def build_task(C, seed):
rng = np.random.RandomState(seed=seed)
slopeLeft = [200, 400]
slopeRight = [100, 190]
slopeWidth = [100, 300]
goalHeightMin = 60
goalWidth = [80, 150]
strutHeightMin = 40
strutWid = [15, 40]
flip_lr = rng.uniform(0, 1) < 0.5
## Make the slope
sL = rng.uniform(slopeLeft[0], slopeLeft[1])
sR = rng.uniform(slopeRight[0], slopeRight[1])
sW = rng.uniform(slopeWidth[0], slopeWidth[1])
slopeVerts = [[0, 0], [0, sL], [sW, sR], [sW, 0]]
## Make the goal
goalH = rng.uniform(goalHeightMin, sR)
goalW = rng.uniform(goalWidth[0], goalWidth[1])
goalL = vt.VT_SCALE - goalW + 5
goalR = vt.VT_SCALE - 5
goalVerts = [[goalL, goalH], [goalL, 5], [goalR, 5], [goalR, goalH]]
## Find the ball position
bpos = [30, sL + 15]
## Make the falling table
tabL = sW + 15
tabR = vt.VT_SCALE - goalW - 8
tabVerts = [[tabL, sR], [tabL, sR + 10], [tabR, sR + 10], [tabR, sR]]
if flip_lr:
slopeVerts = vt.flip_left_right(slopeVerts)
bpos = vt.flip_left_right(bpos)
tabVerts = vt.flip_left_right(tabVerts)
## Make the world getting into the container
slopeVerts.reverse()
tabVerts.reverse()
slope = C.add_convex_polygon(vt.convert_phyre_tools_vertices(slopeVerts),
False)
container, _ = vt.add_container(C,
goalVerts,
10,
False,
True,
flip_lr=flip_lr)
ball = C.add('dynamic ball',
30. / vt.VT_SCALE,
center_x=bpos[0] * C.scene.width / vt.VT_SCALE,
center_y=bpos[1] * C.scene.height / vt.VT_SCALE)
table = C.add_convex_polygon(vt.convert_phyre_tools_vertices(tabVerts),
True)
C.update_task(body1=ball,
body2=container,
relationships=[C.SpatialRelationship.TOUCHING])
C.set_meta(C.SolutionTier.VIRTUAL_TOOLS)
def build_task(C, seed):
rng = np.random.RandomState(seed=seed)
tableWidth = [300, 400]
tableHeight = [100, 400]
ballSize = [10, 30]
goalHeight = [50, 200]
slopeL = [20, 100]
slopeW = [10, 50]
flip_lr = rng.uniform(0, 1) < 0.5
tableDims = [
rng.uniform(tableWidth[0], tableWidth[1]),
rng.uniform(tableHeight[0], tableHeight[1])
]
ballRad = rng.uniform(ballSize[0], ballSize[1])
sW = rng.uniform(slopeW[0], slopeW[1])
sL = rng.uniform(slopeL[0], slopeL[1])
slopeVerts = [[0, tableDims[1]], [0, sL + tableDims[1]],
[sW, tableDims[1]]]
slopeVerts.reverse()
ballPos = rng.uniform(ballRad + 5 + sW, tableDims[0] - ballRad - 5)
coverL = rng.uniform(ballPos - ballRad * 3, ballPos - ballRad)
coverR = rng.uniform(ballPos + ballRad, ballPos + ballRad * 3)
coverY = min([
rng.uniform(ballRad * 2 + tableDims[1], ballRad * 5 + tableDims[1]),
vt.VT_SCALE - 15
])
goalDims = [
rng.uniform(ballRad * 2 + 5, vt.VT_SCALE - tableDims[0] - 30),
rng.uniform(goalHeight[0], min([goalHeight[1], tableDims[1] - 10]))
]
goalXPos = rng.uniform(tableDims[0] + 10, (vt.VT_SCALE - goalDims[0] - 10))
if flip_lr:
