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"position": { + "x": 4.304886209998282, + "y": 2.279468006129353, + "z": 0.714492775917703 + }, + "rotation": { + "x": 0.0873598974954815, + "y": -0.29639659714007593, + "z": 154.8401347704821 + }, + "dimensions": { + "width": 0.15701305241410968, + "length": 0.15717220757791822, + "height": 0.19687545394964345 + }, + "source": "generation", + "source_id": "46f8c137", + "place_id": "room_878d1794_sideboard_ea04c576", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.3, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.85 + } + }, + { + "id": "room_878d1794_wallart_26cc836d", + "room_id": "room_878d1794", + "type": "wallart", + "description": "A single piece of thin and upright geometric mustard wall art with bold angular shapes, a flat rectangular panel, and a matte mustard finish that adds a graphic accent", + "position": { + "x": 0.11735473087875599, + "y": 0.9724999999999999, + "z": 1.3631747554544649 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.2987720929194812, + "length": 0.07470946175751195, + "height": 0.3486504890910705 + }, + "source": "generation", + "source_id": "b80624ef", + "place_id": "wall", + "place_guidance": "Mount the wall art on the wall directly above the sofa, centered horizontally.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_878d1794_sofa_ba236ff7" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.8 + } + }, + { + "id": "room_878d1794_wallart_a9d28502", + "room_id": "room_878d1794", + "type": "wallart", + "description": "A single piece of thin and upright geometric wall art composed of interlocking triangles, bold primary colors on a matte background", + "position": { + "x": 4.3777620999161915, + "y": 3.5575, + "z": 1.7999593137044119 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.47490301525775, + "length": 0.08447580016761759, + "height": 0.4750813725911765 + }, + "source": "generation", + "source_id": "7aa66699", + "place_id": "wall", + "place_guidance": "Mount the wall art on the wall directly above the bookshelf", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_878d1794_bookshelf_f68b8230" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.8 + } + }, + { + "id": "room_878d1794_novel_05de0a43", + "room_id": "room_878d1794", + "type": "novel", + "description": "A rectangular 1950s style book with a slightly worn cloth cover, rounded corners, and a subtle embossed title strip", + "position": { + "x": 4.302179184686765, + "y": 4.007455562467189, + "z": 1.0437169248722085 + }, + "rotation": { + "x": 0.21383165591423547, + "y": -0.035151334370425655, + "z": -139.8780742989288 + }, + "dimensions": { + "width": 0.1991576948849429, + "length": 0.16335282319118594, + "height": 0.040169892032289475 + }, + "source": "generation", + "source_id": "fc06c4c6", + "place_id": "room_878d1794_bookshelf_f68b8230", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_878d1794_novel_19143905", + "room_id": "room_878d1794", + "type": "novel", + "description": "A rectangular 1950s style book with a slightly worn cloth cover, rounded corners, and a subtle embossed title strip", + "position": { + "x": 4.305744916638577, + "y": 3.6659218291388567, + "z": 0.6907921244220006 + }, + "rotation": { + "x": 0.19092584628204762, + "y": -0.2523825909011083, + "z": -79.65202162927083 + }, + "dimensions": { + "width": 0.1991576948849429, + "length": 0.16335282319118594, + "height": 0.040169892032289475 + }, + "source": "generation", + "source_id": "fc06c4c6", + "place_id": "room_878d1794_bookshelf_f68b8230", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_878d1794_magazine_1_23e3b73b", + "room_id": "room_878d1794", + "type": "magazine_1", + "description": "A thin rectangular magazine with a glossy cover, vibrant colors and a slightly curved top edge", + "position": { + "x": 1.8303208583076112, + "y": 0.6656157344020107, + "z": 0.5183134550670823 + }, + "rotation": { + "x": 0.5110458293786031, + "y": 0.015632630848331348, + "z": -18.654504549530564 + }, + "dimensions": { + "width": 0.3377569898456526, + "length": 0.2381057771389257, + "height": 0.003968811907080973 + }, + "source": "generation", + "source_id": "d0cfc02e", + "place_id": "room_878d1794_coffeetable_4a534bdf", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.1, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.1 + } + }, + { + "id": "room_878d1794_magazine_3_48de3900", + "room_id": "room_878d1794", + "type": "magazine_3", + "description": "A thin rectangular magazine with a glossy cover, vibrant colors and a slightly curved top edge", + "position": { + "x": 1.4688889054386551, + "y": 1.1769376969832195, + "z": 0.5188061408757901 + }, + "rotation": { + "x": -0.05717272829977845, + "y": 0.09774227897476807, + "z": -55.470575735850964 + }, + "dimensions": { + "width": 0.15484981265445133, + "length": 0.1036310581293344, + "height": 0.01225404419434803 + }, + "source": "generation", + "source_id": "b0335c28", + "place_id": "room_878d1794_coffeetable_4a534bdf", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.05, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.2 + } + }, + { + "id": "room_878d1794_cup_0db3bcd1", + "room_id": "room_878d1794", + "type": "cup", + "description": "A smooth ceramic cup with a rounded body, a gently flared rim and a small curved handle, white with a subtle speckled glaze", + "position": { + "x": 1.8274647110790232, + "y": 1.326766441133487, + "z": 0.5182992680505851 + }, + "rotation": { + "x": 0.07127585915917035, + "y": -0.11701886057715324, + "z": -73.32718786316927 + }, + "dimensions": { + "width": 0.12084831185151952, + "length": 0.08836311000251491, + "height": 0.08606253848111874 + }, + "source": "generation", + "source_id": "5d91bd98", + "place_id": "room_878d1794_coffeetable_4a534bdf", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.15, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_878d1794_cup_be98d531", + "room_id": "room_878d1794", + "type": "cup", + "description": "A smooth ceramic cup with a rounded body, a gently flared rim and a small curved handle, white with a subtle speckled glaze", + "position": { + "x": 1.3741219726677902, + "y": 0.9420500597548758, + "z": 0.5190314766388667 + }, + "rotation": { + "x": 0.053085151593690774, + "y": -0.08108008264803991, + "z": 144.50201913536537 + }, + "dimensions": { + "width": 0.12084831185151952, + "length": 0.08836311000251491, + "height": 0.08606253848111874 + }, + "source": "generation", + "source_id": "5d91bd98", + "place_id": "room_878d1794_coffeetable_4a534bdf", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.15, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_878d1794_hardcover_84121a07", + "room_id": "room_878d1794", + "type": "hardcover", + "description": "A thick hardcover book with a stiff rectangular spine, a slightly textured cloth cover and rounded page edges", + "position": { + "x": 1.7690011414097626, + "y": 0.4080295422799044, + "z": 0.518468877463705 + }, + "rotation": { + "x": -0.042754081235008096, + "y": -0.032069466221034064, + "z": -34.867095595937364 + }, + "dimensions": { + "width": 0.23371684619810595, + "length": 0.1649688718284842, + "height": 0.04078314163853688 + }, + "source": "generation", + "source_id": "88049f61", + "place_id": "room_878d1794_coffeetable_4a534bdf", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_878d1794_volume_f7f2d95c", + "room_id": "room_878d1794", + "type": "volume", + "description": "A rectangular book with a simple matte cover, clean lines and a modest thickness, typical of a modern paperback", + "position": { + "x": 4.178478369930447, + "y": 0.9666417153578565, + "z": 0.56321159466163 + }, + "rotation": { + "x": 0.045144783760722264, + "y": 0.03305410769266579, + "z": -14.010464403528905 + }, + "dimensions": { + "width": 0.13735377038901594, + "length": 0.17051857335953738, + "height": 0.05235780491585879 + }, + "source": "generation", + "source_id": "07e0a8c7", + "place_id": "room_878d1794_mediaconsole_ed224a52", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.35, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_878d1794_volume_e7624cb0", + "room_id": "room_878d1794", + "type": "volume", + "description": "A rectangular book with a simple matte cover, clean lines and a modest thickness, typical of a modern paperback", + "position": { + "x": 4.18254887817128, + "y": 0.7276074238487693, + "z": 0.5629224610652204 + }, + "rotation": { + "x": -0.050970944600914565, + "y": -0.16832207377312683, + "z": 161.0215250152526 + }, + "dimensions": { + "width": 0.13735377038901594, + "length": 0.17051857335953738, + "height": 0.05235780491585879 + }, + "source": "generation", + "source_id": "07e0a8c7", + "place_id": "room_878d1794_mediaconsole_ed224a52", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.35, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_878d1794_tome_860f9993", + "room_id": "room_878d1794", + "type": "tome", + "description": "A rectangular book with a dark leather cover, gold\u2011stamped title and slightly rounded corners, giving it a classic appearance", + "position": { + "x": 4.265073596360181, + "y": 2.7429922666422386, + "z": 0.7147227367411425 + }, + "rotation": { + "x": -0.007219115196365355, + "y": -0.3228507653588723, + "z": 169.90333774342923 + }, + "dimensions": { + "width": 0.18578189773289058, + "length": 0.06476840622538461, + "height": 0.24245434436236757 + }, + "source": "generation", + "source_id": "ffcc4c42", + "place_id": "room_878d1794_sideboard_ea04c576", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 1.2, + "pbr_parameters": { + "metallic": 0.3, + "roughness": 0.6 + } + }, + { + "id": "room_878d1794_tome_b1666d7f", + "room_id": "room_878d1794", + "type": "tome", + "description": "A rectangular book with a dark leather cover, gold\u2011stamped title and slightly rounded corners, giving it a classic appearance", + "position": { + "x": 4.260818840506165, + "y": 2.509740975433069, + "z": 0.714720072224233 + }, + "rotation": { + "x": -0.14273676070957816, + "y": 0.27677175161121564, + "z": -23.718130822576423 + }, + "dimensions": { + "width": 0.18578189773289058, + "length": 0.06476840622538461, + "height": 0.24245434436236757 + }, + "source": "generation", + "source_id": "ffcc4c42", + "place_id": "room_878d1794_sideboard_ea04c576", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 1.2, + "pbr_parameters": { + "metallic": 0.3, + "roughness": 0.6 + } + }, + { + "id": "room_878d1794_tome_0981617b", + "room_id": "room_878d1794", + "type": "tome", + "description": "A rectangular book with a dark leather cover, gold\u2011stamped title and slightly rounded corners, giving it a classic appearance", + "position": { + "x": 4.298980380924406, + "y": 1.8266835021607708, + "z": 0.7149364521270924 + }, + "rotation": { + "x": 0.12088896534052505, + "y": -0.23956300486128712, + "z": 175.8475648205545 + }, + "dimensions": { + "width": 0.18578189773289058, + "length": 0.06476840622538461, + "height": 0.24245434436236757 + }, + "source": "generation", + "source_id": "ffcc4c42", + "place_id": "room_878d1794_sideboard_ea04c576", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 1.2, + "pbr_parameters": { + "metallic": 0.3, + "roughness": 0.6 + } + }, + { + "id": "room_878d1794_tome_90acda75", + "room_id": "room_878d1794", + "type": "tome", + "description": "A rectangular book with a dark leather cover, gold\u2011stamped title and slightly rounded corners, giving it a classic appearance", + "position": { + "x": 4.241749743215558, + "y": 2.111086245007585, + "z": 0.7148588325771649 + }, + "rotation": { + "x": 0.12647745499621468, + "y": -0.2661194091710252, + "z": 166.194437220853 + }, + "dimensions": { + "width": 0.18578189773289058, + "length": 0.06476840622538461, + "height": 0.24245434436236757 + }, + "source": "generation", + "source_id": "ffcc4c42", + "place_id": "room_878d1794_sideboard_ea04c576", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 1.2, + "pbr_parameters": { + "metallic": 0.3, + "roughness": 0.6 + } + } + ], + "windows": [], + "floor_material": "room_878d1794_floor", + "ceiling_height": 2.7 + } + ], + "total_area": 22.5, + "building_style": "Mid-Century Modern residential", + "description": "Complete layout with doors/windows: Generate a single medium-sized living_room with Mid-Century Modern style featuring organic shapes, tapered legs, teak wood furniture, and bold accent colors like mustard and olive. The room should have a 1950s vibe, standard walls, one main entrance door, two windows, and ample space for furniture placement. All objects must align with the specified style.; The scene requires a 4.5m x 5.0m living room designed in modern and bright style.", + "created_from_text": "Generate a single medium-sized living_room with Mid-Century Modern style featuring organic shapes, tapered legs, teak wood furniture, and bold accent colors like mustard and olive. The room should have a 1950s vibe, standard walls, one main entrance door, two windows, and ample space for furniture placement. All objects must align with the specified style.; The scene requires a 4.5m x 5.0m living room designed in modern and bright style.", + "policy_analysis": { + "scene_requirements": "The scene requires a 4.5m x 5.0m living room designed in modern and bright style. Furniture surfaces should be decorated with 23 functional and decorative objects: A low\u2011profile teak sofa placed on floor||; 2 Tapered teak armchairs placed on floor||; Rectangular teak coffee table placed on floor||; Teak media console placed on floor||; Low teak sideboard placed on floor||; Tall teak bookshelf placed on floor||; Tripod floor lamp placed on floor||; 2 Small teak end tables placed on floor||; Mustard upholstered ottoman placed on floor||; Olive fabric pouf placed on floor||; Large leafy plant placed on floor||; 2 Vintage wooden speakers placed on floor||; Mid\u2011century record player placed on floor||; Geometric mustard wall art placed on wall||; Olive round wall clock placed on wall||; Rectangular teak mirror placed on wall||; 2 Ceramic decorative vases placed on floor||sideboard; 3 Set of tealight candless placed on floor||sideboard; Stack of magazines placed on floor||coffeetable; Wooden coasters set placed on floor||coffeetable; Leather serving tray placed on floor||coffeetable; 4 Design coffee table bookss placed on floor||bookshelf; 2 Small ceramic plant pots placed on floor||sideboard. Each furniture surface such as tables, desks, shelves, and cabinets should have at least 2 or more decorative or functional objects placed on top to create a lived-in, realistic environment. Important constraints: Do not add rugs, mats, carpets, curtains, blankets, ceiling-hanging objects, or ceiling objects to the scene as these are either already installed or restricted. The complete scene must contain a minimum of 23 objects total following the placement proposals described above to achieve a complete, diverse, and realistic room environment.Must ensure that: i. The layout (position, rotation, and size) is believable, and common daily objects make the room feel lived-in. Rich of daily furniture and objects.ii. Contains the necessary furniture and setup for the specified function.iii. Each objects is in **reasonable size**, neatly placed, objects of the same category are well aglined, relationships are reasonable (e.g., chairs face desks), sufficient space exists for walking, and **orientations must** be correct. iv. All necessary large and small items are present. Has rich details. Each shelf is full of objects (>5) inside. Each supporter (e.g. table, desk, and shelf) has small objects on it. The room feels done.Must avoid that: i. Unusual objects or strange placements make the room unrealistic.ii. Missing key objects or contains mismatched furniture (e.g., no bed in a bedroom).iii. Floating objects, crowded floor, **abnormal size**, objects with collision, incorrect **orientation**, or large items placed oddly (e.g., sofa not against the wall). Large empty space. Blocker in front of furniture.iv. Room is sparse or empty, lacks decor or key elements." + } +} \ No newline at end of file diff --git a/sage10k_raw/20251227_200339_layout_60ee2ae3/materials/Door_1_frame_tex_coords.pkl b/sage10k_raw/20251227_200339_layout_60ee2ae3/materials/Door_1_frame_tex_coords.pkl new file mode 100644 index 0000000000000000000000000000000000000000..84c4ef5590e77434769a8c8443708f67c9258345 --- /dev/null +++ b/sage10k_raw/20251227_200339_layout_60ee2ae3/materials/Door_1_frame_tex_coords.