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objects.py
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objects.py
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import copy
from enum import Enum
from typing import Any, Dict, List, Union
_TROPHY = {
"type": "trophy",
"color": ["grey"],
"shape": ["trophy"],
"size": "small",
"attributes": ["moveable", "pickupable"],
"dimensions": {
"x": 0.19,
"y": 0.3,
"z": 0.14
},
"mass": 1,
"offset": {
"x": 0,
"y": 0.15,
"z": 0
},
"positionY": 0.005,
"salientMaterials": ["metal"],
"scale": {
"x": 1,
"y": 1,
"z": 1
},
"sideways": {
"dimensions": {
"x": 0.19,
"y": 0.14,
"z": 0.3
},
"offset": {
"x": 0,
"y": 0,
"z": 0.15
},
"positionY": 0.075,
"rotation": {
"x": 90,
"y": 0,
"z": 0
}
}
}
_CAKE = {
"type": "cake",
"color": ["brown"],
"shape": ["cake"],
"size": "small",
"attributes": ["moveable", "pickupable"],
"dimensions": {
"x": 0.22,
"y": 0.1,
"z": 0.22
},
"mass": 2,
"offset": {
"x": 0,
"y": 0.05,
"z": 0
},
"positionY": 0.005,
"materialCategory": [],
"salientMaterials": ["food"],
"scale": {
"x": 1,
"y": 1,
"z": 1
},
"sideways": {
"dimensions": {
"x": 0.19,
"y": 0.14,
"z": 0.3
},
"offset": {
"x": 0,
"y": 0,
"z": 0.15
},
"positionY": 0.075,
"rotation": {
"x": 90,
"y": 0,
"z": 0
}
}
}
_BALL = {
"type": "ball",
"shape": ["ball"],
"attributes": ["moveable", "pickupable"],
"chooseMaterial": [{
"materialCategory": ["plastic"],
"salientMaterials": ["plastic", "hollow"]
}, {
"massMultiplier": 2,
"materialCategory": ["rubber"],
"salientMaterials": ["rubber"]
}, {
"massMultiplier": 2,
"materialCategory": ["wood"],
"salientMaterials": ["wood"]
}, {
"massMultiplier": 3,
"materialCategory": ["metal"],
"salientMaterials": ["metal"]
}, {
"massMultiplier": 2,
"materialCategory": ["block_blank"],
"salientMaterials": ["wood"]
}],
"chooseSize": [{
"size": "tiny",
"dimensions": {
"x": 0.025,
"y": 0.025,
"z": 0.025
},
"mass": 0.125,
"positionY": 0.0125,
"scale": {
"x": 0.025,
"y": 0.025,
"z": 0.025
}
}, {
"size": "tiny",
"dimensions": {
"x": 0.05,
"y": 0.05,
"z": 0.05,
},
"mass": 0.25,
"positionY": 0.025,
