def _write_frame(self, frames_grp: h5py.Group, resp: List[bytes], frame_num: int) -> \
Tuple[h5py.Group, h5py.Group, dict, bool]:
frame, objs, tr, done = super()._write_frame(frames_grp=frames_grp,
resp=resp,
frame_num=frame_num)
particles_group = frame.create_group("particles")
velocities_group = frame.create_group("velocities")
for r in resp[:-1]:
if FlexParticles.get_data_type_id(r) == "flex":
f = FlexParticles(r)
flex_dict = dict()
for i in range(f.get_num_objects()):
flex_dict.update({
f.get_id(i): {
"par": f.get_particles(i),
"vel": f.get_velocities(i)
}
})
# Add the Flex data.
for o_id in self.object_ids:
if o_id not in flex_dict:
continue
particles_group.create_dataset(str(o_id),
data=flex_dict[o_id]["par"])
velocities_group.create_dataset(
str(o_id), data=flex_dict[o_id]["vel"])
return frame, objs, tr, done
def get_per_frame_commands(self, resp: List[bytes], frame) -> List[dict]:
commands = []
# Apply a force.
if frame < self._num_force_frames:
for r in resp[:-1]:
if FlexParticles.get_data_type_id(r) == "flex":
fp = FlexParticles(r)
for i in range(fp.get_num_objects()):
# Find the cloth.
if fp.get_id(i) == self.cloth_id:
forces = []
p_id = 0
for p in fp.get_particles(i):
# Add a force if this is a "corner particle".
if np.abs(np.linalg.norm(p[:-1] - self._corner)
) <= self._corner_radius:
# Calculate the force.
pos = np.array(p[:-1])
force = ((pos - self._corner) / np.linalg.norm(pos - self._corner)) * self.\
_force_per_frame
# Add the force and particle ID.
forces.extend(force)
forces.append(p_id)
p_id += 1
# Encode and send the force.
commands.extend([{
"$type":
"apply_forces_to_flex_object_base64",
"forces_and_ids_base64":
TDWUtils.get_base64_flex_particle_forces(
forces),
"id":
self.cloth_id
}])
return commands
def run(self):
self.load_streamed_scene(scene="tdw_room_2018")
self.communicate({"$type": "set_time_step", "time_step": 0.02})
# Create the container.
self.communicate({"$type": "create_flex_container",
"particle_size": 0.1,
"collision_distance": 0.025,
"solid_rest": 0.1})
# Create the avatar.
self.communicate(TDWUtils.create_avatar(position={"x": -1.5, "y": 0.85, "z": -0.5}))
# Add the object.
object_id = self.add_object("linbrazil_diz_armchair",
position={"x": 0.0, "y": 2.0, "z": 0.0},
rotation={"x": 25.0, "y": 45.0, "z": -40.0},
library="models_core.json")
# Set the object to kinematic.
# Set the soft actor.
# Assign the actor's container.
self.communicate([{"$type": "set_kinematic_state",
"id": object_id},
{"$type": "set_flex_soft_actor",
"id": object_id,
"skinning_falloff": 0.5,
"volume_sampling": 1.0,
"mass_scale": 1.0,
"cluster_stiffness": 0.2,
"cluster_spacing": 0.2,
"cluster_radius": 0.2,
"link_radius": 0,
"link_stiffness": 1.0,
"particle_spacing": 0.025},
{"$type": "assign_flex_container",
"id": object_id,
"container_id": 0}
])
# Send particles data.
resp = self.communicate([{"$type": "send_flex_particles",
"frequency": "always"}])
# Output example data.
particles = FlexParticles(resp[0])
for j in range(particles.get_num_objects()):
print(particles.get_id(j))
print(particles.get_velocities(j))
print(particles.get_particles(j))
for i in range(1000):
# Look at the object.
self.communicate({"$type": "look_at",
"avatar_id": "a",
"object_id": object_id,
"use_centroid": True})
def run(self):
self.start()
object_id = self.get_unique_id()
resp = self.communicate([
TDWUtils.create_empty_room(12, 12),
{
"$type": "create_flex_container",
"particle_size": 0.1,
"collision_distance": 0.025,
"solid_rest": 0.1
},
# {"$type": "create_flex_container",
# "collision_distance": 0.001,
# "static_friction": 1.0,
# "dynamic_friction": 1.0,
# "radius": 0.1875,
# "max_particles": 200000},
self.get_add_object(model_name="linbrazil_diz_armchair",
position={
"x": 0.0,
"y": 2.0,
"z": 0.0
},
rotation={
"x": 25.0,
"y": 45.0,
"z": -40.0
},
object_id=object_id),
{
"$type": "set_kinematic_state",
"id": object_id
},
{
"$type": "set_flex_solid_actor",
"id": object_id,
"mesh_expansion": 0,
"particle_spacing": 0.025,
"mass_scale": 1
},
# {"$type": "set_flex_soft_actor",
# "id": object_id,
# "skinning_falloff": 0.5,
# "volume_sampling": 1.0,
# "mass_scale": 1.0,
# "cluster_stiffness": 0.2,
# "cluster_spacing": 0.2,
# "cluster_radius": 0.2,
# "link_radius": 0,
# "link_stiffness": 1.0,
# "particle_spacing": 0.025},
{
"$type": "assign_flex_container",
"id": object_id,
"container_id": 0
},
{
'$type': 'load_primitive_from_resources',
'id': 2,
'primitive_type': 'Cube',
'position': {
'x': 0,
'y': 0.5,
'z': 0
},
'orientation': {
'x': 0,
'y': 0,
'z': 0
}
},
{
"$type": "scale_object",
"id": 2,
"scale_factor": {
"x": 0.5,
"y": 0.5,
"z": 0.5
}
},
{
'$type': 'set_kinematic_state',
'id': 2,
'is_kinematic': False
},
{
"$type": "set_flex_solid_actor",
"id": 2,
"mesh_expansion": 0,
"particle_spacing": 0.025,
"mass_scale": 1
},
# {'$type': 'set_flex_soft_actor',
# 'id': 2,
# 'draw_particles': False,
# 'particle_spacing': 0.125,
# 'cluster_stiffness': 0.22055267521432875},
{
'$type': 'assign_flex_container',
'id': 2,
'container_id': 0
},
{
'$type': 'set_flex_particles_mass',
'id': 2,
'mass': 15.625
},
{
"$type": "send_flex_particles",
"frequency": "always"
},
{
"$type": "send_collisions",
"enter": True,
"stay": True,
"exit": True,
"collision_types": ["obj", "env"]
}
])
for i in range(100):
for j in range(len(resp) - 1):
r_id = OutputData.get_data_type_id(resp[j])
if r_id == "flex":
flex = FlexParticles(resp[j])
print(i, "flex", flex.get_id(0))
elif r_id == "enco":
enco = EnvironmentCollision(resp[j])
print(i, "enco", enco.get_state())
if r_id == "coll":
coll = Collision(resp[j])
print(i, "coll", coll.get_state())
if coll.get_state() == 'enter':
print("BAM!")