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bb15b29ba273ada51b1f766720381bae9c12dca6894df40c834431e61d97d40 +size 1533 diff --git a/sage10k_raw/20251227_200339_layout_60ee2ae3/materials/Door_1_frame_texture.png b/sage10k_raw/20251227_200339_layout_60ee2ae3/materials/Door_1_frame_texture.png new file mode 100644 index 0000000000000000000000000000000000000000..ef9d66ab653e75b25d1ca887a403c66f0fb6c969 --- /dev/null +++ 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single piece of thin and upright olive\u2011green wall clock with a round face, minimalist hands and a matte finish", + "position": { + "x": 0.8324999999999998, + "y": 0.09587322095449743, + "z": 1.906583341476508 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.26148470484291014, + "length": 0.031746441908994845, + "height": 0.26183331704698404 + }, + "source": "generation", + "source_id": "3fe8477f", + "place_id": "wall", + "place_guidance": "Place the clock on the wall near the entrance door", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_4901fde7_wardrobe_c568ed04" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_4901fde7_art_23720a47", + "room_id": "room_4901fde7", + "type": "art", + "description": "A single piece of thin and upright wall art with bold mustard colour, geometric pattern and a smooth finish", + "position": { + "x": 0.08003349912060465, + "y": 3.4050000000000002, + "z": 1.5350000000000001 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.005007024679624534, + "length": 6.69982412092786e-05, + "height": 0.005 + }, + "source": "generation", + "source_id": "4b6c654b", + "place_id": "wall", + "place_guidance": "Mount the two mustard wall arts on the wall flanking the window, at eye level.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_4901fde7_nightstand_2b288803" + } + ] + ], + "mass": 0.05, + "pbr_parameters": { + "metallic": 0.8, + "roughness": 0.2 + } + }, + { + "id": "room_4901fde7_art_7d0c5610", + "room_id": "room_4901fde7", + "type": "art", + "description": "A single piece of thin and upright wall art with bold mustard colour, geometric pattern and a smooth finish", + "position": { + "x": 0.08003349912060465, + "y": 3.4050000000000002, + "z": 1.7850000000000001 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.005007024679624534, + "length": 6.69982412092786e-05, + "height": 0.005 + }, + "source": "generation", + "source_id": "4b6c654b", + "place_id": "wall", + "place_guidance": "Mount the two mustard wall arts on the wall flanking the window, at eye level.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_4901fde7_nightstand_2b288803" + } + ] + ], + "mass": 0.05, + "pbr_parameters": { + "metallic": 0.8, + "roughness": 0.2 + } + }, + { + "id": "room_4901fde7_wallart_8a258be6", + "room_id": "room_4901fde7", + "type": "wallart", + "description": "A single piece of thin and upright framed art with a mustard colour background, rectangular shape, smooth matte finish and a subtle brushed texture", + "position": { + "x": 0.08278488312951725, + "y": 2.355, + "z": 1.2125000000000001 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.40042612964205104, + "length": 0.005569766259034468, + "height": 0.4 + }, + "source": "generation", + "source_id": "8596cb4a", + "place_id": "wall", + "place_guidance": "Mount one piece above the bed and the other on the opposite wall", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_4901fde7_bed_af446f0f" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_4901fde7_wallart_69790d21", + "room_id": "room_4901fde7", + "type": "wallart", + "description": "A single piece of thin and upright framed art with a mustard colour background, rectangular shape, smooth matte finish and a subtle brushed texture", + "position": { + "x": 2.9775, + "y": 0.08278488312951725, + "z": 1.9625000000000001 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.40042612964205104, + "length": 0.005569766259034468, + "height": 0.4 + }, + "source": "generation", + "source_id": "8596cb4a", + "place_id": "wall", + "place_guidance": "Mount one piece above the bed and the other on the opposite wall", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_4901fde7_art_8c20d69d" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_4901fde7_wallclock_8c3aebce", + "room_id": "room_4901fde7", + "type": "wallclock", + "description": "A single piece of thin and upright wall clock with an olive colour face, circular shape, minimalist hands and a brushed metal frame", + "position": { + "x": 1.8075, + "y": 4.39642783632017, + "z": 1.7625000000000002 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 180 + }, + "dimensions": { + "width": 0.5498847605604031, + "length": 0.04714432735966061, + "height": 0.55 + }, + "source": "generation", + "source_id": "aaa1f644", + "place_id": "wall", + "place_guidance": "Hang the clock on the wall near the window", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_4901fde7_wardrobe_c568ed04" + } + ] + ], + "mass": 1.2, + "pbr_parameters": { + "metallic": 0.3, + "roughness": 0.6 + } + }, + { + "id": "room_4901fde7_art_cdc27c01", + "room_id": "room_4901fde7", + "type": "art", + "description": "A single piece of thin and upright framed art with a mustard-colored canvas, rectangular shape, and a simple wooden frame.", + "position": { + "x": 0.08985945647335553, + "y": 2.355, + "z": 1.9125 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.5001314883714748, + "length": 0.01971891294671103, + "height": 0.5 + }, + "source": "generation", + "source_id": "0592b094", + "place_id": "wall", + "place_guidance": "Mount one piece above the bed and the other on the opposite wall.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_4901fde7_bed_af446f0f" + } + ] + ], + "mass": 1.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_4901fde7_art_f7e8c167", + "room_id": "room_4901fde7", + "type": "art", + "description": "A single piece of thin and upright framed art with a mustard-colored canvas, rectangular shape, and a simple wooden frame.", + "position": { + "x": 0.08985945647335553, + "y": 1.5150000000000001, + "z": 1.2875 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.5001314883714748, + "length": 0.01971891294671103, + "height": 0.5 + }, + "source": "generation", + "source_id": "0592b094", + "place_id": "wall", + "place_guidance": "Mount one piece above the bed and the other on the opposite wall.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_4901fde7_bed_af446f0f" + } + ] + ], + "mass": 1.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_4901fde7_clock_253a48f1", + "room_id": "room_4901fde7", + "type": "clock", + "description": "A single piece of thin and upright wall clock with an olive-colored face, circular shape, and minimalist hands.", + "position": { + "x": 0.8324999999999998, + "y": 0.09088952515181481, + "z": 1.3875000000000002 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.29993986695295205, + "length": 0.02177905030362958, + "height": 0.3 + }, + "source": "generation", + "source_id": "fd9349b2", + "place_id": "wall", + "place_guidance": "Hang the clock on the wall near the window.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_4901fde7_wardrobe_c568ed04" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_4901fde7_book_10_25235202", + "room_id": "room_4901fde7", + "type": "book_10", + "description": "A hardcover book with a rectangular shape, featuring a slightly textured cover in a vintage 1950s style, with a slim spine and crisp pages.", + "position": { + "x": 0.5021040027620927, + "y": 4.206659739519993, + "z": 1.0162491171325008 + }, + "rotation": { + "x": -0.15263024777198628, + "y": 0.3312751137547347, + "z": -107.21460964584915 + }, + "dimensions": { + "width": 0.1842558816200486, + "length": 0.04516175086822713, + "height": 0.21657678287144386 + }, + "source": "generation", + "source_id": "0f926f4b", + "place_id": "room_4901fde7_shelf_77b886fc", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_4901fde7_smartphone_acfb65f9", + "room_id": "room_4901fde7", + "type": "smartphone", + "description": "A rectangular smartphone with rounded corners, sleek metal back, and a smooth front glass.", + "position": { + "x": 0.7605611120653984, + "y": 4.096030794070673, + "z": 0.7339776631453435 + }, + "rotation": { + "x": -0.6697358952857035, + "y": -0.426887239042429, + "z": -168.80461481268003 + }, + "dimensions": { + "width": 0.09400414166447718, + "length": 0.19533378330234838, + "height": 0.00811633183723462 + }, + "source": "generation", + "source_id": "5a585446", + "place_id": "room_4901fde7_dresser_9f9ce888", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.15, + "pbr_parameters": { + "metallic": 0.3, + "roughness": 0.2 + } + }, + { + "id": "room_4901fde7_smartphone_958fc64f", + "room_id": "room_4901fde7", + "type": "smartphone", + "description": "A rectangular smartphone with rounded corners, sleek metal back, and a smooth front glass.", + "position": { + "x": 0.3650495668392623, + "y": 4.260523520903885, + "z": 0.7341554574919624 + }, + "rotation": { + "x": 0.061762889128133304, + "y": -0.012488281255880645, + "z": -30.439225889312063 + }, + "dimensions": { + "width": 0.09400414166447718, + "length": 0.19533378330234838, + "height": 0.00811633183723462 + }, + "source": "generation", + "source_id": "5a585446", + "place_id": "room_4901fde7_dresser_9f9ce888", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.15, + "pbr_parameters": { + "metallic": 0.3, + "roughness": 0.2 + } + } + ], + "windows": [], + "floor_material": "room_4901fde7_floor", + "ceiling_height": 2.7 + } + ], + "total_area": 18.900000000000002, + "building_style": "Mid-Century Modern residential", + "description": "Complete layout with doors/windows: a single medium-sized master bedroom with Mid-Century Modern style. The room should feature organic shapes, tapered legs, teak wood furniture, and bold accent colors like mustard and olive. The overall vibe should be 1950s. Include walls, doors, and windows as needed. The room must have a bed, nightstands, dresser, and adequate space for movement. The walls should have appropriate windows and a single door for entry. Maintain clean lines and natural materials typical of Mid-Century Modern design.; The scene requires a 4.2m x 4.5m bedroom designed in modern and bright style.", + "created_from_text": "a single medium-sized master bedroom with Mid-Century Modern style. The room should feature organic shapes, tapered legs, teak wood furniture, and bold accent colors like mustard and olive. The overall vibe should be 1950s. Include walls, doors, and windows as needed. The room must have a bed, nightstands, dresser, and adequate space for movement. The walls should have appropriate windows and a single door for entry. Maintain clean lines and natural materials typical of Mid-Century Modern design.; The scene requires a 4.2m x 4.5m bedroom designed in modern and bright style.", + "policy_analysis": { + "scene_requirements": "The scene requires a 4.2m x 4.5m bedroom designed in modern and bright style. The room should include 9 floor-placed furniture and background objects: A teak platform bed placed on floor; 2 Tapered teak nightstands placed on floor; Low teak dresser placed on floor; Tall teak wardrobe placed on floor; Mid\u2011century lounge chair placed on floor; Teak foot bench placed on floor; 2 Potted fiddle\u2011leaf figs placed on floor; Tapered floor lamp placed on floor; Organic wooden sculpture placed on floor. Wall decorations consist of 4 items: Wall\u2011mounted teak shelf mounted on wall; 2 Bold mustard wall arts mounted on wall; Oval teak frame mirror mounted on wall; Olive\u2011green wall clock mounted on wall. Furniture surfaces should be decorated with 12 functional and decorative objects: 2 Mustard table lamps placed on nightstand; Olive ceramic vase placed on dresser; 5 Assorted hardcover bookss placed on dresser; 2 Teak bedside trays placed on nightstand; Retro teak speaker placed on dresser; Smartphone on stand placed on nightstand; Wireless charger pad placed on nightstand; Woven linen basket placed on dresser; 2 Teak storage boxs placed on dresser; 2 Design magazines placed on nightstand; 3 Small framed prints placed on shelf; 2 Light coat drapeds placed on wardrobe. Each furniture surface such as tables, desks, shelves, and cabinets should have at least 2 or more decorative or functional objects placed on top to create a lived-in, realistic environment. Important constraints: Do not add rugs, mats, carpets, curtains, blankets, ceiling-hanging objects, or ceiling objects to the scene as these are either already installed or restricted. The complete scene must contain a minimum of 25 objects total following the placement proposals described above to achieve a complete, diverse, and realistic room environment.Must ensure that: i. The layout (position, rotation, and size) is believable, and common daily objects make the room feel lived-in. Rich of daily furniture and objects.ii. Contains the necessary furniture and setup for the specified function.iii. Each objects is in **reasonable size**, neatly placed, objects of the same category are well aglined, relationships are reasonable (e.g., chairs face desks), sufficient space exists for walking, and **orientations must** be correct. iv. All necessary large and small items are present. Has rich details. Each shelf is full of objects (>5) inside. Each supporter (e.g. table, desk, and shelf) has small objects on it. The room feels done.Must avoid that: i. Unusual objects or strange placements make the room unrealistic.ii. 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"coffeetableremote", + "description": "A sleek black remote control with a compact rectangular shape and smooth edges", + "position": { + "x": 2.459865434534825, + "y": 2.237898555156042, + "z": 0.43102660528159326 + }, + "rotation": { + "x": -0.17414450559968786, + "y": -0.031320141669336596, + "z": 138.26555494456173 + }, + "dimensions": { + "width": 0.15807611308007538, + "length": 0.11570041622109867, + "height": 0.017947671343802228 + }, + "source": "generation", + "source_id": "3a4d9cba", + "place_id": "room_bb8abed5_coffeetable_0448cbe5", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.05, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.2 + } + }, + { + "id": "room_bb8abed5_contemporarybook_coffeetable_b9d8e8de", + "room_id": "room_bb8abed5", + "type": "contemporarybook_coffeetable", + "description": "A sleek black and white contemporary book with a glossy cover, rectangular shape, clean lines and a thin profile", + "position": { + "x": 2.711553685727139, + "y": 2.8072385903944976, + "z": 0.0609996845179159 + }, + "rotation": { + "x": 0.33096530108585787, + "y": 0.1188468686018089, + "z": -74.93718282020133 + }, + "dimensions": { + "width": 0.16804000851788214, + "length": 0.11274174988113864, + "height": 0.1646482338634807 + }, + "source": "generation", + "source_id": "b1b053dd", + "place_id": "room_bb8abed5_coffeetable_0448cbe5", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.2 + } + }, + { + "id": "room_bb8abed5_contemporarybook_sidetable56_2_dc8bf992", + "room_id": "room_bb8abed5", + "type": "contemporarybook_sidetable56_2", + "description": "A sleek black and white contemporary book with a glossy cover, rectangular shape, thin profile; one placed upright, the other laid flat", + "position": { + "x": 4.3325271055005645, + "y": 0.6169667722192406, + "z": 0.6911568705163885 + }, + "rotation": { + "x": -0.2646498797665591, + "y": -0.018999589596949928, + "z": -127.745907372917 + }, + "dimensions": { + "width": 0.1446299126958151, + "length": 0.10117421728507778, + "height": 0.03366363719298371 + }, + "source": "generation", + "source_id": "e651cf49", + "place_id": "room_bb8abed5_sidetable_56fe19f4", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.15, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.2 + } + }, + { + "id": "room_bb8abed5_book4_6_2581ee99", + "room_id": "room_bb8abed5", + "type": "book4_6", + "description": "A