slopeVerts = vt.flip_left_right(slopeVerts)
ballPos = vt.flip_left_right(ballPos)
table = vt.add_box(C, [0, 0, tableDims[0], tableDims[1]],
False,
flip_lr=flip_lr)
cover = vt.add_box(C, [coverL, coverY, coverR, coverY + 15],
False,
flip_lr=flip_lr)
slope = C.add_convex_polygon(vt.convert_phyre_tools_vertices(slopeVerts),
False)
ball = C.add('dynamic ball',
ballRad * 2. / vt.VT_SCALE,
center_x=ballPos * C.scene.width / vt.VT_SCALE,
bottom=tableDims[1] * C.scene.height / vt.VT_SCALE)
goalVerts = [[goalXPos, goalDims[1]], [goalXPos, 5],
[goalXPos + goalDims[0], 5],
[goalXPos + goalDims[0], goalDims[1]]]
container_id, bbid = vt.add_container(C,
goalVerts,
10,
False,
True,
flip_lr=flip_lr)
C.update_task(body1=ball,
body2=container_id,
relationships=[C.SpatialRelationship.TOUCHING])
C.set_meta(C.SolutionTier.VIRTUAL_TOOLS)
def build_task(C, seed):
rng = np.random.RandomState(seed=seed)
cataWidth = [200, 400]
cataHeight = [30, 100]
ballRad = [5, 15]
strutWidth = [10, 50]
strutHeight = [60, 200]
goalWidth = [60, 150]
goalHeight = [60, 180]
cataThick = [5, 10]
spacing = [25, 100]
strutPlace = [0, 150]
## Define the features first
cW = rng.uniform(cataWidth[0], cataWidth[1])
cH = 20.
bR = rng.uniform(ballRad[0], ballRad[1])
sW = rng.uniform(strutWidth[0], strutWidth[1])
sH = rng.uniform(strutHeight[0], strutHeight[1])
gW = rng.uniform(goalWidth[0], goalWidth[1])
gH = rng.uniform(goalHeight[0], goalHeight[1])
cT = rng.uniform(cataThick[0], cataThick[1])
sp = rng.uniform(spacing[0], spacing[1])
stP = rng.uniform(strutPlace[0], strutPlace[1])
stP = min([stP, cW / 2])
flip_lr = rng.uniform(0, 1) < 0.5
## Then fit together
cataCent = vt.VT_SCALE - gW - sp - cW / 2
cataLeft = cataCent - cW / 2
## Make the world
strut = vt.add_box(
C, [cataCent - sW / 2 + stP, 0, cataCent + sW / 2 + stP, sH],
False,
flip_lr=flip_lr)
cradle = vt.add_box(C, [cataLeft, 0, cataLeft + 10, sH],
False,
flip_lr=flip_lr)
container, _ = vt.add_container(
C, [[vt.VT_SCALE - gW, gH], [vt.VT_SCALE - gW, 5],
[vt.VT_SCALE - 5, 5], [vt.VT_SCALE - 5, gH]],
10,
False,
True,
flip_lr=flip_lr)
polys = [[[cataLeft, sH], [cataLeft, sH + cT], [cataLeft + cT, sH + cT],
[cataLeft + cT, sH]],
[[cataLeft, sH + cT], [cataLeft, sH + cH],
[cataLeft + cT, sH + cH], [cataLeft + cT, sH + cT]],
[[cataLeft + cT, sH], [cataLeft + cT, sH + cT],
[cataLeft + cW, sH + cT], [cataLeft + cW, sH]]]
for p in polys:
p.reverse()
if flip_lr:
p = vt.flip_left_right(p)
center_x = vt.flip_left_right(cataLeft + cT + bR + 30)
else:
center_x = cataLeft + cT + bR + 30
converted_polylist = [
vt.convert_phyre_tools_vertices(poly) for poly in polys
]
catapult = C.add_multipolygons(polygons=converted_polylist, dynamic=True)
