def overturn(colors, materials):
color = colors.pop()
material = materials.pop()
theta = rand(45, 50)
width = rand(.9, 1.)
height = width * rand(.9, .95)
init_orn = (0, 0, rand(-15, 15))
case_occluders = []
for i in range(4):
if i == 0:
joint_pattern = [(90, 90, 50), (90, -90, 350), (-90, -90, 50)]
elif i == 1:
joint_pattern = [(90, 90, 50), (90, -theta, 350),
(-theta, -theta, 50)]
elif i == 2:
joint_pattern = [(90, 90, 50), (90, -theta, 350),
(-theta, -theta, 50), (-theta, 90, 350),
(90, 90, 50)]
else:
joint_pattern = [(90, 90, 50), (90, -90, 350), (-90, -90, 50),
(-90, 90, 350), (90, 90, 50)]
occluder = dict(shape="cube",
color=color,
joint="revolute",
material=material,
init_pos=(.2, rand(-.1, .1), 0),
init_orn=init_orn,
scale=(OCCLUDER_HALF_WIDTH, width, height),
joint_pattern=joint_pattern)
case_occluders.append([occluder])
return case_occluders
def adjust_ground():
theta = rand(-np.pi / 3, np.pi / 3)
depth = 15
shift = rand(28, 32)
bpy.context.view_layer.objects.active = bpy.data.objects["Ground"]
bpy.context.object.rotation_mode = 'XYZ'
bpy.context.object.rotation_euler = [0, 0, np.pi + theta]
bpy.context.object.location = [
-depth * np.cos(theta) + shift * np.sin(theta),
-depth * np.sin(theta) - shift * np.cos(theta), 0
]
def delay(colors, materials):
color1 = colors.pop()
material1 = materials.pop()
init_orn1 = (0, 0, rand(-10, 10))
big = dict(shape="cube",
color=color1,
joint="revolute",
material=material1,
init_orn=init_orn1,
init_pos=(.2, 0, 0),
scale=(OCCLUDER_HALF_WIDTH, rand(1.4, 1.45), rand(.8, .9)),
joint_pattern=[(0, 0, 600), (0, 90, 200), (90, 90, 50)])
return [[big] for _ in range(2)]
def disappear_fixed(colors, materials):
color = colors.pop()
material = materials.pop()
final_t = int(rand(10, 20))
width = rand(.8, .9)
height = width * rand(.8, .85)
init_orn = (0, 0, rand(-15, 15))
occluder = dict(shape="cube",
color=color,
joint="revolute",
material=material,
init_pos=(.2, rand(-.2, .2), 0),
init_orn=init_orn,
scale=(OCCLUDER_HALF_WIDTH, width, height),
joint_pattern=[(0, 0, 700), (0, 90, 250 - final_t),
(90, 90, final_t)])
return [[occluder] for _ in range(5)]
def block(colors, materials):
color1 = colors.pop()
material1 = materials.pop()
width = rand(1.05, 1.15)
height = rand(.6, .65)
init_orn1 = (0, 0, rand(-10, 10))
occluder = dict(shape="cube",
color=color1,
joint="revolute",
material=material1,
init_orn=init_orn1,
init_pos=(.2, 0, 0),
scale=(OCCLUDER_HALF_WIDTH, width, height),
joint_pattern=[(90, 90, 50), (90, 0, 150), (0, 0, 300),
(0, 90, 150), (90, 90, 50)])
return [[occluder] for _ in range(2)]
def discontinuous(colors, materials):
color1, color2 = colors.pop(), colors.pop()
material1, material2 = materials.pop(), materials.pop()
width = rand(.44, .46)
height = rand(.6, .65)
init_orn1 = (0, 0, rand(-10, 10))
init_orn2 = (0, 0, rand(-10, 10))
init_y = rand(.9, .95)
left = dict(shape="cube",
color=color1,
joint="revolute",
material=material1,
init_orn=init_orn1,
init_pos=(.2, -init_y, 0),
scale=(OCCLUDER_HALF_WIDTH, width, height),
joint_pattern=[(0, 0, 900), (0, 90, 150), (90, 90, 50)])
right = dict(shape="cube",
color=color2,
joint="revolute",
material=material2,
init_orn=init_orn2,
init_pos=(.2, init_y, 0),
scale=(OCCLUDER_HALF_WIDTH, width, height),
joint_pattern=[(0, 0, 900), (0, 90, 150), (90, 90, 50)])
init_orn3 = (0, 0, rand(-10, 10))
big = dict(shape="cube",
color=color1,
joint="revolute",
material=material1,
init_orn=init_orn3,
init_pos=(.2, 0, 0),
scale=(OCCLUDER_HALF_WIDTH, rand(1.35, 1.4), rand(.6, .65)),
joint_pattern=[(0, 0, 900), (0, 90, 150), (90, 90, 50)])
return [[left, right] for _ in range(4)] + [[big] for _ in range(2)]
def get_occluders(colors, materials):
occluders = []
occluder_rand = rand(0, 1)
init_pos = (rand(-.5, .5), rand(-1., 1.), 0)
half_width = rand(.5, 1.5)
half_height = rand(.5, 1.)