collection of assorted books with varied colours and covers, each having a rectangular shape and slightly rounded edges, offering a lively visual mix", + "position": { + "x": 0.5100243215552744, + "y": 4.786092643561178, + "z": 0.6380514294577996 + }, + "rotation": { + "x": -0.010333363496163511, + "y": -0.06639617444464024, + "z": 49.59188930159632 + }, + "dimensions": { + "width": 0.2606808323104293, + "length": 0.20729970451205507, + "height": 0.1440959794420378 + }, + "source": "generation", + "source_id": "a54ccbf4", + "place_id": "room_bb8abed5_bookshelf_42184088", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 1.2, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_bb8abed5_paperback_8_291a29fd", + "room_id": "room_bb8abed5", + "type": "paperback_8", + "description": "A mixed set of assorted paperbacks with varied colors and covers, rectangular shape, thin spines, and slightly textured paper finish", + "position": { + "x": 0.9616804066002196, + "y": 4.653462805986999, + "z": 0.6366303604243875 + }, + "rotation": { + "x": 0.389046242409548, + "y": 0.35668120050052227, + "z": -50.08947905266649 + }, + "dimensions": { + "width": 0.1766409723270129, + "length": 0.17390591692954235, + "height": 0.032127797275850516 + }, + "source": "generation", + "source_id": "3e978fa5", + "place_id": "room_bb8abed5_bookshelf_42184088", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.2, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_bb8abed5_remote_f095ad16", + "room_id": "room_bb8abed5", + "type": "remote", + "description": "A sleek black remote control with a rectangular flat body, smooth edges, and subtle tactile buttons", + "position": { + "x": 2.3855887277271157, + "y": 2.3601831380146945, + "z": 0.059985623308661834 + }, + "rotation": { + "x": -0.08811713586083245, + "y": -0.1121833981230434, + "z": 112.17855773363827 + }, + "dimensions": { + "width": 0.08829081356093654, + "length": 0.1457561590324254, + "height": 0.025382965268240014 + }, + "source": "generation", + "source_id": "ef3db351", + "place_id": "room_bb8abed5_coffeetable_0448cbe5", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.05, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.4 + } + }, + { + "id": "room_bb8abed5_vasesidetable2_292fdf9d", + "room_id": "room_bb8abed5", + "type": "vasesidetable2", + "description": "A small circular decorative vase with a smooth rounded body, matte finish, and a subtle lip at the top", + "position": { + "x": 3.998009914473459, + "y": 4.124985870351898, + "z": 0.6913315163109264 + }, + "rotation": { + "x": 0.10337777296519253, + "y": 0.016437692165929413, + "z": 51.25001740118989 + }, + "dimensions": { + "width": 0.18470506443456747, + "length": 0.18470488825828496, + "height": 0.16354252163155558 + }, + "source": "generation", + "source_id": "5f582503", + "place_id": "room_bb8abed5_sidetable_2625b2fb", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_bb8abed5_bookshelf_42184088", + "room_id": "room_bb8abed5", + "type": "bookshelf", + "description": "A single piece of thin and upright bookshelf with a minimalist metal frame, finished in brushed steel, the shelves are floating glass panels that appear to glide within the frame.", + "position": { + "x": 0.885, + "y": 4.729979538570116, + "z": 0.2686209785525234 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 180 + }, + "dimensions": { + "width": 1.138984660475329, + "length": 0.38004092285976776, + "height": 1.2877580428949533 + }, + "source": "generation", + "source_id": "d34f10d1", + "place_id": "wall", + "place_guidance": "Mount the bookshelf on the right side wall, positioned 0.5\u202fm from the adjacent corner, with its bottom edge flush with the floor.", + "placement_constraints": [ + [] + ], + "mass": 15.0, + "pbr_parameters": { + "metallic": 0.1, + "roughness": 0.6 + } + }, + { + "id": "room_bb8abed5_painting_0a6a4441", + "room_id": "room_bb8abed5", + "type": "painting", + "description": "A single piece of thin and upright painting with abstract bold color blocks, the canvas is stretched over a slim wooden frame, the surface features a subtle texture that catches light.", + "position": { + "x": 0.09036397331610918, + "y": 1.2074999999999998, + "z": 1.1375000000000002 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 1.590589528178444, + "length": 0.020727946632218334, + "height": 0.8 + }, + "source": "generation", + "source_id": "95f3aba6", + "place_id": "wall", + "place_guidance": "Mount the three paintings evenly spaced above the sofa on the back wall, aligning their centers with the sofa's width.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_sofa_edcdf39d" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.3 + } + }, + { + "id": "room_bb8abed5_painting_91b219f6", + "room_id": "room_bb8abed5", + "type": "painting", + "description": "A single piece of thin and upright painting with abstract bold color blocks, the canvas is stretched over a slim wooden frame, the surface features a subtle texture that catches light.", + "position": { + "x": 0.09036397331610918, + "y": 3.0875000000000004, + "z": 1.1375000000000002 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 1.590589528178444, + "length": 0.020727946632218334, + "height": 0.8 + }, + "source": "generation", + "source_id": "95f3aba6", + "place_id": "wall", + "place_guidance": "Mount the three paintings evenly spaced above the sofa on the back wall, aligning their centers with the sofa's width.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_sofa_edcdf39d" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.3 + } + }, + { + "id": "room_bb8abed5_clock_2dd6c92c", + "room_id": "room_bb8abed5", + "type": "clock", + "description": "A single piece of thin and upright wall clock with a round face, black and white contrast, the hands are minimalist chrome blades, the clock is framed by a sleek black ring.", + "position": { + "x": 2.355, + "y": 0.09899510486726834, + "z": 1.7875 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.5000204692603255, + "length": 0.03799020973453664, + "height": 0.5 + }, + "source": "generation", + "source_id": "2ba590d1", + "place_id": "wall", + "place_guidance": "Install the clock on the wall near the door, with its center positioned 1.2\u202fm above the floor.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_painting_382684fe" + } + ] + ], + "mass": 1.5, + "pbr_parameters": { + "metallic": 0.9, + "roughness": 0.1 + } + }, + { + "id": "room_bb8abed5_painting_382684fe", + "room_id": "room_bb8abed5", + "type": "painting", + "description": "A single piece of thin and upright painting with abstract bold color blocks, the canvas is stretched over a slim wooden frame, the surface features a subtle texture that catches light.", + "position": { + "x": 4.4096360266838905, + "y": 2.3825000000000003, + "z": 1.1375000000000002 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 1.590589528178444, + "length": 0.020727946632218334, + "height": 0.8 + }, + "source": "generation", + "source_id": "95f3aba6", + "place_id": "wall", + "place_guidance": { + "target_description": "Move to wall: Move painting (object_id: room_bb8abed5_painting_382684fe) to wall, above the sofa.", + "spatial_relationships": [], + "movement_type": "repositioning and rotation" + }, + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_sofa_edcdf39d" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.3 + } + }, + { + "id": "room_bb8abed5_artwork_e11c0b05", + "room_id": "room_bb8abed5", + "type": "artwork", + "description": "A single piece of thin and upright abstract artwork with contemporary design, rectangular shape, bold geometric patterns and a matte finish", + "position": { + "x": 4.419033764348889, + "y": 0.9724999999999999, + "z": 1.4375 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.28002088868204406, + "length": 0.001932471302221549, + "height": 0.2 + }, + "source": "generation", + "source_id": "74cb3b3e", + "place_id": "wall", + "place_guidance": "Mount the two artworks on the side walls, one on each side, at eye level", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_sidetable_56fe19f4" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_bb8abed5_artwork_b25eab40", + "room_id": "room_bb8abed5", + "type": "artwork", + "description": "A single piece of thin and upright abstract artwork with contemporary design, rectangular shape, bold geometric patterns and a matte finish", + "position": { + "x": 0.08096623565111079, + "y": 0.5024999999999997, + "z": 2.1875 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.28002088868204406, + "length": 0.001932471302221549, + "height": 0.2 + }, + "source": "generation", + "source_id": "74cb3b3e", + "place_id": "wall", + "place_guidance": "Mount the two artworks on the side walls, one on each side, at eye level", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_plantfloor_e2f8eb3f" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_bb8abed5_clockwall_19660c29", + "room_id": "room_bb8abed5", + "type": "clockwall", + "description": "A single piece of thin and upright modern wall clock with sleek black and white face, circular shape, minimalist hands and a smooth matte finish", + "position": { + "x": 0.46499999999999986, + "y": 4.912504828187645, + "z": 1.8775000000000002 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 180 + }, + "dimensions": { + "width": 0.31985504327513176, + "length": 0.014990343624710386, + "height": 0.32 + }, + "source": "generation", + "source_id": "77e0a075", + "place_id": "wall", + "place_guidance": "Hang the clock on the wall near the door, centered at a comfortable viewing height", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_painting_0a6a4441" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_bb8abed5_tv_76eff8d4", + "room_id": "room_bb8abed5", + "type": "tv", + "description": "A single piece of thin and upright wall\u2011mounted TV screen with a sleek minimalist frame, black bezel and a glossy surface, delivering a modern entertainment focal point", + "position": { + "x": 1.095, + "y": 0.13696670668543787, + "z": 1.276815883490647 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.9552559055425742, + "length": 0.11393341337087572, + "height": 0.5213682330187062 + }, + "source": "generation", + "source_id": "e9000754", + "place_id": "wall", + "place_guidance": "Mount the TV at the centre of the front wall, at eye level", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_console_48d3ec80" + } + ] + ], + "mass": 15.0, + "pbr_parameters": { + "metallic": 0.1, + "roughness": 0.2 + } + }, + { + "id": "room_bb8abed5_artwork1_22981ffd", + "room_id": "room_bb8abed5", + "type": "artwork1", + "description": "A single piece of thin and upright abstract artwork with a rectangular shape, bold colour blocks and a textured surface, offering a dynamic visual statement", + "position": { + "x": 1.305, + "y": 4.91309792581982, + "z": 2.0875 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 180 + }, + "dimensions": { + "width": 0.6448652612090401, + "length": 0.013804148360359463, + "height": 0.4 + }, + "source": "generation", + "source_id": "1f08c8fd", + "place_id": "wall", + "place_guidance": "Hang the artwork on the left side wall at a comfortable viewing height", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_bookshelf_42184088" + } + ] + ], + "mass": 1.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_bb8abed5_artwork2_02cc166c", + "room_id": "room_bb8abed5", + "type": "artwork2", + "description": "A single piece of thin and upright abstract artwork with a rectangular shape, contrasting geometric patterns and a subtle metallic sheen, creating visual interest", + "position": { + "x": 3.1950000000000003, + "y": 0.08272810363849459, + "z": 1.0375 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.6759252932128895, + "length": 0.0054562072769891575, + "height": 0.9999999999999999 + }, + "source": "generation", + "source_id": "1a747b1b", + "place_id": "wall", + "place_guidance": "Mount the artwork on the right side wall, opposite the first piece", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_sofa_edcdf39d" + } + ] + ], + "mass": 2.0, + "pbr_parameters": { + "metallic": 0.3, + "roughness": 0.2 + } + }, + { + "id": "room_bb8abed5_clock_9ea3c5f5", + "room_id": "room_bb8abed5", + "type": "clock", + "description": "A single piece of thin and upright modern wall clock with a black and white circular face, minimalist hour markers and a sleek metal frame, its clean design adds a contemporary touch", + "position": { + "x": 1.095, + "y": 0.09790177753477403, + "z": 0.6125000000000002 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.3498954984521544, + "length": 0.03580355506954803, + "height": 0.3499999999999999 + }, + "source": "generation", + "source_id": "d80f47c2", + "place_id": "wall", + "place_guidance": "Install the clock on the wall near the entrance door at eye level", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_console_48d3ec80" + } + ] + ], + "mass": 1.0, + "pbr_parameters": { + "metallic": 0.8, + "roughness": 0.2 + } + }, + { + "id": "room_bb8abed5_artwork_e891a18d", + "room_id": "room_bb8abed5", + "type": "artwork", + "description": "An abstract artwork with contemporary style, rectangular thin panel, vibrant geometric patterns, glossy finish, single piece of thin and upright artwork.", + "position": { + "x": 4.405263587247409, + "y": 0.9724999999999999, + "z": 1.8375000000000001 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.68358585539959, + "length": 0.0294728255051832, + "height": 0.4 + }, + "source": "generation", + "source_id": "c6e2d3a5", + "place_id": "wall", + "place_guidance": "Mount each artwork on the side walls at eye level.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_artwork_e11c0b05" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.2 + } + }, + { + "id": "room_bb8abed5_artwork_4cc747fc", + "room_id": "room_bb8abed5", + "type": "artwork", + "description": "An abstract artwork with contemporary style, rectangular thin panel, vibrant geometric patterns, glossy finish, single piece of thin and upright artwork.", + "position": { + "x": 2.145, + "y": 0.09473641275259162, + "z": 1.0875000000000001 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.68358585539959, + "length": 0.0294728255051832, + "height": 0.4 + }, + "source": "generation", + "source_id": "c6e2d3a5", + "place_id": "wall", + "place_guidance": "Mount each artwork on the side walls at eye level.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_sidetable_56fe19f4" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.2 + } + }, + { + "id": "room_bb8abed5_clock_0d7c09aa", + "room_id": "room_bb8abed5", + "type": "clock", + "description": "A modern wall clock with sleek black and white design, circular thin face, minimalist hour markers, single piece of thin and upright clock.", + "position": { + "x": 1.095, + "y": 0.08289080666224553, + "z": 2.0125 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.2999207567969914, + "length": 0.005781613324491035, + "height": 0.3 + }, + "source": "generation", + "source_id": "07f33d69", + "place_id": "wall", + "place_guidance": "Hang the clock on the wall near the entrance door, at a comfortable viewing height.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_console_48d3ec80" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.1, + "roughness": 0.2 + } + }, + { + "id": "room_bb8abed5_artwork_2_a00997a7", + "room_id": "room_bb8abed5", + "type": "artwork_2", + "description": "A single piece of thin and upright abstract artwork with bold contemporary colors, rectangular canvas, and a flat surface.", + "position": { + "x": 4.41972375833469, + "y": 1.6775000000000002, + "z": 2.2375000000000003 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.15724877519013478, + "length": 0.0005524833306204647, + "height": 0.1 + }, + "source": "generation", + "source_id": "3d669afc", + "place_id": "wall", + "place_guidance": "Mount the two artworks on the side walls, spaced evenly and at eye level.