"scale": {
"x": 0.05,
"y": 0.05,
"z": 0.05
}
}, {
"size": "tiny",
"dimensions": {
"x": 0.1,
"y": 0.1,
"z": 0.1
},
"mass": 0.5,
"positionY": 0.05,
"scale": {
"x": 0.1,
"y": 0.1,
"z": 0.1
}
}, {
"size": "small",
"dimensions": {
"x": 0.25,
"y": 0.25,
"z": 0.25
},
"mass": 1,
"positionY": 0.125,
"scale": {
"x": 0.25,
"y": 0.25,
"z": 0.25
}
}]
}
_BLOCK_BLANK_CUBE = {
"type": "block_blank_wood_cube",
"shape": ["blank block", "cube"],
"attributes": ["moveable", "pickupable", "stackTarget", "occluder"],
"chooseMaterial": [{
"materialCategory": ["block_blank"],
"salientMaterials": ["wood"]
}, {
"materialCategory": ["wood"],
"salientMaterials": ["wood"]
}],
"chooseSize": [{
"size": "tiny",
"dimensions": {
"x": 0.1,
"y": 0.1,
"z": 0.1
},
"mass": 0.66,
"offset": {
"x": 0,
"y": 0.05,
"z": 0
},
"positionY": 0,
"scale": {
"x": 1,
"y": 1,
"z": 1
}
}, {
"size": "tiny",
"dimensions": {
"x": 0.1,
"y": 0.2,
"z": 0.1
},
"mass": 1.33,
"offset": {
"x": 0,
"y": 0.1,
"z": 0
},
"positionY": 0,
"scale": {
"x": 1,
"y": 2,
"z": 1
}
}, {
"size": "tiny",
"dimensions": {
"x": 0.2,
"y": 0.1,
"z": 0.2
},
"mass": 2.66,
"offset": {
"x": 0,
"y": 0.05,
"z": 0
},
"positionY": 0,
"scale": {
"x": 2,
"y": 1,
"z": 2
}
}]
}
_BLOCK_BLANK_CYLINDER = {
"type": "block_blank_wood_cylinder",
"shape": ["blank block", "cylinder"],
"attributes": ["moveable", "pickupable", "occluder"],
"chooseMaterial": [{
"materialCategory": ["block_blank"],
"salientMaterials": ["wood"]
}, {
"materialCategory": ["wood"],
"salientMaterials": ["wood"]
}],
"chooseSize": [{
"size": "tiny",
"dimensions": {
"x": 0.1,
"y": 0.1,
"z": 0.1
},
"mass": 0.66,
"offset": {
"x": 0,
"y": 0.05,
"z": 0
},
"positionY": 0,
"scale": {
"x": 1,
"y": 1,
"z": 1
}
}, {
"size": "tiny",
"dimensions": {
"x": 0.1,
"y": 0.2,
"z": 0.1
},
"mass": 1.33,
"offset": {
"x": 0,
"y": 0.1,
"z": 0
},
"positionY": 0,
"scale": {
"x": 1,
"y": 2,
"z": 1
}
}, {
"size": "tiny",
"dimensions": {
"x": 0.2,
"y": 0.1,
"z": 0.2
},
"mass": 2.66,
"offset": {
"x": 0,
"y": 0.05,
"z": 0
},
"positionY": 0,
"scale": {
"x": 2,
"y": 1,
"z": 2
}
}]
