def set_joint_angles(self, shoulder_pitch, shoulder_yaw, shoulder_roll, elbow_angle):
self._shoulder_pitch = shoulder_pitch
self._shoulder_yaw = shoulder_yaw
self._shoulder_roll = shoulder_roll
self._elbow_angle = elbow_angle
# sto is the translate "shoulder to origin"
sto = tf.translate(Vector(-self.shoulder_joint_prop['center'][0], -self.shoulder_joint_prop['center'][1], -self.shoulder_joint_prop['center'][2]))
# ots is the translate "shoulder from origin"
ots = tf.translate(Vector(self.shoulder_joint_prop['center'][0], self.shoulder_joint_prop['center'][1], self.shoulder_joint_prop['center'][2]))
self.upperarm_prop['toWorld'] = ots * self._create_xyz_rotation(shoulder_pitch, shoulder_yaw, shoulder_roll) * sto * self._init_upperarm_toWorld
self.upperarm_endcap_prop['center'] = ots * self._create_xyz_rotation(shoulder_pitch, shoulder_yaw, shoulder_roll) * sto * self._init_upperarm_end_point
self.elbow_joint_prop['center'] = ots * self._create_xyz_rotation(shoulder_pitch, shoulder_yaw, shoulder_roll) * sto * self._init_elbow_point
self.forearm_endcap_prop['center'] = ots * self._create_xyz_rotation(shoulder_pitch, shoulder_yaw, shoulder_roll) * sto * self._init_forearm_start_point
self.forearm_prop['toWorld'] = ots * self._create_xyz_rotation(shoulder_pitch, shoulder_yaw, shoulder_roll) * sto * self._init_forearm_toWorld
self.hand_prop['center'] = ots * self._create_xyz_rotation(shoulder_pitch, shoulder_yaw, shoulder_roll) * sto * self._init_hand_point
# eto is the translate "elbow to origin"
eto = tf.translate(Vector(-self.elbow_joint_prop['center'][0], -self.elbow_joint_prop['center'][1], -self.elbow_joint_prop['center'][2]))
# ots is the translate "origin to shoulder"
ote = tf.translate(Vector(self.elbow_joint_prop['center'][0], self.elbow_joint_prop['center'][1], self.elbow_joint_prop['center'][2]))
elbow_axis = self.upperarm_prop['toWorld'] * (-self._slocal_axes['x'])
self.forearm_endcap_prop['center'] = ote * tf.rotate(elbow_axis, elbow_angle) * eto * self.forearm_endcap_prop['center']
self.forearm_prop['toWorld'] = ote * tf.rotate(elbow_axis, elbow_angle) * eto * self.forearm_prop['toWorld']
self.hand_prop['center'] = ote * tf.rotate(elbow_axis, elbow_angle) * eto * self.hand_prop['center']
def __add_cone(self, shape):
y_dir = np.array([0.0, 1.0, 0.0])
v = shape.end_points[1] - shape.end_points[0]
center = 0.5 * (shape.end_points[0] + shape.end_points[1])
height = norm(v)
scale = Transform.scale(Vector(shape.radius, height, shape.radius))
axis = np.cross(y_dir, v)
axis_len = norm(axis)
angle = degrees(atan2(axis_len, np.dot(y_dir, v)))
if (axis_len > 1e-6):
axis /= axis_len
rotate = Transform.rotate(Vector(*axis), angle)
else:
axis = np.array([1.0, 0.0, 0.0])
rotate = Transform.rotate(Vector(*axis), angle)
translate = Transform.translate(Vector(*center))
cone_file = self.file_resolver.resolve("cone.ply")
cone_transform = translate * rotate * scale
setting = {
"type": "ply",
"filename": cone_file,
"toWorld": cone_transform
}
return setting
def set_joint_angles(self, hip_pitch, hip_yaw, hip_roll, knee_angle):
self._hip_pitch = hip_pitch
self._hip_yaw = hip_yaw
self._hip_roll = hip_roll
self._knee_angle = knee_angle
# sto is the translate "hip to origin"
sto = tf.translate(Vector(-self.hip_joint_prop['center'][0], -self.hip_joint_prop['center'][1], -self.hip_joint_prop['center'][2]))