resp = self.communicate([])
def run(self):
o_id = 0
self.start()
# 1. Create a room.
# 2. Create a Flex container.
# 3. Add a cloth object and set the cloth actor.
# 4. Request Flex particle output data (this frame only).
commands = [
TDWUtils.create_empty_room(12, 12), {
"$type": "create_flex_container",
"collision_distance": 0.001,
"static_friction": 1.0,
"dynamic_friction": 1.0,
"iteration_count": 12,
"substep_count": 12,
"radius": 0.1875,
"damping": 0,
"drag": 0
},
self.get_add_object("cloth_square",
library="models_special.json",
position={
"x": 0,
"y": 2,
"z": 0
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
object_id=o_id), {
"$type": "set_flex_cloth_actor",
"id": o_id,
"mesh_tesselation": 1,
"stretch_stiffness": 0.5620341548096974,
"bend_stiffness": 0.6528988964052056,
"tether_stiffness": 0.7984931184979334,
"tether_give": 0,
"pressure": 0,
"mass_scale": 1
}, {
"$type": "assign_flex_container",
"container_id": 0,
"id": o_id
}, {
"$type": "send_flex_particles",
"frequency": "once"
}
]
# Add to the list of commands: create the avatar, teleport it to a position, look at a position.
commands.extend(
TDWUtils.create_avatar(position={
"x": -2.75,
"y": 2.3,
"z": -2
},
look_at={
"x": 0,
"y": 0.25,
"z": 0
}))
# Send the commands.
resp = self.communicate(commands)
for r in resp[:-1]:
r_id = OutputData.get_data_type_id(r)
# This is FlexParticles data.
if r_id == "flex":
fp = FlexParticles(resp[0])
# The maximum distance between a particle and the center of the cloth.
max_d = 0
# The ID of the particle at the maximum distance.
max_id = 0
p_id = 0
for p in fp.get_particles(0):
# Get the particle that is furthest from the center.
d = np.linalg.norm(p[:-1] - 1)
if d > max_d:
max_d = d
max_id = p_id
p_id += 1
# Set the particle as "fixed".
self.communicate({
"$type": "set_flex_particle_fixed",
"is_fixed": True,
"particle_id": max_id,
"id": o_id
})
for i in range(800):
self.communicate([])
def run(self):
# Load the streamed scene and add controller rig.
self.load_streamed_scene(scene="tdw_room_2018")
# Create the container.
self.communicate({
"$type": "create_flex_container",
"collision_distance": 0.001,
"static_friction": 1.0,
"dynamic_friction": 1.0,
"iteration_count": 3,
"substep_count": 8,
"radius": 0.1875,
"damping": 0,
"drag": 0
})
self.communicate({"$type": "create_vr_rig"})
# Add the table object.
table_id = self.add_object("trunck",
position={
"x": 0,
"y": 0,
"z": 0.5
})
# Add the vase object and make it graspable.
graspable_id_box = self.add_object("woven_box",
position={
"x": 0.2,
"y": 1,
"z": 0.5
},
library="models_core.json")
self.communicate([{
"$type": "set_kinematic_state",
"id": table_id,
"is_kinematic": True
}, {
"$type": "set_kinematic_state",
"id": graspable_id_box,
"is_kinematic": True
}])
# Assign the object a FlexActor.
# Assign the object a Flex container.
self.communicate([{
"$type": "set_flex_solid_actor",
"id": graspable_id_box,
"mass_scale": 100.0,
"particle_spacing": 0.035
}, {
"$type": "assign_flex_container",
"id": graspable_id_box,
"container_id": 0
}])
self.communicate([{
"$type": "set_flex_solid_actor",
"id": table_id,
"mass_scale": 120.0,
"particle_spacing": 0.035
}, {
"$type": "assign_flex_container",
"id": table_id,
"container_id": 0
}])
# Set the objects as graspable.
self.communicate([{
"$type": "set_graspable",
"id": table_id
}, {
"$type": "set_graspable",
"id": graspable_id_box
}])
# Send particles data for the box.
resp = self.communicate({
"$type": "send_flex_particles",
"frequency": "always",
"ids": [graspable_id_box]
})
while True:
particles = FlexParticles(resp[0])
for j in range(particles.get_num_objects()):
# Print just the first five particles on the box.
print(particles.get_particles(j)[:5])
resp = self.communicate({"$type": "do_nothing"})