def build_user_input(points=None, rectangulars=None, balls=None):
points, rectangulars, balls = _prepare_user_input(points, rectangulars,
balls)
user_input = scene_if.UserInput(
flattened_point_list=points.flatten().tolist(), balls=[], polygons=[])
for start in range(0, len(rectangulars), 8):
rect = rectangulars[start:start + 8]
vertices = []
for i in range(4):
vertices.append(
scene_if.Vector(rect[2 * i] - rect[0],
rect[2 * i + 1] - rect[1]))
user_input.polygons.append(
scene_if.PolygonWithPosition(
vertices=vertices,
position=scene_if.Vector(rect[0], rect[1]),
angle=0,
))
for start in range(0, len(balls), 3):
ball = balls[start:start + 3]
user_input.balls.append(
scene_if.CircleWithPosition(position=scene_if.Vector(
ball[0], ball[1]),
radius=ball[2]))
return user_input
def featurized_objects_vector_to_scene(featurized_objects: np.ndarray
) -> scene_if.Scene:
"""Convert an array of featurized objects into a Scene.
Args:
featurized_objects: np.ndarray of size (num_objects, OBJECT_FEATURE_SIZE)
Returns:
A scene_if.Scene contianing each of the featurized objects.
"""
task = creator.creator.TaskCreator()
user_input = scene_if.UserInput(flattened_point_list=[],
balls=[],
polygons=[])
for features in featurized_objects:
object_properties = _object_features_to_values(features)
if object_properties['user_input']:
assert object_properties['shape_type'] == 'ball', (
'User input objects must be balls')
user_input.balls.append(
scene_if.CircleWithPosition(
position=scene_if.Vector(x=object_properties['x'],
y=object_properties['y']),
radius=object_properties['diameter'] / 2.0))
else:
builder = shapes_lib.get_builders()[object_properties['shape_type']]
shapes, phantom_vertices = builder.build(
diameter=object_properties['diameter'])
body = Body(shapes, object_properties['dynamic'],
object_properties['shape_type'],
object_properties['diameter'], phantom_vertices)
body.push(object_properties['x'], object_properties['y'])
body.set_angle(object_properties['angle'])
body.set_color(object_properties['color'])
task.scene.bodies.append(body._thrift_body)
task.body_list.append(body)
scene = phyre.simulator.add_user_input_to_scene(task.scene,
user_input,
allow_occlusions=True)
return scene
def add_to_user_input(cls, action, user_input):
x, y, radius = cls.scale(*action)
user_input.balls.append(
scene_if.CircleWithPosition(position=scene_if.Vector(x=x, y=y),
radius=radius))