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_sidetable_56fe19f4" + } + ] + ], + "mass": 0.2, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_bb8abed5_clock_b377debe", + "room_id": "room_bb8abed5", + "type": "clock", + "description": "A single piece of thin and upright modern wall clock with black and white contrast, circular face, and minimalist design.", + "position": { + "x": 4.186759120968594, + "y": 3.7925000000000004, + "z": 1.7623423485392467 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.5496221130895792, + "length": 0.4664817580628132, + "height": 0.5503153029215069 + }, + "source": "generation", + "source_id": "d005a20c", + "place_id": "wall", + "place_guidance": "Hang the clock on the wall near the door, at a comfortable viewing height.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_console_48d3ec80" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_bb8abed5_wallclock_f02ec1e8", + "room_id": "room_bb8abed5", + "type": "wallclock", + "description": "A single piece of thin and upright modern wall clock with circular face, sleek black and white design, minimalist finish", + "position": { + "x": 0.46499999999999986, + "y": 0.09681020292922438, + "z": 0.7625000000000001 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.29999153181103055, + "length": 0.03362040585844872, + "height": 0.3 + }, + "source": "generation", + "source_id": "0c9399d7", + "place_id": "wall", + "place_guidance": "Mount the clock on the wall near the door at a comfortable viewing height.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_console_48d3ec80" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.1, + "roughness": 0.3 + } + }, + { + "id": "room_bb8abed5_artwork_1_dab0af3a", + "room_id": "room_bb8abed5", + "type": "artwork_1", + "description": "A single piece of thin and upright abstract artwork with bold geometric shapes, vibrant colors, and a flat rectangular panel", + "position": { + "x": 0.08371352125125413, + "y": 2.6175, + "z": 0.2375000000000001 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.6003583477678058, + "length": 0.007427042502508219, + "height": 0.6 + }, + "source": "generation", + "source_id": "4d6aec95", + "place_id": "wall", + "place_guidance": "Mount the artworks on the side walls and above the furniture", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_sofa_edcdf39d" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.1, + "roughness": 0.4 + } + }, + { + "id": "room_bb8abed5_artwork_2_1c557af0", + "room_id": "room_bb8abed5", + "type": "artwork_2", + "description": "A single piece of thin and upright abstract artwork with bold geometric shapes, vibrant colors, and a flat rectangular panel", + "position": { + "x": 0.10309264366052087, + "y": 4.4975000000000005, + "z": 1.2375 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.41817702932989276, + "length": 0.0461852873210417, + "height": 0.6 + }, + "source": "generation", + "source_id": "037b2790", + "place_id": "wall", + "place_guidance": "Mount the artworks on the side walls and above the furniture", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_bb8abed5_sofa_edcdf39d" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.3 + } + }, + { + "id": "room_bb8abed5_coffeetablebook_d4f9a6fe", + "room_id": "room_bb8abed5", + "type": "coffeetablebook", + "description": "A contemporary book with a sleek black and white cover, rectangular shape, smooth glossy finish, and a subtle embossed pattern.", + "position": { + "x": 2.8723695289099784, + "y": 2.517828792351556, + "z": 0.4314055472101348 + }, + "rotation": { + "x": -0.3829537888101984, + "y": -0.021773106733562152, + "z": -4.105229260996336 + }, + "dimensions": { + "width": 0.17875228134344184, + "length": 0.14235215128376846, + "height": 0.059229606271334626 + }, + "source": "generation", + "source_id": "650be5da", + "place_id": "room_bb8abed5_coffeetable_0448cbe5", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.3 + } + } + ], + "windows": [], + "floor_material": "room_bb8abed5_floor", + "ceiling_height": 2.7 + } + ], + "total_area": 22.5, + "building_style": "Contemporary modern living space with fluid curves, stark contrasts, state-of-the-art materials, and a sophisticated polished look", + "description": "Complete layout with doors/windows: Generate a single medium-sized living_room with Contemporary style: fluid curves, stark contrasts, state-of-the-art materials, sophisticated and polished look. The room should have 4 walls with one main door (facing front wall) and two windows (on side walls). The room must be empty initially without any objects.; The scene requires a 4.5m x 5.0m living room designed in modern and bright style.", + "created_from_text": "Generate a single medium-sized living_room with Contemporary style: fluid curves, stark contrasts, state-of-the-art materials, sophisticated and polished look. The room should have 4 walls with one main door (facing front wall) and two windows (on side walls). The room must be empty initially without any objects.; The scene requires a 4.5m x 5.0m living room designed in modern and bright style.", + "policy_analysis": { + "scene_requirements": "The scene requires a 4.5m x 5.0m living room designed in modern and bright style. Furniture surfaces should be decorated with 23 functional and decorative objects: A sleek sectional sofa placed on floor|none|none; A glass coffee table placed on floor|none|none; 2 Two modern armchairss placed on floor|none|none; A wall\u2011mounted flat TV placed on wall|none|none; A low media console placed on floor|none|none; A wall\u2011mounted bookshelf placed on wall|none|none; 2 Two side tabless placed on floor|none|none; 2 Two sculptural floor lampss placed on floor|none|none; 3 Three contemporary paintingss placed on wall|none|none; A minimalist wall clock placed on wall|none|none; A large decorative mirror placed on wall|none|none; A wall\u2011mounted coat rack placed on wall|none|none; 2 Two floor\u2011standing plantss placed on floor|none|none; 2 Two high\u2011end floor speakerss placed on floor|none|none; A plush ottoman placed on floor|none|none; 2 Two small picture framess placed on wall|none|none; 12 Twelve assorted bookss placed on wall|bookshelf|none; 2 Two decorative bowlss placed on floor|console|none; 4 Four fashion magaziness placed on floor|sidetable|none; 2 Two TV remotess placed on floor|console|none; 2 Two table lampss placed on floor|sidetable|none; 2 Two glass vasess placed on floor|lowtable|none; 3 Three scented candless placed on floor|console|none. Each furniture surface such as tables, desks, shelves, and cabinets should have at least 2 or more decorative or functional objects placed on top to create a lived-in, realistic environment. Important constraints: Do not add rugs, mats, carpets, curtains, blankets, ceiling-hanging objects, or ceiling objects to the scene as these are either already installed or restricted. The complete scene must contain a minimum of 23 objects total following the placement proposals described above to achieve a complete, diverse, and realistic room environment.Must ensure that: i. The layout (position, rotation, and size) is believable, and common daily objects make the room feel lived-in. Rich of daily furniture and objects.ii. Contains the necessary furniture and setup for the specified function.iii. Each objects is in **reasonable size**, neatly placed, objects of the same category are well aglined, relationships are reasonable (e.g., chairs face desks), sufficient space exists for walking, and **orientations must** be correct. iv. All necessary large and small items are present. Has rich details. Each shelf is full of objects (>5) inside. Each supporter (e.g. table, desk, and shelf) has small objects on it. The room feels done.Must avoid that: i. Unusual objects or strange placements make the room unrealistic.ii. Missing key objects or contains mismatched furniture (e.g., no bed in a bedroom).iii. Floating objects, crowded floor, **abnormal size**, objects with collision, incorrect **orientation**, or large items placed oddly (e.g., sofa not against the wall). Large empty space. Blocker in front of furniture.iv. Room is sparse or empty, lacks decor or key elements." + } +} \ No newline at end of file diff --git a/sage10k_raw/20251229_083510_layout_4589381e/materials/Door_3_frame_tex_coords.pkl b/sage10k_raw/20251229_083510_layout_4589381e/materials/Door_3_frame_tex_coords.pkl new file mode 100644 index 0000000000000000000000000000000000000000..84c4ef5590e77434769a8c8443708f67c9258345 --- /dev/null +++ b/sage10k_raw/20251229_083510_layout_4589381e/materials/Door_3_frame_tex_coords.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bb15b29ba273ada51b1f766720381bae9c12dca6894df40c834431e61d97d40 +size 1533 diff --git a/sage10k_raw/20251229_083510_layout_4589381e/materials/Door_3_frame_texture.png b/sage10k_raw/20251229_083510_layout_4589381e/materials/Door_3_frame_texture.png new file mode 100644 index 0000000000000000000000000000000000000000..7ea5b6841d04fdfe7372a40ebdb5a42a753b3480 --- /dev/null +++ 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layout of illustrations", + "position": { + "x": 3.352420532393529, + "y": 4.297344373638872, + "z": 0.288477702416948 + }, + "rotation": { + "x": -0.21166152183490608, + "y": 0.345705915566155, + "z": 13.422936277218371 + }, + "dimensions": { + "width": 0.1899090600096398, + "length": 0.268824339330406, + "height": 0.05701507483760642 + }, + "source": "generation", + "source_id": "39443fca", + "place_id": "room_e15e0f0c_armchair_d323b5da", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.1, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.3 + } + }, + { + "id": "room_e15e0f0c_bookshelf_9322847c", + "room_id": "room_e15e0f0c", + "type": "bookshelf", + "description": "A rustic wooden bookshelf with a thin, upright rectangular profile, reclaimed oak finish, and a subtle carved pattern along the vertical panels that adds character.", + "position": { + "x": 0.09823112989219457, + "y": 3.0875000000000004, + "z": 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"rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.22384351352735743, + "length": 0.08499098290013272, + "height": 0.3480905936993258 + }, + "source": "generation", + "source_id": "a4edd860", + "place_id": "wall", + "place_guidance": "Mount the two artworks on the wall directly above the console, spaced evenly.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_e15e0f0c_console_830ba9a8" + } + ] + ], + "mass": 1.2, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.8 + } + }, + { + "id": "room_e15e0f0c_artwork_251a65e5", + "room_id": "room_e15e0f0c", + "type": "artwork", + "description": "A single piece of thin and upright painting with a rectangular shape, faded ochre background, hand\u2011painted rustic landscape, and a simple wooden frame.", + "position": { + "x": 0.12249549145006638, + "y": 2.6175, + "z": 1.8634547031503372 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.22384351352735743, + "length": 0.08499098290013272, + "height": 0.3480905936993258 + }, + "source": "generation", + "source_id": "a4edd860", + "place_id": "wall", + "place_guidance": "Mount the two artworks on the wall directly above the console, spaced evenly.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_e15e0f0c_console_830ba9a8" + } + ] + ], + "mass": 1.2, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.8 + } + }, + { + "id": "room_e15e0f0c_artwork_1_94d65adc", + "room_id": "room_e15e0f0c", + "type": "artwork_1", + "description": "A single piece of thin and upright painting with a rectangular shape, faded sepia tones, distressed canvas texture and a simple rustic frame", + "position": { + "x": 0.10802856152335297, + "y": 4.0275, + "z": 1.8625 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 1.20415718024755, + "length": 0.056057123046705896, + "height": 0.6 + }, + "source": "generation", + "source_id": "a13868be", + "place_id": "wall", + "place_guidance": "Mount the two artworks on the wall directly above the console", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_e15e0f0c_console_830ba9a8" + } + ] + ], + "mass": 1.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.8 + } + }, + { + "id": "room_e15e0f0c_artwork_2_6f6257f4", + "room_id": "room_e15e0f0c", + "type": "artwork_2", + "description": "A single piece of thin and upright painting with a rectangular shape, faded sepia tones, distressed canvas texture and a simple rustic frame", + "position": { + "x": 0.09529547498968038, + "y": 1.9125, + "z": 1.2692236801686436 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.5086969787278005, + "length": 0.030590949979360755, + "height": 0.786552639662713 + }, + "source": "generation", + "source_id": "4efba08f", + "place_id": "wall", + "place_guidance": "Mount the two artworks on the wall directly above the console", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_e15e0f0c_console_830ba9a8" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.2, + "roughness": 0.8 + } + }, + { + "id": "room_e15e0f0c_walllamp_febf0d2f", + "room_id": "room_e15e0f0c", + "type": "walllamp", + "description": "A rustic style wall lamp with a cast iron bracket, short cylindrical shade, and a dark matte finish, compact profile.", + "position": { + "x": 3.8330308317814215, + "y": 3.0875000000000004, + "z": 1.3904800921712122 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.28856142168409604, + "length": 0.17393833643715706, + "height": 0.2940398156575761 + }, + "source": "generation", + "source_id": "4795f8de", + "place_id": "wall", + "place_guidance": "Mount the two wall lamps on the side walls at a comfortable height for reading.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_e15e0f0c_sofa_78cf7971" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.8 + } + }, + { + "id": "room_e15e0f0c_walllamp_6d70834e", + "room_id": "room_e15e0f0c", + "type": "walllamp", + "description": "A rustic style wall lamp with a cast iron bracket, short cylindrical shade, and a dark matte finish, compact profile.", + "position": { + "x": 3.8330308317814215, + "y": 1.6775000000000002, + "z": 1.8904800921712122 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.28856142168409604, + "length": 0.17393833643715706, + "height": 0.2940398156575761 + }, + "source": "generation", + "source_id": "4795f8de", + "place_id": "wall", + "place_guidance": "Mount the two wall lamps on the side walls at a comfortable height for reading.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_e15e0f0c_armchair_0a3fad2d" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.8 + } + }, + { + "id": "room_e15e0f0c_artwork_wall_89a3edd9", + "room_id": "room_e15e0f0c", + "type": "artwork_wall", + "description": "A single piece of thin and upright painting in rustic style, featuring a distressed canvas with earthy hues, rectangular shape, and a subtle brushstroke texture.", + "position": { + "x": 3.889466302184357, + "y": 1.6775000000000002, + "z": 0.20637198660861777 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.762718958751254, + "length": 0.06106739563128535, + "height": 1.4122560267827646 + }, + "source": "generation", + "source_id": "dfc2507c", + "place_id": "wall", + "place_guidance": "Hang the three artworks on the wall directly above the sofa, spaced evenly.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_e15e0f0c_sofa_78cf7971" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_e15e0f0c_artwork_wall_e6933204", + "room_id": "room_e15e0f0c", + "type": "artwork_wall", + "description": "A single piece of thin and upright painting in rustic style, featuring a distressed canvas with earthy hues, rectangular shape, and a subtle brushstroke texture.", + "position": { + "x": 0.7975000000000001, + "y": 4.889466302184357, + "z": 0.8313719866086178 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 180 + }, + "dimensions": { + "width": 0.762718958751254, + "length": 0.06106739563128535, + "height": 1.4122560267827646 + }, + "source": "generation", + "source_id": "dfc2507c", + "place_id": "wall", + "place_guidance": "Hang the three artworks on the wall directly above the sofa, spaced evenly.