def _init_object(c: Controller, name: str, pos: Dict[str, float], rot: Dict[str, float]) -> List[dict]:
"""
:param c: The controller.
:param name: The name of the model.
:param pos: The initial position of the model.
:param rot: The initial rotation of the model.
:return: A list of commands to instantiate an object from ObjectInfo values.
"""
o_id = c.get_unique_id()
Scene.OBJECT_IDS.update({o_id: name})
info = Scene._OBJECT_INFO[name]
return [c.get_add_object(name,
object_id=o_id,
position=pos,
rotation=rot,
library=info.library),
{"$type": "set_mass",
"id": o_id,
"mass": info.mass},
{"$type": "set_physic_material",
"id": o_id,
"bounciness": info.bounciness,
"static_friction": 0.1,
"dynamic_friction": 0.8}]
def _initialize_scene(self, c: Controller) -> List[dict]:
commands = super()._initialize_scene(c)
model_name = self._get_model_name()
o_id = c.get_unique_id()
Scene.OBJECT_IDS.update({o_id: model_name})
commands.extend([c.get_add_object(model_name, object_id=o_id, library=self._get_library()),
{"$type": "set_mass",
"id": o_id,
"mass": 1000},
{"$type": "set_physic_material",
"id": o_id,
"bounciness": Scene._OBJECT_INFO[model_name].bounciness,
"static_friction": 0.1,
"dynamic_friction": 0.8}])
return commands
def _initialize_scene(self, c: Controller) -> List[dict]:
c.model_librarian = ModelLibrarian("models_full.json")
commands = super()._initialize_scene(c)
# Add a table, chair, and boxes.
commands.extend(self._init_object(c, "b05_table_new",
pos={"x": 0, "y": 0, "z": 4.33},
rot=TDWUtils.VECTOR3_ZERO))
commands.extend(self._init_object(c, "chair_willisau_riale",
pos={"x": 0, "y": 0, "z": 3.7},
rot=TDWUtils.VECTOR3_ZERO))
commands.extend(self._init_object(c, "iron_box",
pos={"x": 0.13, "y": 0.65, "z": 4.83},
rot=TDWUtils.VECTOR3_ZERO))
commands.extend(self._init_object(c, "iron_box",
pos={"x": -0.285, "y": 1.342, "z": 4.79},
rot={"x": 90, "y": 0, "z": 0}))
# Add a shelf with a custom scale.
shelf_id = c.get_unique_id()
shelf_name = "metal_lab_shelf"
Scene.OBJECT_IDS.update({shelf_id: shelf_name})
commands.extend([c.get_add_object(shelf_name,
object_id=shelf_id,
rotation={"x": 0, "y": -90, "z": 0},
position={"x": 0, "y": 0, "z": 4.93}),
{"$type": "set_mass",
"id": shelf_id,
"mass": 400},
{"$type": "set_physic_material",
"id": shelf_id,
"bounciness": Scene._OBJECT_INFO[shelf_name].bounciness,
"static_friction": 0.1,
"dynamic_friction": 0.8},
{"$type": "scale_object",
"id": shelf_id,
"scale_factor": {"x": 1, "y": 1.5, "z": 1.8}}])
return commands
from sticky_mitten_avatar.util import get_data
"""
Get default audio data for each sub-object of a composite object.
"""
if __name__ == "__main__":
from argparse import ArgumentParser
parser = ArgumentParser()
parser.add_argument("--model", default="puzzle_box_composite")
args = parser.parse_args()
c = Controller()
c.start()
resp = c.communicate([
TDWUtils.create_empty_room(12, 12),
c.get_add_object(model_name=args.model, object_id=0), {
"$type": "send_composite_objects"
}, {
"$type": "send_segmentation_colors"
}
])
c.communicate({"$type": "terminate"})
# Get the name of each object.
colors = get_data(resp=resp, d_type=SegmentationColors)
names = dict()
for i in range(colors.get_num()):
names[colors.get_object_id(i)] = colors.get_object_name(i)
# Parse the composite object data.
co = get_data(resp=resp, d_type=CompositeObjects)
# 1. Load the scene.
# 2. Create an empty room (using a wrapper function)
# 3. Add the table.
# 4. Request Bounds data.
resp = c.communicate([{
"$type": "load_scene",
"scene_name": "ProcGenScene"
},
TDWUtils.create_empty_room(12, 12),
c.get_add_object(model_name=table_record.name,
object_id=table_id,
position={
"x": 0,
"y": 0,
"z": 0
},
rotation={
"x": 0,
"y": 0,
"z": 0
}), {
"$type": "send_bounds",
"ids": [table_id],
"frequency": "once"
}])
# Get the top of the table.
top_y = 0
for r in resp[:-1]:
r_id = OutputData.get_data_type_id(r)
# Find the bounds data.
from tdw.controller import Controller
from tdw.tdw_utils import TDWUtils
from tdw.collisions import Collisions
"""
Receive collision output data and read it as a `Collisions` object.
"""
if __name__ == "__main__":
c = Controller(launch_build=False)
c.start()
resp = c.communicate([
TDWUtils.create_empty_room(12, 12),
c.get_add_object(model_name="rh10",
position={
"x": 0,
"y": 1,
"z": 0
},
object_id=0),
c.get_add_object(model_name="rh10",
position={
"x": 0,
"y": 2,
"z": 0
},
object_id=1), {
"$type": "send_collisions",
"enter": True,
"stay": True,
"exit": True,
"collision_types": ["obj", "env"]
txt = Path("../sticky_mitten_avatar/object_data/target_objects.csv"
).read_text(encoding="utf-8")
c = Controller(launch_build=False)
c.start()
commands = [TDWUtils.create_empty_room(12, 12)]
y = 0
o_id = 0
for line in txt.split("\n")[1:]:
line_split = line.split(",")
model = line_split[0]
scale = float(line_split[1])
commands.extend([
c.get_add_object(model_name=model,
object_id=o_id,
position={
"x": 0,
"y": y,
"z": 0
}), {
"$type": "scale_object",
"scale_factor": {
"x": scale,
"y": scale,
"z": scale
},
"id": o_id
}
])
o_id += 1
y += scale / 2
c.communicate(commands)
"x": 0,
"y": 0,
"z": 0
},
"id": o_id
}, {
"$type": "rotate_object_to",
"rotation": {
"w": 1,
"x": 0,
"y": 0,
"z": 0
},
"id": o_id
}]
c = Controller()
c.start()
c.communicate([
TDWUtils.create_empty_room(12, 12),
c.get_add_object("rh10", object_id=o_id)
])
num_trials = 5000
t0 = time()
for i in range(num_trials):
c.communicate(cmds)
fps = (num_trials / (time() - t0))
print(f"FPS: {round(fps)}")
c.communicate({"$type": "terminate"})