# ots is the translate "hip from origin"
ots = tf.translate(Vector(self.hip_joint_prop['center'][0], self.hip_joint_prop['center'][1], self.hip_joint_prop['center'][2]))
self.thigh_prop['toWorld'] = ots * self._create_xyz_rotation(hip_pitch, hip_yaw, hip_roll) * sto * self._init_thigh_toWorld
self.thigh_endcap_prop['center'] = ots * self._create_xyz_rotation(hip_pitch, hip_yaw, hip_roll) * sto * self._init_thigh_end_point
self.knee_joint_prop['center'] = ots * self._create_xyz_rotation(hip_pitch, hip_yaw, hip_roll) * sto * self._init_knee_point
self.calf_endcap_prop['center'] = ots * self._create_xyz_rotation(hip_pitch, hip_yaw, hip_roll) * sto * self._init_calf_start_point
self.calf_prop['toWorld'] = ots * self._create_xyz_rotation(hip_pitch, hip_yaw, hip_roll) * sto * self._init_calf_toWorld
self.foot_prop['center'] = ots * self._create_xyz_rotation(hip_pitch, hip_yaw, hip_roll) * sto * self._init_foot_point
# eto is the translate "knee to origin"
eto = tf.translate(Vector(-self.knee_joint_prop['center'][0], -self.knee_joint_prop['center'][1], -self.knee_joint_prop['center'][2]))
# ots is the translate "origin to hip"
ote = tf.translate(Vector(self.knee_joint_prop['center'][0], self.knee_joint_prop['center'][1], self.knee_joint_prop['center'][2]))
knee_axis = self.thigh_prop['toWorld'] * self._hlocal_axes['x']
self.calf_endcap_prop['center'] = ote * tf.rotate(knee_axis, knee_angle) * eto * self.calf_endcap_prop['center']
self.calf_prop['toWorld'] = ote * tf.rotate(knee_axis, knee_angle) * eto * self.calf_prop['toWorld']
self.foot_prop['center'] = ote * tf.rotate(knee_axis, knee_angle) * eto * self.foot_prop['center']
def set_joint_angles(self, shoulder_pitch, shoulder_yaw, shoulder_roll,
elbow_angle):
self._shoulder_pitch = shoulder_pitch
self._shoulder_yaw = shoulder_yaw
self._shoulder_roll = shoulder_roll
self._elbow_angle = elbow_angle
# sto is the translate "shoulder to origin"
sto = tf.translate(
Vector(-self.shoulder_joint_prop['center'][0],
-self.shoulder_joint_prop['center'][1],
-self.shoulder_joint_prop['center'][2]))
# ots is the translate "shoulder from origin"
ots = tf.translate(
Vector(self.shoulder_joint_prop['center'][0],
self.shoulder_joint_prop['center'][1],
self.shoulder_joint_prop['center'][2]))
self.upperarm_prop['toWorld'] = ots * self._create_xyz_rotation(
shoulder_pitch, shoulder_yaw,
shoulder_roll) * sto * self._init_upperarm_toWorld
self.upperarm_endcap_prop['center'] = ots * self._create_xyz_rotation(
shoulder_pitch, shoulder_yaw,
shoulder_roll) * sto * self._init_upperarm_end_point
self.elbow_joint_prop['center'] = ots * self._create_xyz_rotation(
shoulder_pitch, shoulder_yaw,
shoulder_roll) * sto * self._init_elbow_point
self.forearm_endcap_prop['center'] = ots * self._create_xyz_rotation(
shoulder_pitch, shoulder_yaw,
shoulder_roll) * sto * self._init_forearm_start_point
self.forearm_prop['toWorld'] = ots * self._create_xyz_rotation(
shoulder_pitch, shoulder_yaw,
shoulder_roll) * sto * self._init_forearm_toWorld
self.hand_prop['center'] = ots * self._create_xyz_rotation(
shoulder_pitch, shoulder_yaw,
shoulder_roll) * sto * self._init_hand_point
# eto is the translate "elbow to origin"
eto = tf.translate(
Vector(-self.elbow_joint_prop['center'][0],
-self.elbow_joint_prop['center'][1],
-self.elbow_joint_prop['center'][2]))
# ots is the translate "origin to shoulder"
ote = tf.translate(
Vector(self.elbow_joint_prop['center'][0],