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_e15e0f0c_sofa_78cf7971" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_e15e0f0c_artwork_wall_fea19745", + "room_id": "room_e15e0f0c", + "type": "artwork_wall", + "description": "A single piece of thin and upright painting in rustic style, featuring a distressed canvas with earthy hues, rectangular shape, and a subtle brushstroke texture.", + "position": { + "x": 0.7975000000000001, + "y": 0.11053369781564269, + "z": 0.8313719866086178 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.762718958751254, + "length": 0.06106739563128535, + "height": 1.4122560267827646 + }, + "source": "generation", + "source_id": "dfc2507c", + "place_id": "wall", + "place_guidance": "Hang the three artworks on the wall directly above the sofa, spaced evenly.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_e15e0f0c_sofa_78cf7971" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_e15e0f0c_bookshelf_caf29c1b", + "room_id": "room_e15e0f0c", + "type": "bookshelf", + "description": "A rustic style wall-mounted bookshelf with reclaimed wood planks, rectangular shape, low profile, and visible nail detailing.", + "position": { + "x": 0.25376700102103356, + "y": 0.9724999999999999, + "z": 0.8438120499960857 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.8498021454392145, + "length": 0.34753400204206714, + "height": 1.6373759000078287 + }, + "source": "generation", + "source_id": "ff32d008", + "place_id": "wall", + "place_guidance": "Mount the bookshelf on the wall above the console, centered horizontally.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_e15e0f0c_console_830ba9a8" + } + ] + ], + "mass": 36.0, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_e15e0f0c_artwork_33a6d3dc", + "room_id": "room_e15e0f0c", + "type": "artwork", + "description": "A single piece of thin and upright rustic artwork, rectangular panel with a distressed wooden frame, faded sepia tones and a simple abstract landscape painted on a matte surface", + "position": { + "x": 0.09447357786752288, + "y": 4.0275, + "z": 1.0064487130154722 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.32168850850473846, + "length": 0.028947155735045714, + "height": 0.5621025739690555 + }, + "source": "generation", + "source_id": "646f64b3", + "place_id": "wall", + "place_guidance": "Mount the two artworks on the wall directly above the console, spaced evenly and centred.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_e15e0f0c_console_830ba9a8" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.3, + "roughness": 0.8 + } + }, + { + "id": "room_e15e0f0c_artwork_7ec87919", + "room_id": "room_e15e0f0c", + "type": "artwork", + "description": "A single piece of thin and upright rustic artwork, rectangular panel with a distressed wooden frame, faded sepia tones and a simple abstract landscape painted on a matte surface", + "position": { + "x": 1.7225000000000001, + "y": 0.09447357786752288, + "z": 0.7564487130154723 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.32168850850473846, + "length": 0.028947155735045714, + "height": 0.5621025739690555 + }, + "source": "generation", + "source_id": "646f64b3", + "place_id": "wall", + "place_guidance": "Mount the two artworks on the wall directly above the console, spaced evenly and centred.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_e15e0f0c_console_830ba9a8" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.3, + "roughness": 0.8 + } + }, + { + "id": "room_e15e0f0c_artworkwall_3_16f8431c", + "room_id": "room_e15e0f0c", + "type": "artworkwall_3", + "description": "A single piece of thin and upright painting with a rectangular shape, weathered canvas, and muted earth tones", + "position": { + "x": 3.87368726005612, + "y": 2.3825000000000003, + "z": 1.8255902795841643 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.2703789719975082, + "length": 0.09262547988775931, + "height": 0.6738194408316718 + }, + "source": "generation", + "source_id": "e7bdf896", + "place_id": "wall", + "place_guidance": "Mount the four artworks on the walls in a gallery arrangement, evenly spaced at eye level.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_e15e0f0c_sofa_78cf7971" + } + ] + ], + "mass": 1.5, + "pbr_parameters": { + "metallic": 0.2, + "roughness": 0.8 + } + }, + { + "id": "room_e15e0f0c_artworkwall_4_ca08b01a", + "room_id": "room_e15e0f0c", + "type": "artworkwall_4", + "description": "A single piece of thin and upright painting with a rectangular shape, weathered canvas, and muted earth tones", + "position": { + "x": 3.915213879520865, + "y": 4.0275, + "z": 1.3625 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.9942979195293278, + "length": 0.009572240958269619, + "height": 0.6 + }, + "source": "generation", + "source_id": "6702b5b5", + "place_id": "wall", + "place_guidance": "Mount the four artworks on the walls in a gallery arrangement, evenly spaced at eye level.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_e15e0f0c_sofa_78cf7971" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_e15e0f0c_artworklf_3a86a5c7", + "room_id": "room_e15e0f0c", + "type": "artworklf", + "description": "A single piece of thin and upright painting with a distressed wood frame, rectangular, muted ochre tones and a subtle brush\u2011stroke texture", + "position": { + "x": 2.6475, + "y": 0.08342489298605879, + "z": 1.4875 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.9466657316566236, + "length": 0.0068497859721175485, + "height": 0.6 + }, + "source": "generation", + "source_id": "12e86aa6", + "place_id": "wall", + "place_guidance": "Mount the artwork on the left wall", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_e15e0f0c_console_830ba9a8" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_e15e0f0c_artworkrt_4eb34e67", + "room_id": "room_e15e0f0c", + "type": "artworkrt", + "description": "A single piece of thin and upright painting with a weathered metal border, rectangular, deep teal color and abstract geometric pattern", + "position": { + "x": 3.9148788979505698, + "y": 0.7374999999999998, + "z": 1.8625 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.7850988895234369, + "length": 0.010242204098860695, + "height": 0.6 + }, + "source": "generation", + "source_id": "f5145a22", + "place_id": "wall", + "place_guidance": "Mount the artwork on the right wall", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_e15e0f0c_sofa_78cf7971" + } + ] + ], + "mass": 2.0, + "pbr_parameters": { + "metallic": 0.2, + "roughness": 0.7 + } + }, + { + "id": "room_e15e0f0c_artwork_2_6bf96abb", + "room_id": "room_e15e0f0c", + "type": "artwork_2", + "description": "A single piece of thin and upright painting with a rectangular canvas, faded ochre background and a rustic landscape motif", + "position": { + "x": 0.0838184718377083, + "y": 2.1475, + "z": 2.3625000000000003 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.1283045864387121, + "length": 0.00763694367541655, + "height": 0.10000000000000002 + }, + "source": "generation", + "source_id": "02c2e31e", + "place_id": "wall", + "place_guidance": "arranged as a gallery display on the walls", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_e15e0f0c_bookshelf_9322847c" + } + ] + ], + "mass": 1.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.8 + } + }, + { + "id": "room_e15e0f0c_artwork_4_e8cc1289", + "room_id": "room_e15e0f0c", + "type": "artwork_4", + "description": "A single piece of thin and upright painting with a rectangular canvas, faded ochre background and a rustic landscape motif", + "position": { + "x": 3.3875, + "y": 4.87664926559141, + "z": 1.6875 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 180 + }, + "dimensions": { + "width": 0.6346514442137116, + "length": 0.08670146881718115, + "height": 0.7 + }, + "source": "generation", + "source_id": "0dcc73ef", + "place_id": "wall", + "place_guidance": "arranged as a gallery display on the walls", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_e15e0f0c_console_830ba9a8" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.8 + } + }, + { + "id": "room_e15e0f0c_candle_coffeetable_e6fdde40", + "room_id": "room_e15e0f0c", + "type": "candle_coffeetable", + "description": "A rustic ceramic candle with a cylindrical form, matte ivory glaze and a subtle tapered top", + "position": { + "x": 2.2858508194242644, + "y": 3.477603832000524, + "z": 0.4238881941027657 + }, + "rotation": { + "x": -0.012858854892905117, + "y": 0.12438113766145481, + "z": 96.4489892444946 + }, + "dimensions": { + "width": 0.1988337361106107, + "length": 0.19882548933815872, + "height": 0.17576384635541842 + }, + "source": "generation", + "source_id": "352e8f60", + "place_id": "room_e15e0f0c_coffeetable_98a1318d", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.8 + } + }, + { + "id": "room_e15e0f0c_mug_4cc1d5cb", + "room_id": "room_e15e0f0c", + "type": "mug", + "description": "A rustic ceramic mug with a squat cylindrical body, rough speckled glaze and a short rounded handle", + "position": { + "x": 2.28789537011895, + "y": 3.131154829498389, + "z": 0.4243948635396883 + }, + "rotation": { + "x": 0.09849072049672163, + "y": -0.23657367422420664, + "z": 11.819531177343624 + }, + "dimensions": { + "width": 0.12317224291536265, + "length": 0.098435031761647, + "height": 0.08774029028251262 + }, + "source": "generation", + "source_id": "31ca9a12", + "place_id": "room_e15e0f0c_coffeetable_98a1318d", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.3, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.85 + } + } + ], + "windows": [], + "floor_material": "room_e15e0f0c_floor", + "ceiling_height": 2.7 + } + ], + "total_area": 20.0, + "building_style": "Rustic cabin interior with modern bright accents \u2013 natural rough\u2011hewn wood walls and beams, stone fireplace, earthy colors combined with a clean, well\u2011lit ambience", + "description": "Complete layout with doors/windows: A medium-sized living room (4m x 5m) with rustic style featuring natural rough-hewn wood, stone elements, earthy colors, and a warm cozy cabin atmosphere. The room includes a stone fireplace, wooden beams on the ceiling, large windows for natural light, a central seating area, and a wooden coffee table. The walls are made of rough-hewn wood, with a mix of stone and wood accents. The floor is made of natural wood planks. The room should have a cozy, inviting feel with ample space for furniture. This is a single room only, no other spaces or rooms are present.; The scene requires a 4m x 5m living room designed in modern and bright style.", + "created_from_text": "A medium-sized living room (4m x 5m) with rustic style featuring natural rough-hewn wood, stone elements, earthy colors, and a warm cozy cabin atmosphere. The room includes a stone fireplace, wooden beams on the ceiling, large windows for natural light, a central seating area, and a wooden coffee table. The walls are made of rough-hewn wood, with a mix of stone and wood accents. The floor is made of natural wood planks. The room should have a cozy, inviting feel with ample space for furniture. This is a single room only, no other spaces or rooms are present.; The scene requires a 4m x 5m living room designed in modern and bright style.", + "policy_analysis": { + "scene_requirements": "The scene requires a 4m x 5m living room designed in modern and bright style. The room should include 8 floor-placed furniture and background objects: Large wooden sofa placed on floor; 2 Armchairs placed on floor; Wooden coffee table placed on floor; Tall floor lamp placed on floor; Large potted plant placed on floor; Low media console placed on floor; 2 Floor speakers placed on floor; Woven storage basket placed on floor. Wall decorations consist of 5 items: Stone fireplace mounted on wall; Wall\u2011mounted shelf mounted on wall; Flat\u2011screen TV mounted on wall; Wall clock mounted on wall; 2 Wall art frames mounted on wall. Furniture surfaces should be decorated with 7 functional and decorative objects: 4 Throw pillows placed on sofa; Ceramic vase placed on console; 2 Scented candles placed on table; 3 Lifestyle magaziness placed on table; Wooden tray placed on table; 6 Hardcover bookss placed on shelf; Cozy throw blanket placed on sofa. Each furniture surface such as tables, desks, shelves, and cabinets should have at least 2 or more decorative or functional objects placed on top to create a lived-in, realistic environment. Important constraints: Do not add rugs, mats, carpets, curtains, blankets, ceiling-hanging objects, or ceiling objects to the scene as these are either already installed or restricted. The complete scene must contain a minimum of 20 objects total following the placement proposals described above to achieve a complete, diverse, and realistic room environment.Must ensure that: i. The layout (position, rotation, and size) is believable, and common daily objects make the room feel lived-in. Rich of daily furniture and objects.ii. Contains the necessary furniture and setup for the specified function.iii. Each objects is in **reasonable size**, neatly placed, objects of the same category are well aglined, relationships are reasonable (e.g., chairs face desks), sufficient space exists for walking, and **orientations must** be correct. iv. All necessary large and small items are present. Has rich details. Each shelf is full of objects (>5) inside. Each supporter (e.g. table, desk, and shelf) has small objects on it. The room feels done.Must avoid that: i. Unusual objects or strange placements make the room unrealistic.ii. Missing key objects or contains mismatched furniture (e.g., no bed in a bedroom).iii. Floating objects, crowded floor, **abnormal size**, objects with collision, incorrect **orientation**, or large items placed oddly (e.g., sofa not against the wall). Large empty space. Blocker in front of furniture.iv. 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0.2, + "pbr_parameters": { + "metallic": 0.1, + "roughness": 0.6 + } + }, + { + "id": "room_1b316423_shampoo_0ae472ce", + "room_id": "room_1b316423", + "type": "shampoo", + "description": "A cylindrical shampoo bottle with a glossy neon teal finish, angular cap and sleek streamlined shape", + "position": { + "x": 2.770053519678867, + "y": 0.8782545510022559, + "z": 0.9683315384732039 + }, + "rotation": { + "x": 0.5364841228327878, + "y": -0.06553193066584204, + "z": 122.43434882101832 + }, + "dimensions": { + "width": 0.10187258734826002, + "length": 0.10190115095036806, + "height": 0.26226510668513947 + }, + "source": "generation", + "source_id": "4a16d969", + "place_id": "room_1b316423_cabinet_78598e23", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.15, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.3 + } + }, + { + "id": "room_1b316423_handsoap_2599fa33", + "room_id": "room_1b316423", + "type": "handsoap", + 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}, + "dimensions": { + "width": 0.2975202524673739, + "length": 0.05593036536238533, + "height": 0.7394968312040003 + }, + "source": "generation", + "source_id": "abb712a6", + "place_id": "wall", + "place_guidance": "Mounted on the wall above the entrance door", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_toilet_42448dd8" + } + ] + ], + "mass": 1.5, + "pbr_parameters": { + "metallic": 0.7, + "roughness": 0.3 + } + }, + { + "id": "room_1b316423_strip_4a1b2229", + "room_id": "room_1b316423", + "type": "strip", + "description": "A single piece of thin and upright LED neon strip lighting with a continuous linear form, vibrant magenta glow, and a sleek polymer housing", + "position": { + "x": 0.35250000000000004, + "y": 0.16265794100718317, + "z": 1.9386868749327775 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.16570297470500872, + "length": 0.16531588201436634, + "height": 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enclosure to the sink", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_sink_0158c290" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.1, + "roughness": 0.6 + } + }, + { + "id": "room_1b316423_wiring_12153442", + "room_id": "room_1b316423", + "type": "wiring", + "description": "An exposed wiring bundle with a compact rectangular cross\u2011section, neon\u2011orange sheath, and visible copper conductors", + "position": { + "x": 2.7852487180006027, + "y": 1.765, + "z": 1.8125 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.40990944341230984, + "length": 0.26950256399879446, + "height": 0.45 + }, + "source": "generation", + "source_id": "018b82c0", + "place_id": "wall", + "place_guidance": "Mounted