}
_BLOCK_LETTER = {
# Readers, please ignore the "blue letter c" in the type: the object's
# chosen material will change this design.
"type": "block_blue_letter_c",
"shape": ["letter block", "cube"],
"size": "tiny",
"mass": 0.66,
"materialCategory": ["block_letter"],
"salientMaterials": ["wood"],
"attributes": ["moveable", "pickupable", "stackTarget", "occluder"],
"dimensions": {
"x": 0.1,
"y": 0.1,
"z": 0.1
},
"offset": {
"x": 0,
"y": 0.05,
"z": 0
},
"positionY": 0,
"scale": {
"x": 1,
"y": 1,
"z": 1
}
}
_BLOCK_NUMBER = {
# Readers, please ignore the "yellow number 1" in the type: the object's
# chosen material will change this design.
"type": "block_yellow_number_1",
"shape": ["number block", "cube"],
"size": "tiny",
"mass": 0.66,
"materialCategory": ["block_number"],
"salientMaterials": ["wood"],
"attributes": ["moveable", "pickupable", "stackTarget", "occluder"],
"dimensions": {
"x": 0.1,
"y": 0.1,
"z": 0.1
},
"offset": {
"x": 0,
"y": 0.05,
"z": 0
},
"positionY": 0,
"scale": {
"x": 1,
"y": 1,
"z": 1
}
}
_DUCK_ON_WHEELS = {
"type": "duck_on_wheels",
"shape": ["duck"],
"attributes": ["moveable", "pickupable"],
"chooseMaterial": [{
"materialCategory": ["block_blank"],
"salientMaterials": ["wood"]
}, {
"materialCategory": ["wood"],
"salientMaterials": ["wood"]
}],
"chooseSize": [{
"size": "tiny",
"dimensions": {
"x": 0.105,
"y": 0.085,
"z": 0.0325
},
"mass": 1,
"offset": {
"x": 0,
"y": 0.0425,
"z": 0
},
"positionY": 0.01,
"scale": {
"x": 0.5,
"y": 0.5,
"z": 0.5
}
}, {
"size": "tiny",
"dimensions": {
"x": 0.21,
"y": 0.17,
"z": 0.065
},
"mass": 2,
"offset": {
"x": 0,
"y": 0.085,
"z": 0
},
"positionY": 0.01,
"scale": {
"x": 1,
"y": 1,
"z": 1
}
}, {
"size": "small",
"dimensions": {
"x": 0.42,
"y": 0.34,
"z": 0.13
},
"mass": 4,
"offset": {
"x": 0,
"y": 0.17,
"z": 0
},
"positionY": 0.01,
"scale": {
"x": 2,
"y": 2,
"z": 2
}
}]
}
_TOY_RACECAR = {
"type": "racecar_red",
"shape": ["car"],
"attributes": ["moveable", "pickupable"],
"chooseMaterial": [{
"materialCategory": ["block_blank"],
"salientMaterials": ["wood"]
}, {
"materialCategory": ["wood"],
"salientMaterials": ["wood"]
}],
"chooseSize": [{
"size": "tiny",
"dimensions": {
"x": 0.0525,
"y": 0.045,
"z": 0.1125
},
"mass": 1,
"offset": {
"x": 0,
"y": 0.0225,
"z": 0
},
"positionY": 0.01,
"scale": {
"x": 0.75,
"y": 0.75,
"z": 0.75
}
}, {
"size": "tiny",
"dimensions": {
"x": 0.105,
"y": 0.09,
"z": 0.225
},
"mass": 2,
"offset": {
"x": 0,
"y": 0.045,
"z": 0
},
"positionY": 0.01,
"scale": {
"x": 1.5,
"y": 1.5,
"z": 1.5
}
}, {
"size": "small",
"dimensions": {
"x": 0.21,
"y": 0.18,
"z": 0.45
},
"mass": 4,
"offset": {
"x": 0,
"y": 0.09,
"z": 0
},
"positionY": 0.01,
"scale": {
"x": 3,
"y": 3,
"z": 3
}
}]
}
_PACIFIER = {
"type": "pacifier",
"shape": ["pacifier"],
"size": "tiny",
"color": ["blue"],
"mass": 0.125,
"materialCategory": [],
"salientMaterials": ["plastic"],