self.elbow_joint_prop['center'][1],
self.elbow_joint_prop['center'][2]))
elbow_axis = self.upperarm_prop['toWorld'] * (-self._slocal_axes['x'])
self.forearm_endcap_prop['center'] = ote * tf.rotate(
elbow_axis, elbow_angle) * eto * self.forearm_endcap_prop['center']
self.forearm_prop['toWorld'] = ote * tf.rotate(
elbow_axis, elbow_angle) * eto * self.forearm_prop['toWorld']
self.hand_prop['center'] = ote * tf.rotate(
elbow_axis, elbow_angle) * eto * self.hand_prop['center']
def set_slocal_rotate_angle(self, gpitch, gyaw, groll):
self._slocal_axes_rotate_angle['pitch'] = gpitch
self._slocal_axes_rotate_angle['yaw'] = gyaw
self._slocal_axes_rotate_angle['roll'] = groll
rotation = tf.rotate(Vector(1, 0, 0), gpitch) * tf.rotate(Vector(0, 1, 0), gyaw) * tf.rotate(Vector(0, 0, 1), groll)
self._slocal_axes['x'] = rotation * self._slocal_axes['x']
self._slocal_axes['y'] = rotation * self._slocal_axes['y']
self._slocal_axes['z'] = rotation * self._slocal_axes['z']
self.set_joint_angles(self._shoulder_pitch, self._shoulder_yaw, self._shoulder_yaw, self._elbow_angle)
return self._slocal_axes
def __init__(self, itp): # itp is initial torso point
self._torso_radius = 5.5
self._torso_length = 18.0
self._init_clavile_toWorld = tf.translate(
Vector(itp.x, itp.y + (self._torso_length / 2), itp.z)) * tf.scale(
Vector(self._torso_radius, 1, self._torso_radius)) * tf.rotate(
Vector(1, 0, 0), -90)
self._init_torso_cylinder_toWorld = tf.translate(
Vector(itp.x, itp.y, itp.z)) * tf.scale(
Vector(1, self._torso_length, 1)) * tf.rotate(
Vector(1, 0, 0), -90) * tf.translate(Vector(0, 0, -0.5))
self._init_hip_toWorld = tf.translate(
Vector(itp.x, itp.y - (self._torso_length / 2), itp.z)) * tf.scale(
Vector(self._torso_radius, 1, self._torso_radius)) * tf.rotate(
Vector(1, 0, 0), 90)
self._torso_cylinder_point = itp
self.clavile_prop = {
'type': 'disk',
'toWorld': self._init_clavile_toWorld,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.torso_cylinder_prop = {
'type': 'cylinder',
'toWorld': self._init_torso_cylinder_toWorld,
'radius': self._torso_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.hip_prop = {
'type': 'disk',
'toWorld': self._init_hip_toWorld,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
def set_slocal_rotate_angle(self, gpitch, gyaw, groll):
self._slocal_axes_rotate_angle['pitch'] = gpitch
self._slocal_axes_rotate_angle['yaw'] = gyaw
self._slocal_axes_rotate_angle['roll'] = groll
rotation = tf.rotate(Vector(1, 0, 0), gpitch) * tf.rotate(
Vector(0, 1, 0), gyaw) * tf.rotate(Vector(0, 0, 1), groll)
self._slocal_axes['x'] = rotation * self._slocal_axes['x']
self._slocal_axes['y'] = rotation * self._slocal_axes['y']
self._slocal_axes['z'] = rotation * self._slocal_axes['z']
self.set_joint_angles(self._shoulder_pitch, self._shoulder_yaw,
self._shoulder_yaw, self._elbow_angle)
return self._slocal_axes
def __init__(self, icp): #icp is initial cranicm pointi
self._cranicm_radius = 3.0
self._neck_radius = 1.5
self._neck_length = 6.0
self._init_cranicm_point = icp
self._init_neck_toWorld = tf.translate(Vector(
icp.x, icp.y - 3, icp.z)) * tf.scale(
Vector(1, self._neck_length, 1)) * tf.rotate(
Vector(1, 0, 0), -90) * tf.translate(Vector(0, 0, -0.5))
self.cranicm_prop = {
'type': 'sphere',
'center': self._init_cranicm_point,
'radius': self._cranicm_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.neck_prop = {
'type': 'cylinder',
