import json
import numpy as np
controller = Controller(scene='FloorPlan28', gridSize=0.25, renderObjectImage=True)
event = controller.step(
'AddThirdPartyCamera',
rotation=dict(x=45, y=90, z=0),
position=dict(x=-4, y=1.5, z=-1.5),
fieldOfView=90
)
center = event.metadata["sceneBounds"]["center"]
controller.interact()
print(center)
bounds = np.array(event.metadata["sceneBounds"]["cornerPoints"])
print(bounds)
x_min = np.amin(bounds[:, 0])
x_max = np.amax(bounds[:, 0])
y_min = np.amin(bounds[:, 1])
y_max = np.amax(bounds[:, 1])
z_min = np.amin(bounds[:, 2])
z_max = np.amax(bounds[:, 2])
y = y_min + 0.9 * y_max - y_min
for r in sort_index:
dummy_pos.append(valid_pos[r])
valid_pos = dummy_pos
# valid_pos =sorted(valid_pos,key=distarr.get)
else:
random.shuffle(valid_pos)
nos = len(valid_pos)
flag=0
for i in range(len(valid_pos)):
pos = valid_pos[nos-i-1]
#print('pos',pos)
eve = co.step(action = 'PlaceObjectAtPoint', objectId=objid, position=pos, forceAction=True)
met = eve.metadata['objects']
for j in range(len(met)):
if met[j]['objectId'] == parentrec:
set = met[j]['receptacleObjectIds']
if set == None:
break
else:
for k in set:
if k==objid:
print('Placed object :',objid)
flag=1
if flag==1:
break
if flag==1:
break
co.interact()