ball = C.add('dynamic ball',
bR * 2. / vt.VT_SCALE,
center_x=center_x * C.scene.width / vt.VT_SCALE,
center_y=(sH + cT + bR) * C.scene.width / vt.VT_SCALE)
C.update_task(body1=ball,
body2=container,
relationships=[C.SpatialRelationship.TOUCHING])
C.set_meta(C.SolutionTier.VIRTUAL_TOOLS)
'''pgw.addBox('Strut', [cataCent - sW/2 + stP, 0, cataCent + sW/2 + stP, sH], 'black', 0)
def build_task(C, seed):
rng = np.random.RandomState(seed=seed)
leftWall = [80, 180]
breakPoint = [0.2, 0.8]
bridgeLength = [150, 300]
slopeL = [60, 200]
slopeR = [250, 400]
flip_lr = rng.uniform(0, 1) < 0.5
## Make the goal container
height = rng.uniform(slopeL[0], slopeL[1])
lW = rng.uniform(leftWall[0], leftWall[1])
container, _ = vt.add_container(
C, [[5, height], [5, 5], [lW - 5, 5], [lW - 5, height]],
10,
False,
True,
flip_lr=flip_lr) #'green', 0)
## Make the bridge
bL = rng.uniform(bridgeLength[0], bridgeLength[1])
bP = rng.uniform(breakPoint[0], breakPoint[1])
bridgeL = vt.add_box(
C, [lW + 20 + 2, height + 10, lW + 20 + 2 + bL * bP, height + 20],
True,
flip_lr=flip_lr)
bridgeR = vt.add_box(C, [
lW + 20 + 2 + bL * bP + 2, height + 10, lW + 20 + 2 + bL + 2,
height + 20
],
True,
flip_lr=flip_lr)
## Make the left wall
lw1 = vt.add_box(C, [lW, 0, lW + 40, height - 10], False, flip_lr=flip_lr)
lw2 = vt.add_box(C, [lW, height - 10, lW + 20, height],
False,
flip_lr=flip_lr)
## Make the right wall
sW = rng.uniform(min([lW + 20 + 2 + bL + 2, vt.VT_SCALE - 30]),
max([vt.VT_SCALE - 30, lW + 20 + 2 + bL + 2]))
rw1 = vt.add_box(C,
[lW + 20 + 2 + bL + 2 - 50, 0, vt.VT_SCALE, height - 10],
False,
flip_lr=flip_lr)
rw2 = vt.add_box(C, [lW + 20 + 2 + bL + 2, 0, sW, height],
False,
flip_lr=flip_lr)
## Make the slope
sR = rng.uniform(slopeR[0], slopeR[1])
slopeVerts = [(sW, height - 10), (sW, height), (vt.VT_SCALE, sR),
(vt.VT_SCALE, height - 10)]
slopeVerts.reverse()
if flip_lr:
slopeVerts = vt.flip_left_right(slopeVerts)
center_x = vt.flip_left_right(rng.uniform(500, 575))
else:
center_x = rng.uniform(500, 575)
rw2 = C.add_convex_polygon(vt.convert_phyre_tools_vertices(slopeVerts),
False)
center_y = rng.uniform(425, 525)
ball = C.add('dynamic ball',
15 * 2. / vt.VT_SCALE,
center_x=center_x * C.scene.width / vt.VT_SCALE,
center_y=center_y * C.scene.width / vt.VT_SCALE)
C.update_task(body1=ball,
body2=container,
relationships=[C.SpatialRelationship.TOUCHING])
C.set_meta(C.SolutionTier.VIRTUAL_TOOLS)
def build_task(C, seed):
rng = np.random.RandomState(seed=seed)
slopeLeft = [300, 450]
slopeRight = [200, 350]
slopeWidth = [200, 300]
ballXPos = [50, 150]
ballYPos = [15, 50]
gapWidth = [60, 200]
supportX = [5, 25]
supportY = [-5, 80]
lidThick = [15, 40]
flip_lr = rng.uniform(0, 1) < 0.5