on the wall connecting the shower enclosure to the sink", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": 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}, + { + "id": "room_1b316423_wiring_cb2f1bb1", + "room_id": "room_1b316423", + "type": "wiring", + "description": "An exposed wiring bundle with a compact rectangular cross\u2011section, neon\u2011orange sheath, and visible copper conductors", + "position": { + "x": 0.48750000000000004, + "y": 0.21475128199939725, + "z": 0.8125000000000001 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.40990944341230984, + "length": 0.26950256399879446, + "height": 0.45 + }, + "source": "generation", + "source_id": "018b82c0", + "place_id": "wall", + "place_guidance": "Mounted on the wall connecting the shower enclosure to the sink", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_sink_0158c290" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.1, + "roughness": 0.6 + } + }, + { + "id": "room_1b316423_panel_c173c226", + "room_id": "room_1b316423", + "type": "panel", + "description": "A circuitry wall panel with a flat rectangular shape, dark matte finish, embedded glowing circuit traces, and a recessed mounting frame", + "position": { + "x": 1.8375, + "y": 0.09244315658338256, + "z": 1.121004217715167 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.8336020627404659, + "length": 0.0248863131667651, + "height": 0.8329915645696662 + }, + "source": "generation", + "source_id": "4b9e3311", + "place_id": "wall", + "place_guidance": "Installed on the wall next to the shower", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_shower_8b6f2ec5" + } + ] + ], + "mass": 15.0, + "pbr_parameters": { + "metallic": 0.1, + "roughness": 0.8 + } + }, + { + "id": "room_1b316423_panel_de7066f8", + "room_id": "room_1b316423", + "type": "panel", + "description": "A circuitry wall panel with a flat rectangular shape, dark matte finish, embedded glowing circuit traces, and a recessed mounting frame", + "position": { + "x": 0.09244315658338256, + "y": 0.915, + "z": 1.121004217715167 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.8336020627404659, + "length": 0.0248863131667651, + "height": 0.8329915645696662 + }, + "source": "generation", + "source_id": "4b9e3311", + "place_id": "wall", + "place_guidance": "Installed on the wall next to the shower", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_shower_8b6f2ec5" + } + ] + ], + "mass": 15.0, + "pbr_parameters": { + "metallic": 0.1, + "roughness": 0.8 + } + }, + { + "id": "room_1b316423_towelrack_221d9e7f", + "room_id": "room_1b316423", + "type": "towelrack", + "description": "A neon\u2011edge towel rack with a tall vertical frame, chrome arms, and a glowing pink outline that traces the rack\u2019s silhouette", + "position": { + "x": 0.12466611909870187, + "y": 2.955, + "z": 0.5212114279466931 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.8752464725978334, + "length": 0.0893322381974037, + "height": 1.032577144106614 + }, + "source": "generation", + "source_id": "916d339c", + "place_id": "wall", + "place_guidance": "Mounted on the wall next to the shower", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_shower_8b6f2ec5" + } + ] + ], + "mass": 3.5, + "pbr_parameters": { + "metallic": 0.1, + "roughness": 0.5 + } + }, + { + "id": "room_1b316423_neonstrip_3d048856", + "room_id": "room_1b316423", + "type": "neonstrip", + "description": "A long cyberpunk neon light strip with a thin flexible aluminum body, vibrant magenta glow and a subtle ripple pattern etched into its surface", + "position": { + "x": 0.0887949061856492, + "y": 2.955, + "z": 1.9318264175517506 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.018019426465993117, + "length": 0.01758981237129835, + "height": 0.46134716489649913 + }, + "source": "generation", + "source_id": "e3e5b2f1", + "place_id": "wall", + "place_guidance": "Mount along the top edge of all walls", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_towelrack_221d9e7f" + } + ] + ], + "mass": 0.1, + "pbr_parameters": { + "metallic": 0.8, + "roughness": 0.2 + } + }, + { + "id": "room_1b316423_neonstrip_4ac08fdf", + "room_id": "room_1b316423", + "type": "neonstrip", + "description": "A long cyberpunk neon light strip with a thin flexible aluminum body, vibrant magenta glow and a subtle ripple pattern etched into its surface", + "position": { + "x": 2.5124999999999993, + "y": 0.0887949061856492, + "z": 1.9318264175517506 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.018019426465993117, + "length": 0.01758981237129835, + "height": 0.46134716489649913 + }, + "source": "generation", + "source_id": "e3e5b2f1", + "place_id": "wall", + "place_guidance": "Mount along the top edge of all walls", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_shower_8b6f2ec5" + } + ] + ], + "mass": 0.1, + "pbr_parameters": { + "metallic": 0.8, + "roughness": 0.2 + } + }, + { + "id": "room_1b316423_neonstrip_2921372b", + "room_id": "room_1b316423", + "type": "neonstrip", + "description": "A long cyberpunk neon light strip with a thin flexible aluminum body, vibrant magenta glow and a subtle ripple pattern etched into its surface", + "position": { + "x": 1.0274999999999999, + "y": 0.0887949061856492, + "z": 0.30682641755175055 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.018019426465993117, + "length": 0.01758981237129835, + "height": 0.46134716489649913 + }, + "source": "generation", + "source_id": "e3e5b2f1", + "place_id": "wall", + "place_guidance": "Mount along the top edge of all walls", + "placement_constraints": [ + [] + ], + "mass": 0.1, + "pbr_parameters": { + "metallic": 0.8, + "roughness": 0.2 + } + }, + { + "id": "room_1b316423_neonstrip_fecce90c", + "room_id": "room_1b316423", + "type": "neonstrip", + "description": "A long cyberpunk neon light strip with a thin flexible aluminum body, vibrant magenta glow and a subtle ripple pattern etched into its surface", + "position": { + "x": 1.0274999999999999, + "y": 0.0887949061856492, + "z": 1.0568264175517506 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.018019426465993117, + "length": 0.01758981237129835, + "height": 0.46134716489649913 + }, + "source": "generation", + "source_id": "e3e5b2f1", + "place_id": "wall", + "place_guidance": "Mount along the top edge of all walls", + "placement_constraints": [ + [] + ], + "mass": 0.1, + "pbr_parameters": { + "metallic": 0.8, + "roughness": 0.2 + } + }, + { + "id": "room_1b316423_circuitpanel_606a366c", + "room_id": "room_1b316423", + "type": "circuitpanel", + "description": "A cyberpunk circuit board panel with a slim rectangular frame, exposed copper traces, glowing green LEDs and a brushed steel backing", + "position": { + "x": 2.87360142860528, + "y": 0.915, + "z": 1.177277044527471 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.3277151051218651, + "length": 0.09279714278943955, + "height": 0.22044591094505842 + }, + "source": "generation", + "source_id": "493a817b", + "place_id": "wall", + "place_guidance": "Mount one near the shower and one near the sink on the walls", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_sink_0158c290" + } + ] + ], + "mass": 1.5, + "pbr_parameters": { + "metallic": 0.7, + "roughness": 0.4 + } + }, + { + "id": "room_1b316423_circuitpanel_481352c0", + "room_id": "room_1b316423", + "type": "circuitpanel", + "description": "A cyberpunk circuit board panel with a slim rectangular frame, exposed copper traces, glowing green LEDs and a brushed steel backing", + "position": { + "x": 1.5675, + "y": 0.1263985713947198, + "z": 2.1772770445274707 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.3277151051218651, + "length": 0.09279714278943955, + "height": 0.22044591094505842 + }, + "source": "generation", + "source_id": "493a817b", + "place_id": "wall", + "place_guidance": "Mount one near the shower and one near the sink on the walls", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_shower_8b6f2ec5" + } + ] + ], + "mass": 1.5, + "pbr_parameters": { + "metallic": 0.7, + "roughness": 0.4 + } + }, + { + "id": "room_1b316423_wirebundle_e3fd0a6d", + "room_id": "room_1b316423", + "type": "wirebundle", + "description": "A cyberpunk exposed wire bundle with twisted multicolored cables, each strand ending in a tiny flickering LED, encased in a clear protective sheath", + "position": { + "x": 0.10461215434509274, + "y": 2.615, + "z": 1.9475 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.1445078757871091, + "length": 0.049224308690185445, + "height": 0.18 + }, + "source": "generation", + "source_id": "bb961594", + "place_id": "wall", + "place_guidance": "Run along the walls connecting the neon strips and circuit panels", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_circuitpanel_481352c0" + } + ] + ], + "mass": 0.3, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_1b316423_wirebundle_e8741539", + "room_id": "room_1b316423", + "type": "wirebundle", + "description": "A cyberpunk exposed wire bundle with twisted multicolored cables, each strand ending in a tiny flickering LED, encased in a clear protective sheath", + "position": { + "x": 0.10461215434509274, + "y": 3.295, + "z": 1.9475 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.1445078757871091, + "length": 0.049224308690185445, + "height": 0.18 + }, + "source": "generation", + "source_id": "bb961594", + "place_id": "wall", + "place_guidance": "Run along the walls connecting the neon strips and circuit panels", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_strip_4a1b2229" + } + ] + ], + "mass": 0.3, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_1b316423_wirebundle_44463175", + "room_id": "room_1b316423", + "type": "wirebundle", + "description": "A cyberpunk exposed wire bundle with twisted multicolored cables, each strand ending in a tiny flickering LED, encased in a clear protective sheath", + "position": { + "x": 2.8953878456549074, + "y": 0.405, + "z": 2.0725000000000002 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.1445078757871091, + "length": 0.049224308690185445, + "height": 0.18 + }, + "source": "generation", + "source_id": "bb961594", + "place_id": "wall", + "place_guidance": "Run along the walls connecting the neon strips and circuit panels", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_circuitpanel_481352c0" + } + ] + ], + "mass": 0.3, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_1b316423_neonsign_291c4dd1", + "room_id": "room_1b316423", + "type": "neonsign", + "description": "A single piece of thin and upright neon sign with a sleek black backing, bright electric blue lettering spelling 'BATH' and a subtle flicker effect", + "position": { + "x": 1.4324999999999999, + "y": 0.10623500569024094, + "z": 0.4133710425424125 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.25058408679123245, + "length": 0.05247001138048186, + "height": 0.4982579149151752 + }, + "source": "generation", + "source_id": "ab3b77ac", + "place_id": "wall", + "place_guidance": "Mount above the sink on the wall", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_sink_0158c290" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.8, + "roughness": 0.2 + } + }, + { + "id": "room_1b316423_mirror_a5187fe8", + "room_id": "room_1b316423", + "type": "mirror", + "description": "A single piece of thin and upright mirror with reflective black glass, framed by a thin neon pink LED border.", + "position": { + "x": 1.9724999999999997, + "y": 0.2271079852843253, + "z": 0.42458168530502627 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.2943279352039362, + "length": 0.29421597056865056, + "height": 0.4758366293899477 + }, + "source": "generation", + "source_id": "1de2e800", + "place_id": "wall", + "place_guidance": "Mount on the wall directly above the sink, centered horizontally over the sink.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_sink_0158c290" + } + ] + ], + "mass": 1.5, + "pbr_parameters": { + "metallic": 0.8, + "roughness": 0.1 + } + }, + { + "id": "room_1b316423_mirror_1c25d185", + "room_id": "room_1b316423", + "type": "mirror", + "description": "A single piece of thin and upright mirror with a rectangular frame, reflective surface edged in a thin strip of glowing cyan LED, and a brushed steel backing", + "position": { + "x": 2.9129825810662706, + "y": 2.955, + "z": 0.9078331044409289 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.5256952542089605, + "length": 0.014034837867458313, + "height": 1.2593337911181424 + }, + "source": "generation", + "source_id": "b714858c", + "place_id": "wall", + "place_guidance": "Install the mirror centered above the sink on the wall", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_sink_0158c290" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.2, + "roughness": 0.3 + } + }, + { + "id": "room_1b316423_mirror2_5def781a", + "room_id": "room_1b316423", + "type": "mirror2", + "description": "A single piece of thin and upright wall\u2011mounted mirror with a sleek black border, neon\u2011purple backlighting and a slightly convex surface.", + "position": { + "x": 0.092678816040523, + "y": 0.405, + "z": 0.24263309643967207 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.30531497841831173, + "length": 0.025357632081045956, + "height": 0.589733807120656 + }, + "source": "generation", + "source_id": "c317f8b8", + "place_id": "wall", + "place_guidance": "Mount the mirror on the wall close to the toothbrush holder area.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_holder_7837ee16" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.1 + } + }, + { + "id": "room_1b316423_panel_e91574ba", + "room_id": "room_1b316423", + "type": "panel", + "description": "A cyberpunk circuit panel with exposed wiring, matte black casing, silver rivets and a thin glowing green indicator strip.", + "position": { + "x": 0.1037609592522615, + "y": 1.765, + "z": 1.142030603369881 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.29221496627772187, + "length": 0.04752191850452299, + "height": 0.2909387932602382 + }, + "source": "generation", + "source_id": "b6cc7973", + "place_id": "wall", + "place_guidance": "Attach the panel on the wall close to the sink, ensuring wiring is visible.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_handsoapdispenser_64965543" + } + ] + ], + "mass": 1.2, + "pbr_parameters": { + "metallic": 0.1, + "roughness": 0.6 + } + }, + { + "id": "room_1b316423_wiringbundle1_d7071751", + "room_id": "room_1b316423", + "type": "wiringbundle1", + "description": "A cyberpunk wiring bundle, thick cable with a twisted metallic sheath, neon\u2011orange insulation and small connector plugs.", + "position": { + "x": 0.14517643553458562, + "y": 0.7450000000000001, + "z": 2.15791299386623 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.466809619633583, + "length": 0.1303528710691712, + "height": 0.25917401226754055 + }, + "source": "generation", + "source_id": "3e010e30", + "place_id": "wall", + "place_guidance": "Run this bundle along the wall connecting the circuit panel to the neon sign.