"attributes": ["moveable", "pickupable"],
"dimensions": {
"x": 0.07,
"y": 0.04,
"z": 0.05
},
"offset": {
"x": 0,
"y": 0.02,
"z": 0
},
"positionY": 0.01,
"scale": {
"x": 1,
"y": 1,
"z": 1
}
}
_CRAYON = {
"chooseMaterial": [{
# TODO
"type": "crayon_blue",
"color": ["blue"]
}],
"shape": ["crayon"],
"size": "tiny",
"mass": 0.125,
"materialCategory": [],
"salientMaterials": ["wax"],
"attributes": ["moveable", "pickupable"],
"dimensions": {
"x": 0.01,
"y": 0.085,
"z": 0.01
},
"offset": {
"x": 0,
"y": 0.0425,
"z": 0
},
"positionY": 0.01,
"scale": {
"x": 1,
"y": 1,
"z": 1
}
}
_TURTLE_ON_WHEELS = {
"type": "turtle_on_wheels",
"shape": ["turtle"],
"attributes": ["moveable", "pickupable"],
"chooseMaterial": [{
"materialCategory": ["block_blank"],
"salientMaterials": ["wood"]
}, {
"materialCategory": ["wood"],
"salientMaterials": ["wood"]
}],
"chooseSize": [{
"size": "tiny",
"dimensions": {
"x": 0.24 * 0.5,
"y": 0.14 * 0.5,
"z": 0.085 * 0.5
},
"mass": 1,
"offset": {
"x": 0,
"y": 0.07 * 0.5,
"z": 0
},
"positionY": 0.01,
"scale": {
"x": 0.5,
"y": 0.5,
"z": 0.5
}
}, {
"size": "tiny",
"dimensions": {
"x": 0.24,
"y": 0.14,
"z": 0.085
},
"mass": 2,
"offset": {
"x": 0,
"y": 0.07,
"z": 0
},
"positionY": 0.01,
"scale": {
"x": 1,
"y": 1,
"z": 1
}
}, {
"size": "small",
"dimensions": {
"x": 0.24 * 2,
"y": 0.14 * 2,
"z": 0.085 * 2
},
"mass": 4,
"offset": {
"x": 0,
"y": 0.07 * 2,
"z": 0
},
"positionY": 0.01,
"scale": {
"x": 2,
"y": 2,
"z": 2
}
}]
}
_TOY_CAR = {
"type": "car_1",
"shape": ["car"],
"attributes": ["moveable", "pickupable"],
"chooseMaterial": [{
"materialCategory": ["block_blank"],
"salientMaterials": ["wood"]
}, {
"materialCategory": ["wood"],
"salientMaterials": ["wood"]
}],
"chooseSize": [{
"size": "tiny",
"dimensions": {
"x": 0.075 * 0.75,
"y": 0.065 * 0.75,
"z": 0.14 * 0.75
},
"mass": 1,
"offset": {
"x": 0,
"y": 0.03 * 0.75,
"z": 0
},
"positionY": 0.01,
"scale": {
"x": 0.75,
"y": 0.75,
"z": 0.75
}
}, {
"size": "tiny",
"dimensions": {
"x": 0.075 * 1.5,
"y": 0.065 * 1.5,
"z": 0.14 * 1.5
},
"mass": 2,
"offset": {
"x": 0,
"y": 0.03 * 1.5,
"z": 0
},
"positionY": 0.01,
"scale": {
"x": 1.5,
"y": 1.5,
"z": 1.5
}
}, {
"size": "small",
"dimensions": {
"x": 0.075 * 3,
"y": 0.065 * 3,
"z": 0.14 * 3
},
"mass": 4,
"offset": {
"x": 0,
"y": 0.03 * 3,
"z": 0
},
"positionY": 0.01,
"scale": {
"x": 3,
"y": 3,
"z": 3
}
}]
}
_APPLE = {
"chooseType": [{
"type": "apple_1",
"color": ["red"],
"dimensions": {
"x": 0.111,
"y": 0.12,
"z": 0.122
},
"offset": {
"x": 0,
"y": 0.005,
"z": 0
}
}, {
"type": "apple_2",
"color": ["green"],
"dimensions": {
"x": 0.117,
"y": 0.121,
"z": 0.116
},
"offset": {
"x": 0,
"y": 0.002,
"z": 0
}
}],
"shape": ["apple"],
"size": "tiny",
"mass": 0.5,
"materialCategory": [],
"salientMaterials": ["food"],
"attributes": ["moveable", "pickupable"],
"positionY": 0.03,
"scale": {
"x": 1,
"y": 1,
"z": 1
}
}
_BOWL = {
"chooseType": [{
"type": "bowl_3",