## Make the slope
sL = rng.uniform(slopeLeft[0], slopeLeft[1])
sR = rng.uniform(slopeRight[0], slopeRight[1])
sW = rng.uniform(slopeWidth[0], slopeWidth[1])
slopeVerts = [[0.0, 0.0], [0.0, sL], [sW, sR], [sW, 0]]
## Make the gap
gW = rng.uniform(gapWidth[0], gapWidth[1])
strutSupportBox = [sW, 0, sW + gW, sR - 150]
## Make the support
jitterX = rng.uniform(supportX[0], supportX[1])
jitterY = rng.uniform(supportY[0], supportY[1])
lidT = rng.uniform(lidThick[0], lidThick[1])
supportBox = [
sW + jitterX, sR + jitterY, sW + gW - jitterX, sR + jitterY + lidT
]
## Make the goal
goalSegs = [[sW + gW, sR - 50], [sW + gW, 5], [550, 5], [550, sR - 50]]
## Find the ball position
bX = rng.uniform(ballXPos[0], ballXPos[1])
bY = sL * (sW - bX) / sW + sR
bpos = [
bX, bY +
rng.uniform(ballYPos[0], np.min([ballYPos[1], vt.VT_SCALE - bY - 15]))
]
## Make the world getting into the container
slopeVerts.reverse()
if flip_lr:
slopeVerts = vt.flip_left_right(slopeVerts)
bpos = vt.flip_left_right(bpos)
slope = C.add_convex_polygon(vt.convert_phyre_tools_vertices(slopeVerts),
False)
container, _ = vt.add_container(C,
goalSegs,
10,
False,
True,
flip_lr=flip_lr)
ball = C.add('dynamic ball',
30. / vt.VT_SCALE,
center_x=bpos[0] * C.scene.width / vt.VT_SCALE,
center_y=bpos[1] * C.scene.height / vt.VT_SCALE)
strutBox = vt.add_box(C, strutSupportBox, False, flip_lr=flip_lr)
support = vt.add_box(C, supportBox, True, flip_lr=flip_lr)
C.update_task(body1=ball,
body2=container,
relationships=[C.SpatialRelationship.TOUCHING])
C.set_meta(C.SolutionTier.VIRTUAL_TOOLS)
def build_task(C, seed):
rng = np.random.RandomState(seed=seed)
goalWidth = [100, 200]
goalHeight = [80, 100]
ballRad = [7, 12]
slopeLeft = [40, 70]
slopeRight = [5, 10]
slopeWidth = [200, 275]
slopeHeight = [380, 450]
platformLeft = [300, 400]
platformRight = [475, 500]
platformHeight = [200, 250]
blockSize = [30, 40]
pWidth = 15 ## Platform Vertical Width
flip_lr = rng.uniform(0, 1) < 0.5
gW = rng.uniform(goalWidth[0], goalWidth[1])
gH = rng.uniform(goalHeight[0], goalHeight[1])
bR = rng.uniform(ballRad[0], ballRad[1])
sL = rng.uniform(slopeLeft[0], slopeLeft[1])
sR = rng.uniform(slopeRight[0], slopeRight[1])
sW = rng.uniform(slopeWidth[0], slopeWidth[1])
sH = rng.uniform(slopeHeight[0], slopeHeight[1])
pL = rng.uniform(platformLeft[0], platformLeft[1])
pR = rng.uniform(platformRight[0], platformRight[1])
pH = rng.uniform(platformHeight[0], platformHeight[1])
bS = rng.uniform(blockSize[0], blockSize[1])
jitter = rng.uniform(0, pR - pL)
## Set params
bLeft = (pR - pL) / 2 - bS / 2 ## Left bound of block
slopeVerts = [[0, sH], [0, sH + sL], [sW, sH + sR], [sW, sH]]
if flip_lr:
slopeVerts = vt.flip_left_right(slopeVerts)