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_panel_c173c226" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.6, + "roughness": 0.7 + } + }, + { + "id": "room_1b316423_lightfixture_ed34ccd8", + "room_id": "room_1b316423", + "type": "lightfixture", + "description": "A cyberpunk style light fixture, compact wall\u2011mounted unit with a curved chrome housing and an integrated strip of programmable RGB LEDs", + "position": { + "x": 0.48750000000000004, + "y": 0.18649535521562094, + "z": 0.21250000000000008 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.3009620060026829, + "length": 0.21299071043124185, + "height": 0.4 + }, + "source": "generation", + "source_id": "c1707811", + "place_id": "wall", + "place_guidance": "Attach the fixture on the wall above the mirror, angled to illuminate the sink area", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_mirror_b9d7448c" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.9, + "roughness": 0.2 + } + }, + { + "id": "room_1b316423_circuitpanel_35c61b60", + "room_id": "room_1b316423", + "type": "circuitpanel", + "description": "A cyberpunk style circuit panel, flat rectangular module, dark carbon fiber backing, glowing teal circuit traces and a small tactile button array", + "position": { + "x": 0.08478170093413226, + "y": 0.915, + "z": 0.4625000000000001 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.26122699998832777, + "length": 0.00956340186826448, + "height": 0.4 + }, + "source": "generation", + "source_id": "a0966683", + "place_id": "wall", + "place_guidance": "Mount one panel on the left side and one on the right side of the shower enclosure", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_shower_8b6f2ec5" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.1, + "roughness": 0.6 + } + }, + { + "id": "room_1b316423_circuitpanel_26ed982e", + "room_id": "room_1b316423", + "type": "circuitpanel", + "description": "A cyberpunk style circuit panel, flat rectangular module, dark carbon fiber backing, glowing teal circuit traces and a small tactile button array", + "position": { + "x": 2.9152182990658675, + "y": 2.955, + "z": 0.21250000000000008 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.26122699998832777, + "length": 0.00956340186826448, + "height": 0.4 + }, + "source": "generation", + "source_id": "a0966683", + "place_id": "wall", + "place_guidance": "Mount one panel on the left side and one on the right side of the shower enclosure", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_shower_8b6f2ec5" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.1, + "roughness": 0.6 + } + }, + { + "id": "room_1b316423_wiringbundle_1_570b3a04", + "room_id": "room_1b316423", + "type": "wiringbundle_1", + "description": "A cylindrical wiring bundle with a twisted neon\u2011orange cable sheath, rugged texture and a slightly tapered end", + "position": { + "x": 0.17057270823251805, + "y": 1.425, + "z": 2.1894906481930323 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.39459423205982735, + "length": 0.18114541646503607, + "height": 0.19601870361393536 + }, + "source": "generation", + "source_id": "cd829038", + "place_id": "wall", + "place_guidance": "Run the bundles along the left wall and across the top of the room, keeping them evenly spaced", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_towelrack_221d9e7f" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.1, + "roughness": 0.6 + } + }, + { + "id": "room_1b316423_neonstrip_59cfb324", + "room_id": "room_1b316423", + "type": "neonstrip", + "description": "A single piece of thin and upright neon strip with a bright cyan glow, flat rectangular profile and smooth glossy surface", + "position": { + "x": 2.91824747417712, + "y": 0.405, + "z": 0.9996355345379654 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.05298852286191222, + "length": 0.0035050516457601683, + "height": 0.07572893092406946 + }, + "source": "generation", + "source_id": "d1d10822", + "place_id": "wall", + "place_guidance": "Place the strips above the sink on the left, center and right positions", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_1b316423_sink_0158c290" + } + ] + ], + "mass": 0.01, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.1 + } + }, + { + "id": "room_1b316423_neonstrip_8782188f", + "room_id": "room_1b316423", + "type": "neonstrip", + "description": "A single piece of thin and upright neon strip with a bright cyan glow, flat rectangular profile and smooth glossy surface", + "position": { + "x": 0.35250000000000004, + "y": 0.08175252582288009, + "z": 1.4996355345379653 + }, + "rotation": 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Room size: approximately 10x12 feet. Key features: shower area with neon-lit enclosure, dark metallic sink counter with integrated circuitry, toilet with neon signage, exposed wiring along walls, and a futuristic gloomy atmosphere. All surfaces should be dark metallic with neon accents. Include essential bathroom fixtures: shower, sink counter with mirror, toilet, and storage. Style consistency: dark tones (black, deep purple, electric blue), visible wiring, neon signs (e.g., 'BATH' in electric blue), and circuitry details on surfaces. The room must feel functional yet dystopian with no natural light - only neon and artificial lighting.; The scene requires a 3.0m x 3.7m bathroom designed in modern and bright style.", + "created_from_text": "a single room: a medium-sized bathroom with Cyberpunk style - high-tech low-life, neon signage, dark metallic surfaces, exposed wires and circuitry, and futuristic gloom. Room size: approximately 10x12 feet. Key features: shower area with neon-lit enclosure, dark metallic sink counter with integrated circuitry, toilet with neon signage, exposed wiring along walls, and a futuristic gloomy atmosphere. All surfaces should be dark metallic with neon accents. Include essential bathroom fixtures: shower, sink counter with mirror, toilet, and storage. Style consistency: dark tones (black, deep purple, electric blue), visible wiring, neon signs (e.g., 'BATH' in electric blue), and circuitry details on surfaces. The room must feel functional yet dystopian with no natural light - only neon and artificial lighting.; The scene requires a 3.0m x 3.7m bathroom designed in modern and bright style.", + "policy_analysis": { + "scene_requirements": "The scene requires a 3.0m x 3.7m bathroom designed in modern and bright style. Furniture surfaces should be decorated with 22 functional and decorative objects: Neon\u2011lit shower enclosure placed on wall|wall|shower; Futuristic toilet unit placed on floor|floor|toilet; Dark metallic sink placed on floor|floor|sink; Framed neon mirror placed on wall|wall|mirror; Circuit\u2011etched storage cabinet placed on floor|floor|cabinet; Electric\u2011blue 'BATH' sign placed on wall|wall|signage; LED neon strip lighting placed on wall|wall|strip; 4 Exposed wiring bundless placed on wall|wall|cable; 2 Circuitry wall panels placed on wall|wall|panel; Touchless soap dispenser placed on floor|sink|dispenser; Toothbrush holder placed on floor|sink|holder; Neon\u2011edge towel rack placed on wall|wall|rack; Metal waste bin placed on floor|floor|bin; Wall\u2011mounted storage shelf placed on wall|wall|shelf; 3 Shampoo bottles placed on floor|shelf|bottle; Toilet brush placed on floor|toilet|brush; 2 Air\u2011freshener sprays placed on floor|shelf|spray; Neon wall lamp placed on wall|wall|lamp; Digital wall clock placed on wall|wall|clock; Wall\u2011mounted speaker placed on wall|wall|speaker; Synthetic cyber\u2011plant placed on floor|floor|plant; 2 Rolled towels placed on wall|rack|towel. Each furniture surface such as tables, desks, shelves, and cabinets should have at least 2 or more decorative or functional objects placed on top to create a lived-in, realistic environment. Important constraints: Do not add rugs, mats, carpets, curtains, blankets, ceiling-hanging objects, or ceiling objects to the scene as these are either already installed or restricted. The complete scene must contain a minimum of 22 objects total following the placement proposals described above to achieve a complete, diverse, and realistic room environment.Must ensure that: i. The layout (position, rotation, and size) is believable, and common daily objects make the room feel lived-in. Rich of daily furniture and objects.ii. Contains the necessary furniture and setup for the specified function.iii. Each objects is in **reasonable size**, neatly placed, objects of the same category are well aglined, relationships are reasonable (e.g., chairs face desks), sufficient space exists for walking, and **orientations must** be correct. iv. All necessary large and small items are present. Has rich details. Each shelf is full of objects (>5) inside. Each supporter (e.g. table, desk, and shelf) has small objects on it. The room feels done.Must avoid that: i. Unusual objects or strange placements make the room unrealistic.ii. Missing key objects or contains mismatched furniture (e.g., no bed in a bedroom).iii. Floating objects, crowded floor, **abnormal size**, objects with collision, incorrect **orientation**, or large items placed oddly (e.g., sofa not against the wall). Large empty space. Blocker in front of furniture.iv. 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object", + "placement_constraints": null, + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_80fc019b_plantwall_33a21e8a", + "room_id": "room_80fc019b", + "type": "plantwall", + "description": "A living plant wall composed of modular vertical planters, each holding a mix of trailing ferns and moss, with a natural wood frame.", + "position": { + "x": 5.329625678754727, + "y": 3.1425000000000005, + "z": 1.3812487716860062 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.6756702205770052, + "length": 0.18074864249054495, + "height": 0.3125024566279876 + }, + "source": "generation", + "source_id": "d928c5fa", + "place_id": "wall", + "place_guidance": "Mount the eight plant wall panels evenly across the main wall behind the sofa.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_80fc019b_sofa_c0367ad0" + } + ] + ], + "mass": 5.0, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_80fc019b_plantwall_5498e0c0", + "room_id": "room_80fc019b", + "type": "plantwall", + "description": "A living plant wall composed of modular vertical planters, each holding a mix of trailing ferns and moss, with a natural wood frame.", + "position": { + "x": 5.329625678754727, + "y": 3.1425000000000005, + "z": 2.0062487716860065 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.6756702205770052, + "length": 0.18074864249054495, + "height": 0.3125024566279876 + }, + "source": "generation", + "source_id": "d928c5fa", + "place_id": "wall", + "place_guidance": "Mount the eight plant wall panels evenly across the main wall behind the sofa.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_80fc019b_sofa_c0367ad0" + } + ] + ], + "mass": 5.0, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_80fc019b_plantwall_961766a0", + "room_id": "room_80fc019b", + "type": "plantwall", + "description": "A living plant wall composed of modular vertical planters, each holding a mix of trailing ferns and moss, with a natural wood frame.", + "position": { + "x": 5.329625678754727, + "y": 2.0025000000000004, + "z": 1.3812487716860062 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.6756702205770052, + "length": 0.18074864249054495, + "height": 0.3125024566279876 + }, + "source": "generation", + "source_id": "d928c5fa", + "place_id": "wall", + "place_guidance": "Mount the eight plant wall panels evenly across the main wall behind the sofa.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_80fc019b_sofa_c0367ad0" + } + ] + ], + "mass": 5.0, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_80fc019b_plantwall_15775c8f", + "room_id": "room_80fc019b", + "type": "plantwall", + "description": "A living plant wall composed of modular vertical planters, each holding a mix of trailing ferns and moss, with a natural wood frame.", + "position": { + "x": 5.329625678754727, + "y": 2.0025000000000004, + "z": 2.0062487716860065 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.6756702205770052, + "length": 0.18074864249054495, + "height": 0.3125024566279876 + }, + "source": "generation", + "source_id": "d928c5fa", + "place_id": "wall", + "place_guidance": "Mount the eight plant wall panels evenly across the main wall behind the sofa.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_80fc019b_sofa_c0367ad0" + } + ] + ], + "mass": 5.0, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_80fc019b_plantwall_473184c3", + "room_id": "room_80fc019b", + "type": "plantwall", + "description": "A living plant wall composed of modular vertical planters, each holding a mix of trailing ferns and moss, with a natural wood frame.", + "position": { + "x": 5.329625678754727, + "y": 4.282500000000001, + "z": 1.3812487716860062 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.6756702205770052, + "length": 0.18074864249054495, + "height": 0.3125024566279876 + }, + "source": "generation", + "source_id": "d928c5fa", + "place_id": "wall", + "place_guidance": "Mount the eight plant wall panels evenly across the main wall behind the sofa.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_80fc019b_sofa_c0367ad0" + } + ] + ], + "mass": 5.0, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_80fc019b_plantwall_0cb46939", + "room_id": "room_80fc019b", + "type": "plantwall", + "description": "A living plant wall composed of modular vertical planters, each holding a mix of trailing ferns and moss, with a natural wood frame.", + "position": { + "x": 5.329625678754727, + "y": 4.282500000000001, + "z": 2.0062487716860065 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.6756702205770052, + "length": 0.18074864249054495, + "height": 0.3125024566279876 + }, + "source": "generation", + "source_id": "d928c5fa", + "place_id": "wall", + "place_guidance": "Mount the eight plant wall panels evenly across the main wall behind the sofa.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_80fc019b_sofa_c0367ad0" + } + ] + ], + "mass": 5.0, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_80fc019b_plantwall_aea69863", + "room_id": "room_80fc019b", + "type": "plantwall", + "description": "A living plant wall composed of modular vertical planters, each holding a mix of trailing ferns and moss, with a natural wood frame.", + "position": { + "x": 0.7999999999999998, + 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"width": 0.8477903084937901, + "length": 0.2935183170417, + "height": 1.1359651503117076 + }, + "source": "generation", + "source_id": "76259513", + "place_id": "wall", + "place_guidance": "Install the two floating shelves above the sideboard, spaced evenly.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_80fc019b_sideboard_64ab233c" + } + ] + ], + "mass": 15.0, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_80fc019b_floatshelf_50aa7bbe", + "room_id": "room_80fc019b", + "type": "floatshelf", + "description": "A single piece of thin and upright floating shelf with a sleek rectangular profile, matte natural wood finish, and hidden mounting brackets.", + "position": { + "x": 0.22675915852085002, + "y": 2.0025000000000004, + "z": 1.0945174248441463 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.8477903084937901, + "length": 0.2935183170417, + "height": 1.1359651503117076 + }, + "source": "generation", + "source_id": "76259513", + "place_id": "wall", + "place_guidance": "Install the two floating shelves above the sideboard, spaced evenly.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_80fc019b_sideboard_64ab233c" + } + ] + ], + "mass": 15.0, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_80fc019b_painting_1_6c10c48f", + "room_id": "room_80fc019b", + "type": "painting_1", + "description": "A single piece of thin and upright nature painting featuring a serene forest scene, soft earthy palette, stretched canvas on a light wooden frame.", + "position": { + "x": 1.06, + "y": 0.0890817159903845, + "z": 1.079463261139287 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.9170934959530849, + "length": 0.018163431980768977, + "height": 0.9160734777214263 + }, + "source": "generation", + "source_id": "3a9624fb", + "place_id": "wall", + "place_guidance": "Hang the two paintings on the wall opposite the sofa, centered above the windows area (imagined wall space).", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_80fc019b_floatshelf_72d9e297" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_80fc019b_painting_2_4fa94540", + "room_id": "room_80fc019b", + "type": "painting_2", + "description": "A single piece of thin and upright nature painting featuring a serene forest scene, soft earthy palette, stretched canvas on a light wooden frame.", + "position": { + "x": 2.1, + "y": 0.09911829467923791, + "z": 1.3375000000000001 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.6328439448162032, + "length": 0.03823658935847579, + "height": 0.4 + }, + "source": "generation", + "source_id": "912a6900", + "place_id": "wall", + "place_guidance": "Hang the two paintings on the wall opposite the sofa, centered above the windows area (imagined wall space).", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_80fc019b_sofa_c0367ad0" + } + ] + ], + "mass": 1.2, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.3 + } + }, + { + "id": "room_80fc019b_clock_5e0f7f28", + "room_id": "room_80fc019b", + "type": "clock", + "description": "A single piece of thin and upright round wall clock with a natural bamboo frame, white dial, minimalist black hands, and a smooth matte finish.", + "position": { + "x": 2.6199999999999997, + "y": 5.908046561427872, + "z": 1.3775000000000002 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 180 + }, + "dimensions": { + "width": 0.31999942851591295, + "length": 0.023906877144255916, + "height": 0.32 + }, + "source": "generation", + "source_id": "020196d7", + "place_id": "wall", + "place_guidance": "Mount the round clock at eye level on the wall beside the plant wall panels.