def test_get_copies_lists():
list_1 = objects.get(objects.ObjectDefinitionList.ALL)
list_2 = objects.get(objects.ObjectDefinitionList.ALL)
assert not (list_1 is list_2)
assert list_1 == list_2
for index in range(len(list_1)):
assert not (list_1[index] is list_2[index])
def choose_definition(
self,
must_be_pickupable: bool = False
) -> Dict[str, Any]:
"""Choose and return an object definition."""
definition_list = random.choice(retrieve_trained_definition_list(
objects.get(objects.ObjectDefinitionList.PICKUPABLES)
if must_be_pickupable
else objects.get(objects.ObjectDefinitionList.ALL)
))
# Same chance to pick each object definition from the list.
definition = finalize_object_definition(random.choice(definition_list))
# Finalize the material here in case we need to make a confusor.
return random.choice(finalize_object_materials_and_colors(definition))
def test_does_have_definitions():
output_list = objects.get(objects.ObjectDefinitionList.ALL)
assert len(output_list) > 0
for definition_list in output_list:
assert len(definition_list) > 0
output_list = objects.get(objects.ObjectDefinitionList.CONTAINERS)
assert len(output_list) > 0
for definition_list in output_list:
assert len(definition_list) > 0
output_list = objects.get(objects.ObjectDefinitionList.OBSTACLES)
assert len(output_list) > 0
for definition_list in output_list:
assert len(definition_list) > 0
output_list = objects.get(objects.ObjectDefinitionList.OCCLUDERS)
assert len(output_list) > 0
for definition_list in output_list:
assert len(definition_list) > 0
output_list = objects.get(objects.ObjectDefinitionList.PICKUPABLES)
assert len(output_list) > 0
for definition_list in output_list:
assert len(definition_list) > 0
output_list = objects.get(objects.ObjectDefinitionList.NOT_PICKUPABLES)
assert len(output_list) > 0
for definition_list in output_list:
assert len(definition_list) > 0
def choose_target_definition(self, target_number: int) -> Dict[str, Any]:
if target_number == 0:
return self.choose_definition(must_be_pickupable=True)
if target_number != 1:
raise exceptions.SceneException(
f'Expected target with number 0 or 1 but got {target_number}')
definition_list = random.choice(retrieve_trained_definition_list(
objects.get(objects.ObjectDefinitionList.STACK_TARGETS)
))
# Same chance to pick each object definition from the list.
definition = finalize_object_definition(random.choice(definition_list))
# Finalize the material here in case we need to make a confusor.
return random.choice(finalize_object_materials_and_colors(definition))
def choose_distractor_definition(
target_list: List[Dict[str, Any]]
) -> Dict[str, Any]:
"""Choose and return a distractor definition for the given objects."""
invalid_shape_list = [target['shape'][-1] for target in target_list]
for _ in range(MAX_TRIES):
# Distractors should always be both trained and pickupable.
definition_list = random.choice(retrieve_trained_definition_list(
objects.get(objects.ObjectDefinitionList.PICKUPABLES)
))
# Finalize the material now.
definition = random.choice(finalize_object_materials_and_colors(
finalize_object_definition(random.choice(definition_list))
))
# Distractors cannot have the same shape as an existing object from the
# given list so we don't unintentionally generate a new confusor.
if definition['shape'][-1] not in invalid_shape_list:
break
definition = None
return definition
def test_all_objects_have_expected_properties():
for definition_list in util.retrieve_complete_definition_list(
objects.get(objects.ObjectDefinitionList.ALL)
):
for object_definition in definition_list:
print(f'{object_definition["type"]}')
assert 'type' in object_definition
assert 'size' in object_definition
assert 'shape' in object_definition
assert 'mass' in object_definition
assert 'attributes' in object_definition
assert 'dimensions' in object_definition
assert 'materialCategory' in object_definition
assert 'salientMaterials' in object_definition
if len(object_definition['materialCategory']) == 0:
assert 'color' in object_definition
assert 'info' not in object_definition
if 'massMultiplier' in object_definition:
if object_definition['massMultiplier'] < 1:
print('[ERROR] Mass multiplier < 1 will cause '
'intermittent errors in other parts of the code')
assert False
def test_retrieve_untrained_definition_list_occluder_objects():
assert len(retrieve_untrained_definition_list(
objects.get(objects.ObjectDefinitionList.OCCLUDERS),
'untrainedShape'
)) > 0
def test_retrieve_untrained_definition_list_obstacle_objects():
assert len(retrieve_untrained_definition_list(
objects.get(objects.ObjectDefinitionList.OBSTACLES),
'untrainedShape'
)) > 0
def test_retrieve_untrained_definition_list_container_objects():
assert len(retrieve_untrained_definition_list(
objects.get(objects.ObjectDefinitionList.CONTAINERS),
'untrainedShape'
)) > 0
def test_retrieve_untrained_definition_list_all_objects():
assert len(retrieve_untrained_definition_list(
objects.get(objects.ObjectDefinitionList.ALL),
'untrainedShape'
)) > 0
import random
import materials
import objects
from util import finalize_object_definition, instantiate_object, \
random_real, move_to_location, retrieve_complete_definition_list, \
retrieve_trained_definition_list, retrieve_untrained_definition_list, \
is_similar_except_in_color, is_similar_except_in_shape, \
is_similar_except_in_size, choose_distractor_definition
ALL_DEFINITIONS = [
definition for definition_list in retrieve_complete_definition_list(
objects.get(objects.ObjectDefinitionList.ALL)
) for definition in definition_list
]
PACIFIER = {
"type": "pacifier",
"color": "blue",
"shape": "pacifier",
"size": "tiny",
"salientMaterials": ["plastic"],
"attributes": ["moveable", "pickupable"],
"dimensions": {
"x": 0.07,
"y": 0.04,
"z": 0.05
},
"mass": 0.125,
"offset": {
},
'dimensions': {
'x': 1,
'y': 1,
'z': 1
}
}]
}
PICKUPABLE_OBJECTS_WITHOUT_CONTAINMENTS = [
'duck_on_wheels', 'chair_1', 'chair_2', 'table_1', 'table_3'
]
CONTAINER_DEFINITIONS = [
definition for definition_list in util.retrieve_complete_definition_list(
objects.get(objects.ObjectDefinitionList.CONTAINERS))
for definition in definition_list
]
PICKUPABLE_DEFINITIONS = [
definition for definition_list in util.retrieve_complete_definition_list(
objects.get(objects.ObjectDefinitionList.PICKUPABLES))
for definition in definition_list
]
def get_valid_containments(object_a, object_b=None):
valid_containments = []
for definition in CONTAINER_DEFINITIONS:
if object_b:
containment = can_contain_both(definition, object_a, object_b)