blockXPos = vt.flip_left_right(pL + jitter)
ballXPos = vt.flip_left_right(bR + 5)
else:
blockXPos = pL + jitter
ballXPos = bR + 5
## Make the world
slopeVerts.reverse()
slope = C.add_convex_polygon(vt.convert_phyre_tools_vertices(slopeVerts),
False)
container, _ = vt.add_container(
C, [[vt.VT_SCALE - 5 - gW, gH], [vt.VT_SCALE - 5 - gW, 0.0],
[vt.VT_SCALE - 5, 0.0], [vt.VT_SCALE - 5, gH]],
10,
False,
True,
flip_lr=flip_lr)
#block = vt.add_box(C, [pL, pH + pWidth, bS + pL, pH + pWidth + bS], True)
block = C.add('dynamic ball',
bS / vt.VT_SCALE,
center_x=blockXPos * C.scene.width / vt.VT_SCALE,
bottom=(pH + pWidth) * C.scene.width / vt.VT_SCALE)
platform = vt.add_box(C, [pL, pH, pR, pH + pWidth], False, flip_lr=flip_lr)
ball = C.add('dynamic ball',
bR * 2 / vt.VT_SCALE,
center_x=ballXPos * C.scene.width / vt.VT_SCALE,
center_y=(sL + sH + bR) * C.scene.height / vt.VT_SCALE)
C.update_task(body1=ball,
body2=container,
relationships=[C.SpatialRelationship.TOUCHING])
C.set_meta(C.SolutionTier.VIRTUAL_TOOLS)
def build_task(C, seed):
rng = np.random.RandomState(seed=seed)
slopeLeft = [200, 400]
slopeRight = [100, 190]
slopeWidth = [100, 300]
ballXPos = [30, 100]
ballYPos = [15, 50]
goalHeightMin = 60
goalWidth = [80, 150]
lidWidthExtra = [10, 50]
lidThick = [8, 20]
flip_lr = rng.uniform(0, 1) < 0.5
## Make the slope
sL = rng.uniform(slopeLeft[0], slopeLeft[1])
sR = rng.uniform(slopeRight[0], slopeRight[1])
sW = rng.uniform(slopeWidth[0], slopeWidth[1])
slopeVerts = [[0, 0], [0, sL], [sW, sR], [sW, 0]]
## Make the goal
goalH = rng.uniform(goalHeightMin, sR)
goalW = rng.uniform(goalWidth[0], goalWidth[1])
goalL = sW
goalR = sW + goalW
goalVerts = [[goalL, goalH], [goalL, 5], [goalR, 5], [goalR, goalH]]
## Find the ball position
bpos = [
rng.uniform(ballXPos[0], ballXPos[1]),
sL + min([rng.uniform(ballYPos[0], ballYPos[1]), vt.VT_SCALE - 15])
]
## Make the lid
lidT = rng.uniform(lidThick[0], lidThick[1])
lidExtent = rng.uniform(lidWidthExtra[0], lidWidthExtra[1])
lidBbox = [goalL, goalH + 5, goalR + lidExtent, goalH + 5 + lidT]
## Make the world getting into the container
slopeVerts.reverse()
if flip_lr:
slopeVerts = vt.flip_left_right(slopeVerts)
bpos = vt.flip_left_right(bpos)
slope = C.add_convex_polygon(vt.convert_phyre_tools_vertices(slopeVerts),
False)
container, _ = vt.add_container(C,
goalVerts,
10,
False,
True,
flip_lr=flip_lr)
ball = C.add('dynamic ball',
30. / vt.VT_SCALE,
center_x=bpos[0] * C.scene.width / vt.VT_SCALE,
center_y=bpos[1] * C.scene.height / vt.VT_SCALE)
lid = vt.add_box(C, lidBbox, True, flip_lr=flip_lr)
C.update_task(body1=ball,
body2=container,
relationships=[C.SpatialRelationship.TOUCHING])
C.set_meta(C.SolutionTier.VIRTUAL_TOOLS)