"dimensions": {
"x": 0.175,
"y": 0.116,
"z": 0.171
},
"offset": {
"x": 0,
"y": 0.055,
"z": 0
}
}, {
"type": "bowl_4",
"dimensions": {
"x": 0.209,
"y": 0.059,
"z": 0.206
},
"offset": {
"x": 0,
"y": 0.027,
"z": 0
},
}, {
"type": "bowl_6",
"dimensions": {
"x": 0.198,
"y": 0.109,
"z": 0.201
},
"offset": {
"x": 0,
"y": 0.052,
"z": 0
}
}],
"shape": ["bowl"],
"size": "tiny",
"chooseMaterial": [{
"materialCategory": ["plastic"],
"salientMaterials": ["plastic"],
}, {
"massMultiplier": 2,
"materialCategory": ["wood"],
"salientMaterials": ["wood"],
}],
"attributes": ["moveable", "pickupable", "stackTarget"],
"mass": 0.5,
"positionY": 0.01,
"scale": {
"x": 1,
"y": 1,
"z": 1
}
}
_CUP = {
"chooseType": [{
"type": "cup_2",
"dimensions": {
"x": 0.105,
"y": 0.135,
"z": 0.104
},
"offset": {
"x": 0,
"y": 0.064,
"z": 0
}
}, {
"type": "cup_3",
"dimensions": {
"x": 0.123,
"y": 0.149,
"z": 0.126
},
"offset": {
"x": 0,
"y": 0.072,
"z": 0
}
}, {
"type": "cup_6",
"dimensions": {
"x": 0.106,
"y": 0.098,
"z": 0.106
},
"offset": {
"x": 0,
"y": 0.046,
"z": 0
}
}],
"shape": ["cup"],
"size": "tiny",
"chooseMaterial": [{
"materialCategory": ["plastic"],
"salientMaterials": ["plastic"],
}, {
"massMultiplier": 2,
"materialCategory": ["wood"],
"salientMaterials": ["wood"],
}],
"attributes": ["moveable", "pickupable", "stackTarget"],
"mass": 0.5,
"positionY": 0.01,
"scale": {
"x": 1,
"y": 1,
"z": 1
}
}
_PLATE = {
"chooseType": [{
"type": "plate_1",
"dimensions": {
"x": 0.208,
"y": 0.117,
"z": 0.222
},
"offset": {
"x": 0,
"y": 0.057,
"z": 0
}
}, {
"type": "plate_3",
"dimensions": {
"x": 0.304,
"y": 0.208,
"z": 0.305
},
"offset": {
"x": 0,
"y": 0.098,
"z": 0
}
}, {
"type": "plate_4",
"dimensions": {
"x": 0.202,
"y": 0.113,
"z": 0.206
},
"offset": {
"x": 0,
"y": 0.053,
"z": 0
},
}],
"shape": ["plate"],
"size": "tiny",
"chooseMaterial": [{
"materialCategory": ["plastic"],
"salientMaterials": ["plastic"],
}, {
"massMultiplier": 2,
"materialCategory": ["wood"],
"salientMaterials": ["wood"],
}],
"attributes": ["moveable", "pickupable", "stackTarget"],
"mass": 0.5,
"positionY": 0.01,
"scale": {
"x": 1,
"y": 1,
"z": 1
}
}
_BOOKCASE = {
"untrainedShape": True,
"shape": ["shelf"],
"attributes": ["receptacle", "stackTarget", "occluder"],
"chooseMaterial": [{
"massMultiplier": 2,
"materialCategory": ["wood"],
"salientMaterials": ["wood"]
}, {
"materialCategory": ["plastic"],
"salientMaterials": ["plastic"]
}, {
"massMultiplier": 3,
"materialCategory": ["metal"],
"salientMaterials": ["metal"]
}],
"chooseType": [{
"type": "bookcase_1_shelf",
"size": "medium",
"openAreas": [{
"id": "bottom",
"position": {
"x": 0,
"y": 0.04,
"z": 0
},
"dimensions": {
"x": 0.5,
"y": 0,
"z": 0.25
}
}, {
"id": "shelf_1",
"position": {
"x": 0,
"y": 0.52,
"z": 0
},
"dimensions": {
"x": 0.5,
"y": 0,
"z": 0.25
}
}],
"dimensions": {
"x": 1,
"y": 1,
"z": 0.5
},
"mass": 6,
"positionY": 0,
"scale": {