'toWorld': self._init_neck_toWorld,
'radius': self._neck_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
def __add_floor(self):
rotate_transform = Transform.rotate(Vector(-1, 0, 0), 90)
scale_transform = Transform.scale(Vector(100, 100, 100))
translate_transform = Transform.translate(
Vector(0.0, self.floor_height, 0.0))
total_transform = translate_transform * scale_transform\
* rotate_transform
if self.scene.active_view.background == "d":
reflectance = Spectrum(0.05)
elif self.scene.active_view.background == "l":
reflectance = Spectrum(0.5)
else:
reflectance = Spectrum(0.0)
floor = self.plgr.create({
"type": "rectangle",
"toWorld": total_transform,
"bsdf": {
"type": "roughdiffuse",
"diffuseReflectance": reflectance,
"alpha": 0.5
}
})
self.mitsuba_scene.addChild(floor)
def create_trajectory_on_bbsphere(bbox,
initial_positioning_vector: Vector3,
rotation_around: Vector3,
num_cameras: int,
radius_multiplier: float,
tilt: Transform = None) -> List[Transform]:
"""
Creates an interpolated trajectory on the bounding sphere of a scene/object
:param bbox: The bounding box of the object/scene to render
:param initial_positioning_vector: Controls where to position the camera initially
:param rotation_around: Specify axis to rotate camera around
:param num_cameras: Number of cameras to generate
:param radius_multiplier: Cameras will be placed at distance multiplier * bbsphere radius
:param tilt: Additional transformation meant to tilt the camera a bit
:return: List with generated transforms
"""
transforms = []
step_angle = 360. / float(num_cameras)
for camera_idx in range(num_cameras):
transform = create_transform_on_bbsphere(
bbox, radius_multiplier,
Transform.rotate(rotation_around, step_angle * camera_idx) * tilt *
initial_positioning_vector)
transforms.append(transform)
return transforms
def set_joint_angles(self, hip_pitch, hip_yaw, hip_roll, knee_angle):
self._hip_pitch = hip_pitch
self._hip_yaw = hip_yaw
self._hip_roll = hip_roll
self._knee_angle = knee_angle
# sto is the translate "hip to origin"
sto = tf.translate(
Vector(-self.hip_joint_prop['center'][0],
-self.hip_joint_prop['center'][1],
-self.hip_joint_prop['center'][2]))
# ots is the translate "hip from origin"
ots = tf.translate(
Vector(self.hip_joint_prop['center'][0],
self.hip_joint_prop['center'][1],
self.hip_joint_prop['center'][2]))
self.thigh_prop['toWorld'] = ots * self._create_xyz_rotation(
hip_pitch, hip_yaw, hip_roll) * sto * self._init_thigh_toWorld
self.thigh_endcap_prop['center'] = ots * self._create_xyz_rotation(
hip_pitch, hip_yaw, hip_roll) * sto * self._init_thigh_end_point
self.knee_joint_prop['center'] = ots * self._create_xyz_rotation(
hip_pitch, hip_yaw, hip_roll) * sto * self._init_knee_point
self.calf_endcap_prop['center'] = ots * self._create_xyz_rotation(
hip_pitch, hip_yaw, hip_roll) * sto * self._init_calf_start_point
self.calf_prop['toWorld'] = ots * self._create_xyz_rotation(
hip_pitch, hip_yaw, hip_roll) * sto * self._init_calf_toWorld
self.foot_prop['center'] = ots * self._create_xyz_rotation(
hip_pitch, hip_yaw, hip_roll) * sto * self._init_foot_point
# eto is the translate "knee to origin"
eto = tf.translate(
Vector(-self.knee_joint_prop['center'][0],
-self.knee_joint_prop['center'][1],
-self.knee_joint_prop['center'][2]))
# ots is the translate "origin to hip"
ote = tf.translate(
Vector(self.knee_joint_prop['center'][0],
self.knee_joint_prop['center'][1],
