"""
Common utilities for adding primitive prebuilt shapes to a scene
"""
from typing import Optional, Union
import numpy as np
import sapien
import sapien.render
from mani_skill.envs.scene import ManiSkillScene
from mani_skill.utils.building.actor_builder import ActorBuilder
from mani_skill.utils.structs.pose import Pose
from mani_skill.utils.structs.types import Array
[docs]def get_actor_builder(
scene: ManiSkillScene, id: str, add_collision: bool = True, add_visual: bool = True
) -> ActorBuilder:
"""Returns an :py:class:`~mani_skill.utils.building.actor_builder.ActorBuilder` given an ID specifying which dataset/source and then the ID of the asset.
Currently these IDs are hardcoded for a few datasets. We may add more actor datasets in the future for easy loading by users
Args:
scene: The ManiSkillScene. If building a custom task this is generally just self.scene
id (str): The unique ID identifying the dataset and the ID of the actor in that dataset to build. The format should be
"<dataset_id>:<actor_id_in_dataset>"
add_collision (bool): Whether to include the collision shapes/meshes
add_visual (bool): Whether to include visual shapes/meshes
"""
splits = id.split(":")
dataset_source = splits[0]
actor_id = ":".join(splits[1:])
if dataset_source == "ycb":
from mani_skill.utils.building.actors.ycb import get_ycb_builder
builder = get_ycb_builder(
scene=scene, id=actor_id, add_collision=add_collision, add_visual=add_visual
)
else:
raise RuntimeError(f"No dataset with id {dataset_source} was found")
return builder
[docs]def _build_by_type(
builder: ActorBuilder,
name,
body_type,
scene_idxs: Optional[Array] = None,
initial_pose: Optional[Union[Pose, sapien.Pose]] = None,
):
if scene_idxs is not None:
builder.set_scene_idxs(scene_idxs)
if initial_pose is not None:
builder.set_initial_pose(initial_pose)
if body_type == "dynamic":
actor = builder.build(name=name)
elif body_type == "static":
actor = builder.build_static(name=name)
elif body_type == "kinematic":
actor = builder.build_kinematic(name=name)
else:
raise ValueError(f"Unknown body type {body_type}")
return actor
# Primitive Shapes
[docs]def build_cube(
scene: ManiSkillScene,
half_size: float,
color,
name: str,
body_type: str = "dynamic",
add_collision: bool = True,
scene_idxs: Optional[Array] = None,
initial_pose: Optional[Union[Pose, sapien.Pose]] = None,
):
builder = scene.create_actor_builder()
if add_collision:
builder.add_box_collision(
half_size=[half_size] * 3,
)
builder.add_box_visual(
half_size=[half_size] * 3,
material=sapien.render.RenderMaterial(
base_color=color,
),
)
return _build_by_type(builder, name, body_type, scene_idxs, initial_pose)
[docs]def build_box(
scene: ManiSkillScene,
half_sizes,
color,
name: str,
body_type: str = "dynamic",
add_collision: bool = True,
scene_idxs: Optional[Array] = None,
initial_pose: Optional[Union[Pose, sapien.Pose]] = None,
):
builder = scene.create_actor_builder()
if add_collision:
builder.add_box_collision(
half_size=half_sizes,
)
builder.add_box_visual(
half_size=half_sizes,
material=sapien.render.RenderMaterial(
base_color=color,
),
)
return _build_by_type(builder, name, body_type, scene_idxs, initial_pose)
[docs]def build_cylinder(
scene: ManiSkillScene,
radius: float,
half_length: float,
color,
name: str,
body_type: str = "dynamic",
add_collision: bool = True,
scene_idxs: Optional[Array] = None,
initial_pose: Optional[Union[Pose, sapien.Pose]] = None,
):
builder = scene.create_actor_builder()
if add_collision:
builder.add_cylinder_collision(
radius=radius,
half_length=half_length,
)
builder.add_cylinder_visual(
radius=radius,
half_length=half_length,
material=sapien.render.RenderMaterial(
base_color=color,
),
)
return _build_by_type(builder, name, body_type, scene_idxs, initial_pose)
[docs]def build_sphere(
scene: ManiSkillScene,
radius: float,
color,
name: str,
body_type: str = "dynamic",
add_collision: bool = True,
scene_idxs: Optional[Array] = None,
initial_pose: Optional[Union[Pose, sapien.Pose]] = None,
):
builder = scene.create_actor_builder()
if add_collision:
builder.add_sphere_collision(
radius=radius,
)
builder.add_sphere_visual(
radius=radius,
material=sapien.render.RenderMaterial(
base_color=color,
),
)
return _build_by_type(builder, name, body_type, scene_idxs, initial_pose)
[docs]def build_red_white_target(
scene: ManiSkillScene,
radius: float,
thickness: float,
name: str,
body_type: str = "dynamic",
add_collision: bool = True,