scale = (OCCLUDER_HALF_WIDTH, half_width, half_height)
init_orn = (0, 0, rand(-20, 20))
if occluder_rand < .85:
# rotating occluder
joint_rand = rand(0, 1)
joint_t = np.random.randint(10, 25)
if joint_rand < 1 / 6:
joint_pattern = [(90, 90, joint_t), (90, 0, 250 - joint_t),
(0, 90, 250 - joint_t), (90, 90, joint_t)]
elif joint_rand < 1 / 3:
joint_pattern = [(90, 90, joint_t), (90, 0, 250 - joint_t),
(0, -90, 250 - joint_t), (-90, -90, joint_t)]
elif joint_rand < .5:
joint_pattern = [(-90, -90, joint_t), (-90, 0, 250 - joint_t),
(0, 90, 250 - joint_t), (90, 90, joint_t)]
elif joint_rand < 2 / 3:
joint_pattern = [(-90, -90, joint_t), (-90, 0, 250 - joint_t),
(0, -90, 250 - joint_t), (-90, -90, joint_t)]
elif joint_rand < 5 / 6:
joint_pattern = [(0, 0, joint_t), (0, 90, 250 - joint_t),
(90, 0, 250 - joint_t), (0, 0, joint_t)]
else:
joint_pattern = [(0, 0, joint_t), (0, -90, 250 - joint_t),
(-90, 0, 250 - joint_t), (0, 0, joint_t)]
occluder = dict(shape="cube",
color=colors.pop(),
joint="revolute",
material=materials.pop(),
init_pos=init_pos,
init_orn=init_orn,
scale=scale,
joint_pattern=joint_pattern)
occluders.append(occluder)
elif occluder_rand < .9:
# sliding occluder
joint_rand = rand(0, 1)
if joint_rand < .25:
joint_pattern = [(rand(.6, 1.2), 0, 250), (0, rand(.6, 1.2), 250)]
elif joint_rand < .5:
joint_pattern = [(rand(.6, 1.2), 0, 250), (0, rand(-1.2,
-.6), 250)]
elif joint_rand < .75:
joint_pattern = [(rand(-1.2, -.6), 0, 250), (0, rand(.6,
1.2), 250)]
else:
joint_pattern = [(rand(-1.2, -.6), 0, 250),
(0, rand(-1.2, -.6), 250)]
occluder = dict(shape="cube",
color=colors.pop(),
joint="prismatic",
material=materials.pop(),
init_pos=init_pos,
init_orn=init_orn,
scale=scale,
joint_pattern=joint_pattern)
occluders.append(occluder)
return occluders
def get_objects(colors, materials):
objects = []
n_objects = np.random.randint(2, 3)
for obj_id in range(n_objects):
side_rand = rand(0, 1)
size = rand(.2, .4)
"""
while True:
# Number of ShapeNet shapes
cat_id = np.random.randint(17)
if cat_id % 5 != 0:
break
shape = random_shape_net(cat_id, True)
"""
shape = default_shapes[random.randint(0, len(default_shapes) - 1)]
pos_z = SHAPE_DIMENSIONS[shape][2] * size
scale = repeat_scale(size)
orn_z = rand(-180, 180)
if side_rand < .4:
init_pos = (rand(-2.5, .5), rand(-4, -2), pos_z)
init_v = (rand(-.6, .6), rand(.5, 1.5), 0)
elif side_rand < .8:
init_pos = (rand(-2.5, .5), rand(2, 4), pos_z)
init_v = (rand(-.6, .6), rand(-1.5, -.5), 0)
else:
init_pos = (rand(-1.5, 0), rand(-.8, .8), pos_z)
init_v = (rand(-.6, .6), rand(-1.5, 1.5), 0)
color = colors.pop()
backward_rand = rand(0, 1)
if backward_rand < .4:
backward_time = np.random.randint(200, 300)
material = materials.pop()
mid_pos = get_prospective_location(init_pos, init_v,
backward_time / 100)
object_orginal = dict(shape=shape,
color=color,
material=material,
init_pos=init_pos,
init_orn=(0, 0, orn_z),
scale=scale,
init_v=init_v,
disappear_time=backward_time)
object_stop = dict(shape=shape,
color=color,
material=material,
init_pos=mid_pos,
init_orn=(0, 0, orn_z),
scale=scale,
init_v=[0, 0, 0],
appear_time=backward_time,
disappear_time=backward_time + 50)
object_backward = dict(shape=shape,
color=color,
material=material,
init_pos=mid_pos,
init_orn=(0, 0, orn_z),
scale=scale,
init_v=[-x for x in init_v],
appear_time=backward_time + 50)
for o in [object_orginal, object_stop, object_backward]:
objects.append(o)
continue
object = dict(shape=shape,
color=color,
material=materials.pop(),
init_pos=init_pos,
init_orn=(0, 0, orn_z),
scale=scale,
init_v=init_v)
objects.append(object)
return objects