self.knee_joint_prop['center'][2]))
knee_axis = self.thigh_prop['toWorld'] * self._hlocal_axes['x']
self.calf_endcap_prop['center'] = ote * tf.rotate(
knee_axis, knee_angle) * eto * self.calf_endcap_prop['center']
self.calf_prop['toWorld'] = ote * tf.rotate(
knee_axis, knee_angle) * eto * self.calf_prop['toWorld']
self.foot_prop['center'] = ote * tf.rotate(
knee_axis, knee_angle) * eto * self.foot_prop['center']
def main(args):
input_filepaths = [Path(elem) for elem in args.input]
output_path = Path(args.output)
assert all([elem.is_file() for elem in input_filepaths])
assert output_path.is_dir()
bbox = get_pointcloud_bbox(load_from_ply(input_filepaths[0]))
sensor_transform = cameras.create_transform_on_bbsphere(
bbox,
radius_multiplier=3.,
positioning_vector=Vector3(0, -1, 1),
tilt=Transform.rotate(util.axis_unit_vector('x'), -25.))
sensor = cameras.create_sensor_from_transform(sensor_transform,
args.width,
args.height,
fov=45.,
num_samples=args.samples)
render_pointclouds(zip(input_filepaths, cycle([output_path])), sensor,
args.radius, args.workers)
def _create_xyz_rotation(self, pitch, yaw, roll):
return tf.rotate(self._slocal_axes['x'], pitch) * tf.rotate(
self._slocal_axes['y'], yaw) * tf.rotate(self._slocal_axes['z'],
roll)
def __init__(self, ihp): # ihp is initial hip point
self._thigh_radius = 1.5
self._thigh_length = 8.0
self._knee_radius = 1.5
self._calf_radius = 1.5
self._calf_length = 8.0
self._init_hip_point = ihp # == _init_thigh_start_point
self._init_thigh_end_point = Point(ihp.x, ihp.y-self._thigh_length, ihp.z)
self._init_thigh_toWorld = tf.translate(Vector(ihp.x, ihp.y-(self._thigh_length/2), ihp.z)) * tf.scale(Vector(1, self._thigh_length, 1)) * tf.rotate(Vector(1, 0, 0), -90) * tf.translate(Vector(0, 0, -0.5))
self._init_knee_point = Point(ihp.x, ihp.y-(self._thigh_length+self._thigh_radius+self._knee_radius), ihp.z)
self._init_calf_start_point = Point(ihp.x, ihp.y-(self._thigh_length+self._thigh_radius+self._knee_radius*2+self._calf_radius), ihp.z)
self._init_foot_point = Point(ihp.x, ihp.y-(self._thigh_length+self._thigh_radius+self._knee_radius*2+self._calf_radius+self._calf_length), ihp.z) # == _init_calf_end_point
self._init_calf_toWorld = tf.translate(Vector(ihp.x, ihp.y-(self._thigh_length+self._thigh_radius+self._knee_radius*2+self._calf_radius+self._calf_length/2), ihp.z)) * tf.scale(Vector(1, self._calf_length, 1)) * tf.rotate(Vector(1, 0, 0), -90) * tf.translate(Vector(0, 0, -0.5))
# local axes at hip
self._hlocal_axes = {
'x' : Vector(1, 0, 0),
'y' : Vector(0, 1, 0),
'z' : Vector(0, 0, 1)
}
# rotate angle of local axes at hip
self._hlocal_axes_rotate_angle = {
'pitch' : 0,
'yaw' : 0,
'roll' : 0
}
self._hip_pitch = 0
self._hip_yaw = 0
self._hip_roll = 0
self._knee_angle = 0
self.hip_joint_prop = {
'type' : 'sphere',
'center' : self._init_hip_point,
'radius' : self._thigh_radius ,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.thigh_prop = {
'type' : 'cylinder',
'toWorld': self._init_thigh_toWorld,
'radius' : self._thigh_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.thigh_endcap_prop = {
'type' : 'sphere',
'center' : self._init_thigh_end_point,
'radius' : self._thigh_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.knee_joint_prop = {
'type' : 'sphere',
'center' : self._init_knee_point,
'radius' : self._knee_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.1, 0.1, 0.1])
