num,
output_dir=args.dir,
temp_path=args.temp,
width=args.width,
height=args.height)
if np.abs(np.linalg.norm(p[:-1] - self._corner)
) <= self._corner_radius:
# Calculate the force.
pos = np.array(p[:-1])
force = ((pos - self._corner) / np.linalg.norm(pos - self._corner)) * self.\
_force_per_frame
# Add the force and particle ID.
forces.extend(force)
forces.append(p_id)
p_id += 1
# Encode and send the force.
commands.extend([{
"$type":
"apply_forces_to_flex_object_base64",
"forces_and_ids_base64":
TDWUtils.get_base64_flex_particle_forces(
forces),
"id":
self.cloth_id
}])
return commands
if __name__ == "__main__":
args = get_args("dragging")
Dragging().run(num=args.num,
output_dir=args.dir,
temp_path=args.temp,
width=args.width,
height=args.height)
"y": 2.0,
"z": -1.6
},
rotation=rotation,
o_id=self.cloth_id,
mass_scale=1,
mesh_tesselation=1,
tether_stiffness=uniform(0.5, 1.0),
bend_stiffness=uniform(0.5, 1.0),
stretch_stiffness=uniform(0.5, 1.0)))
return trial_commands
def get_per_frame_commands(self, resp: List[bytes],
frame: int) -> List[dict]:
return [{"$type": "focus_on_object", "object_id": self.cloth_id}]
if __name__ == "__main__":
args = get_args("draping")
Draping().run(num=args.num,
output_dir=args.dir,
temp_path=args.temp,
width=args.width,
height=args.height,
write_passes=args.write_passes.split(','),
save_passes=args.save_passes.split(','),
save_movies=args.save_movies,
save_labels=args.save_labels,
args_dict=vars(args))
"w": 1,
"x": 0,
"y": 0,
"z": 0
},
"id": container_id
}])
self._max_num_frames = len(self._shake_commands) + 500
return commands
def get_per_frame_commands(self, resp: List[bytes],
frame: int) -> List[dict]:
# Send the next list of shake commands.
if len(self._shake_commands) > 0:
return self._shake_commands.pop(0)
else:
return []
def is_done(self, resp: List[bytes], frame: int) -> bool:
return frame > self._max_num_frames
if __name__ == "__main__":
args = get_args("containment")
Containment().run(num=args.num,
output_dir=args.dir,
temp_path=args.temp,
width=args.width,
height=args.height)
return [{
"$type": "focus_on_object",
"object_id": self._ball_id,
"use_centroid": True
}]
def get_field_of_view(self) -> float:
return 68
def is_done(self, resp: List[bytes], frame: int) -> bool:
for r in resp[:-1]:
r_id = OutputData.get_data_type_id(r)
# If the ball reaches or overshoots the destination, the trial is done.
if r_id == "tran":
t = Transforms(r)
d0 = TDWUtils.get_distance(
TDWUtils.array_to_vector3(t.get_position(0)), self._p0)
d1 = TDWUtils.get_distance(self._p0, self._p1)
return d0 > d1 * 1.5
return False
if __name__ == "__main__":
args = get_args("shadows")
td = Shadows()
td.run(num=args.num,
output_dir=args.dir,
temp_path=args.temp,
width=args.width,
height=args.height)
"""
o_pos = TDWUtils.array_to_vector3(
TDWUtils.get_random_point_in_circle(center=np.array([0, 0, 0]),
radius=radius))
# Pick a position away from other objects.
ok = False
count = 0
while not ok and count < max_tries:
count += 1
ok = True
for o in object_positions:
# If the object is too close to another object, try another position.
if TDWUtils.get_distance(o.position, o_pos) <= o.radius:
ok = False
o_pos = TDWUtils.array_to_vector3(
TDWUtils.get_random_point_in_circle(center=np.array(
[0, 0, 0]),
radius=radius))
return o_pos
if __name__ == "__main__":
args = get_args("toy_collisions")
td = ToysDataset()
td.run(num=args.num,
output_dir=args.dir,
temp_path=args.temp,
width=args.width,
height=args.height)
a_r = random.uniform(2.1, 3)
d_theta = random.uniform(0.5, 3)
a_y = random.uniform(0.4, 0.9)
for theta in np.arange(0, 360, d_theta):
self.per_frame_commands.append([{"$type": "teleport_avatar_to",
"position": {"x": np.cos(np.radians(theta)) * a_r,
"y": a_y,
"z": np.sin(np.radians(theta)) * a_r}},
{"$type": "look_at",
"object_id": big_id,
"use_centroid": True},
{"$type": "focus_on_object",
"object_id": big_id,
"use_centroid": True}])
commands.extend(self.per_frame_commands.pop(0))
return commands
def is_done(self, resp: List[bytes], frame: int) -> bool:
return len(self.per_frame_commands) == 0
def get_per_frame_commands(self, resp: List[bytes], frame: int) -> List[dict]:
return self.per_frame_commands.pop(0)
if __name__ == "__main__":
args = get_args("occlusion")
Occlusion().run(num=args.num, output_dir=args.dir, temp_path=args.temp, width=args.width, height=args.height)
"x": -2.675,
"y": 1.375,
"z": 0
}
}, {
"$type": "look_at",
"object_id": self.pool_id,
"use_centroid": True
}])
return trial_commands
def get_per_frame_commands(self, frame: int,
resp: List[bytes]) -> List[dict]:
return [{"$type": "focus_on_object", "object_id": self.pool_id}]
def get_field_of_view(self) -> float:
return 35
def is_done(self, resp: List[bytes], frame: int) -> bool:
return frame > 200
if __name__ == "__main__":
args = get_args("submerging")
Submerge().run(num=args.num,
output_dir=args.dir,
temp_path=args.temp,
width=args.width,
height=args.height)
