def _object_features_to_values(features):
featurized_objects = phyre.simulation.FeaturizedObjects(
phyre.simulation.finalize_featurized_objects(
features[None, None, ...],
phyre.simulation.PositionShift.FROM_CENTER_OF_MASS))
x = featurized_objects.xs.item()
y = featurized_objects.ys.item()
angle = featurized_objects.angles.item()
v_x = featurized_objects.v_xs.item()
v_y = featurized_objects.v_ys.item()
v_angle = featurized_objects.v_angles.item()
diameter = featurized_objects.diameters.item()
x *= constants.SCENE_WIDTH
y *= constants.SCENE_HEIGHT
angle *= 360.
v_x *= constants.SCENE_WIDTH
v_y *= constants.SCENE_HEIGHT
v_angle *= 360.
diameter *= constants.SCENE_WIDTH
shape_type = featurized_objects.shapes[0].lower()
color = featurized_objects.colors[0].lower()
dynamic = constants.color_to_id(color) in constants.DYNAMIC_COLOR_IDS
user_input = featurized_objects.num_user_inputs == 1
return dict(x=x,
y=y,
angle=angle,
v_x=v_x,
v_y=v_y,
v_angle=v_angle,
diameter=diameter,
dynamic=dynamic,
user_input=user_input,
color=color,
shape_type=shape_type)
def set_color(self, color):
color_id = constants.color_to_id(color)
if self.dynamic:
assert color_id in constants.DYNAMIC_COLOR_IDS, (
f'Color {color} is not allowed for dynamic bodies.')
else:
assert color_id in constants.STATIC_COLOR_IDS, (
f'Color {color} is not allowed for static bodies.')
self.color = color
self._thrift_body.color = color_id
return self