}
}
self.calf_endcap_prop = {
'type' : 'sphere',
'center' : self._init_calf_start_point,
'radius' : self._calf_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.calf_prop = {
'type' : 'cylinder',
'toWorld' : self._init_calf_toWorld,
'radius' : self._calf_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.foot_prop = {
'type' : 'sphere',
'center' : self._init_foot_point,
'radius' : self._calf_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
def __init__(self, itp): # itp is initial torso point
self._torso_radius = 5.5
self._torso_length = 18.0
self._init_clavile_toWorld = tf.translate(Vector(itp.x, itp.y+(self._torso_length/2), itp.z)) * tf.scale(Vector(self._torso_radius, 1, self._torso_radius)) * tf.rotate(Vector(1, 0, 0), -90)
self._init_torso_cylinder_toWorld = tf.translate(Vector(itp.x, itp.y, itp.z)) * tf.scale(Vector(1, self._torso_length, 1)) * tf.rotate(Vector(1, 0, 0), -90) * tf.translate(Vector(0, 0, -0.5))
self._init_hip_toWorld = tf.translate(Vector(itp.x, itp.y-(self._torso_length/2), itp.z)) * tf.scale(Vector(self._torso_radius, 1, self._torso_radius)) * tf.rotate(Vector(1, 0, 0), 90)
self._torso_cylinder_point = itp
self.clavile_prop = {
'type' : 'disk',
'toWorld': self._init_clavile_toWorld,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.torso_cylinder_prop = {
'type' : 'cylinder',
'toWorld': self._init_torso_cylinder_toWorld,
'radius' : self._torso_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.hip_prop = {
'type' : 'disk',
'toWorld': self._init_hip_toWorld,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
def __init__(self, isp): # isp is initial shoulder point
self._upperarm_radius = 1.0
self._upperarm_length = 6.0
self._elbow_radius = 1.0
self._forearm_radius = 1.0
self._forearm_length = 6.0
self._init_shoulder_point = isp # == _init_upperarm_start_point
self._init_upperarm_end_point = Point(isp.x, isp.y-self._upperarm_length, isp.z)
self._init_upperarm_toWorld = tf.translate(Vector(isp.x, isp.y-(self._upperarm_length/2), isp.z)) * tf.scale(Vector(1, self._upperarm_length, 1)) * tf.rotate(Vector(1, 0, 0), -90) * tf.translate(Vector(0, 0, -0.5))
self._init_elbow_point = Point(isp.x, isp.y-(self._upperarm_length+self._upperarm_radius+self._elbow_radius), isp.z)
self._init_forearm_start_point = Point(isp.x, isp.y-(self._upperarm_length+self._upperarm_radius+self._elbow_radius*2+self._forearm_radius), isp.z)
self._init_hand_point = Point(isp.x, isp.y-(self._upperarm_length+self._upperarm_radius+self._elbow_radius*2+self._forearm_radius+self._forearm_length), isp.z) # == _init_forearm_end_point
self._init_forearm_toWorld = tf.translate(Vector(isp.x, isp.y-(self._upperarm_length+self._upperarm_radius+self._elbow_radius*2+self._forearm_radius+self._forearm_length/2), isp.z)) * tf.scale(Vector(1, self._forearm_length, 1)) * tf.rotate(Vector(1, 0, 0), -90) * tf.translate(Vector(0, 0, -0.5))
# local axes at shoulder
self._slocal_axes = {
'x' : Vector(1, 0, 0),
'y' : Vector(0, 1, 0),
'z' : Vector(0, 0, 1)
}
# rotate angle of local axes at shoulder
self._slocal_axes_rotate_angle = {
'pitch' : 0,
'yaw' : 0,
'roll' : 0
}
self._shoulder_pitch = 0
self._shoulder_yaw = 0
self._shoulder_roll = 0
self._elbow_angle = 0
self.shoulder_joint_prop = {
'type' : 'sphere',
'center' : self._init_shoulder_point,
'radius' : self._upperarm_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.upperarm_prop = {