scene_idxs: Optional[Array] = None,
initial_pose: Optional[Union[Pose, sapien.Pose]] = None,
):
TARGET_RED = np.array([194, 19, 22, 255]) / 255
builder = scene.create_actor_builder()
builder.add_cylinder_visual(
radius=radius,
half_length=thickness / 2,
material=sapien.render.RenderMaterial(base_color=TARGET_RED),
)
builder.add_cylinder_visual(
radius=radius * 4 / 5,
half_length=thickness / 2 + 1e-5,
material=sapien.render.RenderMaterial(base_color=[1, 1, 1, 1]),
)
builder.add_cylinder_visual(
radius=radius * 3 / 5,
half_length=thickness / 2 + 2e-5,
material=sapien.render.RenderMaterial(base_color=TARGET_RED),
)
builder.add_cylinder_visual(
radius=radius * 2 / 5,
half_length=thickness / 2 + 3e-5,
material=sapien.render.RenderMaterial(base_color=[1, 1, 1, 1]),
)
builder.add_cylinder_visual(
radius=radius * 1 / 5,
half_length=thickness / 2 + 4e-5,
material=sapien.render.RenderMaterial(base_color=TARGET_RED),
)
if add_collision:
builder.add_cylinder_collision(
radius=radius,
half_length=thickness / 2,
)
builder.add_cylinder_collision(
radius=radius * 4 / 5,
half_length=thickness / 2 + 1e-5,
)
builder.add_cylinder_collision(
radius=radius * 3 / 5,
half_length=thickness / 2 + 2e-5,
)
builder.add_cylinder_collision(
radius=radius * 2 / 5,
half_length=thickness / 2 + 3e-5,
)
builder.add_cylinder_collision(
radius=radius * 1 / 5,
half_length=thickness / 2 + 4e-5,
)
return _build_by_type(builder, name, body_type, scene_idxs, initial_pose)
[docs]def build_twocolor_peg(
scene: ManiSkillScene,
length,
width,
color_1,
color_2,
name: str,
body_type="dynamic",
add_collision: bool = True,
scene_idxs: Optional[Array] = None,
initial_pose: Optional[Union[Pose, sapien.Pose]] = None,
):
builder = scene.create_actor_builder()
if add_collision:
builder.add_box_collision(
half_size=[length, width, width],
)
builder.add_box_visual(
pose=sapien.Pose(p=[-length / 2, 0, 0]),
half_size=[length / 2, width, width],
material=sapien.render.RenderMaterial(
base_color=color_1,
),
)
builder.add_box_visual(
pose=sapien.Pose(p=[length / 2, 0, 0]),
half_size=[length / 2, width, width],
material=sapien.render.RenderMaterial(
base_color=color_2,
),
)
return _build_by_type(builder, name, body_type, scene_idxs, initial_pose)
[docs]RED_COLOR = [220 / 255, 12 / 255, 12 / 255, 1]
[docs]BLUE_COLOR = [0 / 255, 44 / 255, 193 / 255, 1]
[docs]GREEN_COLOR = [17 / 255, 190 / 255, 70 / 255, 1]
[docs]def build_fourcolor_peg(
scene: ManiSkillScene,
length,
width,
name: str,
color_1=RED_COLOR,
color_2=BLUE_COLOR,
color_3=GREEN_COLOR,
color_4=[1, 1, 1, 1],
body_type="dynamic",
add_collision: bool = True,
scene_idxs: Optional[Array] = None,
initial_pose: Optional[Union[Pose, sapien.Pose]] = None,
):
"""
A peg with four sections and four different colors. Useful for visualizing every possible rotation without any symmetries
"""
builder = scene.create_actor_builder()
if add_collision:
builder.add_box_collision(
half_size=[length, width, width],
)
builder.add_box_visual(
pose=sapien.Pose(p=[-length / 2, -width / 2, 0]),
half_size=[length / 2, width / 2, width],
material=sapien.render.RenderMaterial(
base_color=color_1,
),
)
builder.add_box_visual(
pose=sapien.Pose(p=[length / 2, -width / 2, 0]),
half_size=[length / 2, width / 2, width],
material=sapien.render.RenderMaterial(
base_color=color_2,
),
)
builder.add_box_visual(
pose=sapien.Pose(p=[-length / 2, width / 2, 0]),
half_size=[length / 2, width / 2, width],
material=sapien.render.RenderMaterial(
base_color=color_3,
),
)
builder.add_box_visual(
pose=sapien.Pose(p=[length / 2, width / 2, 0]),
half_size=[length / 2, width / 2, width],
material=sapien.render.RenderMaterial(
base_color=color_4,
),
)
return _build_by_type(builder, name, body_type, scene_idxs, initial_pose)
[docs]def build_colorful_cube(
scene: ManiSkillScene,
half_size: float,
color,
name: str,
body_type: str = "dynamic",
add_collision: bool = True,
scene_idxs: Optional[Array] = None,
initial_pose: Optional[Union[Pose, sapien.Pose]] = None,
):
builder = scene.create_actor_builder()
if add_collision:
builder._mass = 0.1
cube_material = sapien.pysapien.physx.PhysxMaterial(
static_friction=5, dynamic_friction=3, restitution=0
)
builder.add_box_collision(
half_size=[half_size] * 3,
material=cube_material,
)
builder.add_box_visual(
half_size=[half_size] * 3,
material=sapien.render.RenderMaterial(
base_color=color,
),
)
return _build_by_type(builder, name, body_type, scene_idxs, initial_pose)