'type' : 'cylinder',
'toWorld': self._init_upperarm_toWorld,
'radius' : self._upperarm_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.upperarm_endcap_prop = {
'type' : 'sphere',
'center' : self._init_upperarm_end_point,
'radius' : self._upperarm_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.elbow_joint_prop = {
'type' : 'sphere',
'center' : self._init_elbow_point,
'radius' : self._elbow_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.1, 0.1, 0.1])
}
}
self.forearm_endcap_prop = {
'type' : 'sphere',
'center' : self._init_forearm_start_point,
'radius' : self._forearm_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.forearm_prop = {
'type' : 'cylinder',
'toWorld' : self._init_forearm_toWorld,
'radius' : self._forearm_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
self.hand_prop = {
'type' : 'sphere',
'center' : self._init_hand_point,
'radius' : self._forearm_radius,
'bsdf' : {
'type' : 'ward',
'alphaU' : 0.003,
'alphaV' : 0.003,
'specularReflectance' : Spectrum(0.01),
'diffuseReflectance' : Spectrum([0.05, 0.05, 0.05])
}
}
def _create_xyz_rotation(self, pitch, yaw, roll):
return tf.rotate(self._slocal_axes['x'], pitch) * tf.rotate(self._slocal_axes['y'], yaw) * tf.rotate(self._slocal_axes['z'], roll)
def __init__(self, ihp): # ihp is initial hip point
self._thigh_radius = 1.5
self._thigh_length = 8.0
self._knee_radius = 1.5
self._calf_radius = 1.5
self._calf_length = 8.0
self._init_hip_point = ihp # == _init_thigh_start_point
self._init_thigh_end_point = Point(ihp.x, ihp.y - self._thigh_length,
ihp.z)
self._init_thigh_toWorld = tf.translate(
Vector(ihp.x, ihp.y - (self._thigh_length / 2), ihp.z)) * tf.scale(
Vector(1, self._thigh_length, 1)) * tf.rotate(
Vector(1, 0, 0), -90) * tf.translate(Vector(0, 0, -0.5))
self._init_knee_point = Point(
ihp.x, ihp.y -
(self._thigh_length + self._thigh_radius + self._knee_radius),
ihp.z)
self._init_calf_start_point = Point(
ihp.x, ihp.y - (self._thigh_length + self._thigh_radius +
self._knee_radius * 2 + self._calf_radius), ihp.z)
self._init_foot_point = Point(
ihp.x, ihp.y -
(self._thigh_length + self._thigh_radius + self._knee_radius * 2 +
self._calf_radius + self._calf_length),
ihp.z) # == _init_calf_end_point
self._init_calf_toWorld = tf.translate(
Vector(
ihp.x, ihp.y -
(self._thigh_length + self._thigh_radius + self._knee_radius *
2 + self._calf_radius + self._calf_length / 2), ihp.z)
) * tf.scale(Vector(1, self._calf_length, 1)) * tf.rotate(
Vector(1, 0, 0), -90) * tf.translate(Vector(0, 0, -0.5))
# local axes at hip
self._hlocal_axes = {
'x': Vector(1, 0, 0),
'y': Vector(0, 1, 0),
'z': Vector(0, 0, 1)
}
# rotate angle of local axes at hip
self._hlocal_axes_rotate_angle = {'pitch': 0, 'yaw': 0, 'roll': 0}
self._hip_pitch = 0
self._hip_yaw = 0
self._hip_roll = 0
self._knee_angle = 0
self.hip_joint_prop = {
'type': 'sphere',
'center': self._init_hip_point,
'radius': self._thigh_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.thigh_prop = {
'type': 'cylinder',
'toWorld': self._init_thigh_toWorld,
'radius': self._thigh_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.thigh_endcap_prop = {
'type': 'sphere',
'center': self._init_thigh_end_point,
'radius': self._thigh_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.knee_joint_prop = {
'type': 'sphere',
'center': self._init_knee_point,
'radius': self._knee_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.1, 0.1, 0.1])
}
}
self.calf_endcap_prop = {
'type': 'sphere',
'center': self._init_calf_start_point,
'radius': self._calf_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.calf_prop = {
'type': 'cylinder',
'toWorld': self._init_calf_toWorld,
'radius': self._calf_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.foot_prop = {
'type': 'sphere',
'center': self._init_foot_point,
'radius': self._calf_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
def __init__(self, isp): # isp is initial shoulder point
self._upperarm_radius = 1.0
self._upperarm_length = 6.0
self._elbow_radius = 1.0
self._forearm_radius = 1.0
self._forearm_length = 6.0
self._init_shoulder_point = isp # == _init_upperarm_start_point
self._init_upperarm_end_point = Point(isp.x,
isp.y - self._upperarm_length,
isp.z)
self._init_upperarm_toWorld = tf.translate(
Vector(isp.x, isp.y -
(self._upperarm_length / 2), isp.z)) * tf.scale(
Vector(1, self._upperarm_length, 1)) * tf.rotate(
Vector(1, 0, 0), -90) * tf.translate(
Vector(0, 0, -0.5))
self._init_elbow_point = Point(
isp.x, isp.y - (self._upperarm_length + self._upperarm_radius +
self._elbow_radius), isp.z)
self._init_forearm_start_point = Point(
isp.x, isp.y - (self._upperarm_length + self._upperarm_radius +
self._elbow_radius * 2 + self._forearm_radius),
isp.z)
self._init_hand_point = Point(
isp.x, isp.y - (self._upperarm_length + self._upperarm_radius +
self._elbow_radius * 2 + self._forearm_radius +
self._forearm_length),
isp.z) # == _init_forearm_end_point
self._init_forearm_toWorld = tf.translate(
Vector(
isp.x, isp.y -
(self._upperarm_length + self._upperarm_radius +
self._elbow_radius * 2 + self._forearm_radius +
self._forearm_length / 2), isp.z)) * tf.scale(
Vector(1, self._forearm_length, 1)) * tf.rotate(
Vector(1, 0, 0), -90) * tf.translate(
Vector(0, 0, -0.5))
# local axes at shoulder
self._slocal_axes = {
'x': Vector(1, 0, 0),
'y': Vector(0, 1, 0),
'z': Vector(0, 0, 1)
}
# rotate angle of local axes at shoulder
self._slocal_axes_rotate_angle = {'pitch': 0, 'yaw': 0, 'roll': 0}
self._shoulder_pitch = 0
self._shoulder_yaw = 0
self._shoulder_roll = 0
self._elbow_angle = 0
self.shoulder_joint_prop = {
'type': 'sphere',
'center': self._init_shoulder_point,
'radius': self._upperarm_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.upperarm_prop = {
'type': 'cylinder',
'toWorld': self._init_upperarm_toWorld,
'radius': self._upperarm_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.upperarm_endcap_prop = {
'type': 'sphere',
'center': self._init_upperarm_end_point,
'radius': self._upperarm_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.elbow_joint_prop = {
'type': 'sphere',
'center': self._init_elbow_point,
'radius': self._elbow_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.1, 0.1, 0.1])
}
}
self.forearm_endcap_prop = {
'type': 'sphere',
'center': self._init_forearm_start_point,
'radius': self._forearm_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.forearm_prop = {
'type': 'cylinder',
'toWorld': self._init_forearm_toWorld,
'radius': self._forearm_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
self.hand_prop = {
'type': 'sphere',
'center': self._init_hand_point,
'radius': self._forearm_radius,
'bsdf': {
'type': 'ward',
'alphaU': 0.003,
'alphaV': 0.003,
'specularReflectance': Spectrum(0.01),
'diffuseReflectance': Spectrum([0.05, 0.05, 0.05])
}
}