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_80fc019b_plantwall_33a21e8a" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_80fc019b_mirror_2b244002", + "room_id": "room_80fc019b", + "type": "mirror", + "description": "A single piece of thin and upright rectangular mirror with a reclaimed wood frame, slightly distressed finish, and a clear reflective surface.", + "position": { + "x": 3.14, + "y": 0.12379979089755061, + "z": 0.7529165572328543 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.7034867920644645, + "length": 0.08759958179510118, + "height": 1.5691668855342915 + }, + "source": "generation", + "source_id": "f215930a", + "place_id": "wall", + "place_guidance": "Place the rectangular mirror on the wall opposite the bench, centered above the doorway.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_80fc019b_clock_5e0f7f28" + } + ] + ], + "mass": 15.0, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.3 + } + }, + { + "id": "room_80fc019b_livingwall_2a72cb10", + "room_id": "room_80fc019b", + "type": "livingwall", + "description": "A full\u2011length vertical garden panel, slim rectangular shape, covered in a mosaic of assorted succulents and trailing ferns, set in reclaimed timber frames with a natural, earthy tone.", + "position": { + "x": 0.21838493461076247, + "y": 4.282500000000001, + "z": 1.3555139473922058 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.986676235990184, + "length": 0.2767698692215249, + "height": 1.1139721052155884 + }, + "source": "generation", + "source_id": "ce9be7d7", + "place_id": "wall", + "place_guidance": "Install the living wall on the wall opposite the newly added windows, spanning the full height of the room.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_80fc019b_sofa_c0367ad0" + } + ] + ], + "mass": 15.0, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_80fc019b_livingwall_5801ace9", + "room_id": "room_80fc019b", + "type": "livingwall", + "description": "A single piece of thin and upright living wall composed of a vertical grid of modular planters filled with assorted ferns and trailing vines, featuring a natural wood frame with a warm, earthy finish", + "position": { + "x": 4.18, + "y": 0.26808736052772997, + "z": 1.6388661180872564 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.6020632704865373, + "length": 0.37617472105545996, + "height": 0.7972677638254875 + }, + "source": "generation", + "source_id": "04828cf1", + "place_id": "wall", + "place_guidance": "Mount the living wall on the entire length of the wall at x\u202f=\u202f0, spanning from floor to ceiling, centered horizontally to create a continuous biophilic backdrop.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_80fc019b_sideboard_64ab233c" + } + ] + ], + "mass": 15.0, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.8 + } + }, + { + "id": "room_80fc019b_bookb_4_e9ed5293", + "room_id": "room_80fc019b", + "type": "bookb_4", + "description": "A hardcover book with a textured cloth cover, rectangular shape and slightly rounded edges", + "position": { + "x": 0.2195206733764668, + "y": 0.5918781277517278, + "z": 0.7780858496302164 + }, + "rotation": { + "x": -0.15673241041487407, + "y": -0.05871394889080202, + "z": -16.721356770536318 + }, + "dimensions": { + "width": 0.17156670972347793, + "length": 0.1415889293502937, + "height": 0.08333531277121879 + }, + "source": "generation", + "source_id": "ad593317", + "place_id": "room_80fc019b_bookshelf_2bc761b6", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_80fc019b_vases_298a017d", + "room_id": "room_80fc019b", + "type": "vases", + "description": "A glass vase with a smooth cylindrical body, frosted finish and a narrow neck", + "position": { + "x": 0.7042811689937909, + "y": 2.0814120393072706, + "z": 0.05433947805287809 + }, + "rotation": { + "x": 52.5107534856582, + "y": -33.43369650946942, + "z": -59.69521510298994 + }, + "dimensions": { + "width": 0.2195161498953168, + "length": 0.21944057137939502, + "height": 0.46244114198980873 + }, + "source": "generation", + "source_id": "97aecb8b", + "place_id": "room_80fc019b_sideboard_64ab233c", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 1.2, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.8 + } + }, + { + "id": "room_80fc019b_bookt_1_a531bb3d", + "room_id": "room_80fc019b", + "type": "bookt_1", + "description": "A hardcover book with a natural paper cover, rectangular shape and slightly textured edges", + "position": { + "x": 3.572274102720529, + "y": 2.7255165541370934, + "z": 0.41073346456328896 + }, + "rotation": { + "x": -0.19669856008295436, + "y": -0.21034091302462743, + "z": 57.01942366373479 + }, + "dimensions": { + "width": 0.14938915690460486, + "length": 0.13685064953960807, + "height": 0.04537103878685864 + }, + "source": "generation", + "source_id": "df48a47d", + "place_id": "room_80fc019b_coffeetable_3e8f52ae", + "place_guidance": "Standard placement for the object", + "placement_constraints": null, + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + } + ], + "windows": [], + "floor_material": "room_80fc019b_floor", + "ceiling_height": 2.7 + } + ], + "total_area": 33.0, + "building_style": "Biophilic modern living space with organic materials, expansive glazing, and seamless indoor\u2011outdoor transition", + "description": "Complete layout with doors/windows: Generate a single medium-sized living room with Biophilic design style. The room should feature living walls covered in plants, large windows maximizing natural light, use of organic materials like wood and stone, and a layout that blurs the boundaries between indoor and outdoor spaces. Include a large glass door leading to a small outdoor area for seamless indoor-outdoor transition. The room must have 3-4 large windows on one wall, a full-length living wall with integrated plant system on the opposite wall, and a 20% open-to-outdoor connection. Use natural materials like bamboo flooring, reclaimed wood furniture, and stone accents. Avoid artificial lighting fixtures and prioritize natural light sources. The room should feel connected to nature with abundant greenery and earthy color palette.; The scene requires a 5.5m x 6.0m living room designed in modern and bright style.", + "created_from_text": "Generate a single medium-sized living room with Biophilic design style. The room should feature living walls covered in plants, large windows maximizing natural light, use of organic materials like wood and stone, and a layout that blurs the boundaries between indoor and outdoor spaces. Include a large glass door leading to a small outdoor area for seamless indoor-outdoor transition. The room must have 3-4 large windows on one wall, a full-length living wall with integrated plant system on the opposite wall, and a 20% open-to-outdoor connection. Use natural materials like bamboo flooring, reclaimed wood furniture, and stone accents. Avoid artificial lighting fixtures and prioritize natural light sources. The room should feel connected to nature with abundant greenery and earthy color palette.; The scene requires a 5.5m x 6.0m living room designed in modern and bright style.", + "policy_analysis": { + "scene_requirements": "The scene requires a 5.5m x 6.0m living room designed in modern and bright style. The room should include 11 floor-placed furniture and background objects: Plush linen sofa placed on floor; 2 Reclaimed armchairs placed on floor; Wood coffee table placed on floor; Reclaimed sideboard placed on floor; Wood bookshelf placed on floor; 2 Tall floor lamps placed on floor; Wood bench placed on floor; Fabric ottoman placed on floor; 2 Bamboo potted plants placed on floor; 2 Side tables placed on floor; Stone statue placed on floor. Wall decorations consist of 5 items: 8 Living plant walls mounted on wall; 2 Floating shelfs mounted on wall; 2 Nature paintings mounted on wall; Round wall clock mounted on wall; Rectangular mirror mounted on wall. Furniture surfaces should be decorated with 6 functional and decorative objects: 3 Ceramic vases placed on table; 2 Woven trays placed on table; 2 Scented candles placed on sideboard; 2 Wicker baskets placed on sideboard; 10 Hardcover books placed on bookshelf; 5 Glossy magazines placed on bookshelf. Each furniture surface such as tables, desks, shelves, and cabinets should have at least 2 or more decorative or functional objects placed on top to create a lived-in, realistic environment. Important constraints: Do not add rugs, mats, carpets, curtains, blankets, ceiling-hanging objects, or ceiling objects to the scene as these are either already installed or restricted. The complete scene must contain a minimum of 22 objects total following the placement proposals described above to achieve a complete, diverse, and realistic room environment.Must ensure that: i. The layout (position, rotation, and size) is believable, and common daily objects make the room feel lived-in. Rich of daily furniture and objects.ii. Contains the necessary furniture and setup for the specified function.iii. Each objects is in **reasonable size**, neatly placed, objects of the same category are well aglined, relationships are reasonable (e.g., chairs face desks), sufficient space exists for walking, and **orientations must** be correct. iv. All necessary large and small items are present. Has rich details. Each shelf is full of objects (>5) inside. Each supporter (e.g. table, desk, and shelf) has small objects on it. The room feels done.Must avoid that: i. Unusual objects or strange placements make the room unrealistic.ii. Missing key objects or contains mismatched furniture (e.g., no bed in a bedroom).iii. Floating objects, crowded floor, **abnormal size**, objects with collision, incorrect **orientation**, or large items placed oddly (e.g., sofa not against the wall). Large empty space. Blocker in front of furniture.iv. 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"dimensions": { + "width": 0.09038980637809808, + "length": 0.015761782223452363, + "height": 0.3618336430954709 + }, + "source": "generation", + "source_id": "de3502ce", + "place_id": "wall", + "place_guidance": "Mount the sign on the wall directly above the counter, centered horizontally", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_8661216a_counter_1a5e9e2f" + } + ] + ], + "mass": 0.05, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.4 + } + }, + { + "id": "room_8661216a_wallshelf_6cc56524", + "room_id": "room_8661216a", + "type": "wallshelf", + "description": "A rectangular wall shelf with a chrome frame and pastel pink/teal backing, shallow depth", + "position": { + "x": 0.24586961641055494, + "y": 2.1475, + "z": 1.1025043131334915 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.646159588586596, + "length": 0.33173923282110984, + "height": 1.1199913737330172 + }, + "source": "generation", + "source_id": "c8decf58", + "place_id": "wall", + "place_guidance": "Attach the shelf to the left side wall, a comfortable reach from the counter", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_8661216a_fittingtable_10b2995d" + } + ] + ], + "mass": 15.0, + "pbr_parameters": { + "metallic": 0.1, + "roughness": 0.6 + } + }, + { + "id": "room_8661216a_largemirror_ba0d8cc8", + "room_id": "room_8661216a", + "type": "largemirror", + "description": "A single piece of thin and upright rectangular mirror with a chrome frame, large surface", + "position": { + "x": 0.24503114645331558, + "y": 3.0875000000000004, + "z": 0.7527379629958723 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.7032715334395439, + "length": 0.33006229290663114, + "height": 1.5695240740082557 + }, + "source": "generation", + "source_id": "6fe6305e", + "place_id": "wall", + "place_guidance": "Mount the mirror on the wall opposite the entrance, centered horizontally", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_8661216a_fittingtable_10b2995d" + } + ] + ], + "mass": 12.0, + "pbr_parameters": { + "metallic": 0.9, + "roughness": 0.1 + } + }, + { + "id": "room_8661216a_wallshelf_bf4079de", + "room_id": "room_8661216a", + "type": "wallshelf", + "description": "A single piece of thin and upright rectangular wall shelf with a chrome frame and pastel teal backing", + "position": { + "x": 4.4053586560815985, + "y": 1.2074999999999998, + "z": 0.865253504980334 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.4938513496536331, + "length": 0.02928268783680305, + "height": 1.344492990039332 + }, + "source": "generation", + "source_id": "68787797", + "place_id": "wall", + "place_guidance": "Mount the shelf on the left side wall at a comfortable eye level", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_8661216a_fittingtable_10b2995d" + } + ] + ], + "mass": 2.5, + "pbr_parameters": { + "metallic": 0.9, + "roughness": 0.3 + } + }, + { + "id": "room_8661216a_picture_cfe53a58", + "room_id": "room_8661216a", + "type": "picture", + "description": "A single piece of thin and upright rectangular framed picture with pastel pink and teal geometric design", + "position": { + "x": 0.08274443702899512, + "y": 1.2074999999999998, + "z": 1.3875000000000002 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.38605538717150695, + "length": 0.005488874057990187, + "height": 0.3 + }, + "source": "generation", + "source_id": "6be21a7f", + "place_id": "wall", + "place_guidance": "Space the three pictures evenly along the wall, centered above the display cases", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_8661216a_displaycase_790137b1" + } + ] + ], + "mass": 0.2, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": "room_8661216a_picture_5b12f34e", + "room_id": "room_8661216a", + "type": "picture", + "description": "A single piece of thin and upright rectangular framed picture with pastel pink and teal geometric design", + "position": { + "x": 0.46499999999999986, + "y": 0.08274443702899512, + "z": 1.3875000000000002 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.38605538717150695, + "length": 0.005488874057990187, + "height": 0.3 + }, + "source": "generation", + "source_id": "6be21a7f", + "place_id": "wall", + "place_guidance": "Space the three pictures evenly along the wall, centered above the display cases", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_8661216a_displaycase_03f3b8ab" + } + ] + ], + "mass": 0.2, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.7 + } + }, + { + "id": 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single piece of thin and upright chrome light fixture with a pastel pink glass shade, mounted near the ceiling", + "position": { + "x": 0.37072894026456704, + "y": 4.0275, + "z": 0.6595144932749137 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.5814659588598688, + "length": 0.581457880529134, + "height": 1.7559710134501727 + }, + "source": "generation", + "source_id": "8bd27cbe", + "place_id": "wall", + "place_guidance": "Install the two fixtures on opposite walls close to the ceiling", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_8661216a_displaycase_790137b1" + } + ] + ], + "mass": 5.0, + "pbr_parameters": { + "metallic": 0.1, + "roughness": 0.6 + } + }, + { + "id": "room_8661216a_retrosign_8188ea8c", + "room_id": "room_8661216a", + "type": "retrosign", + "description": "A single piece of thin and upright pastel pink retro sign with stylized 1950s lettering and chrome edging", + "position": { + "x": 0.46499999999999986, + "y": 4.902043463568655, + "z": 1.2303531308079325 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 180 + }, + "dimensions": { + "width": 0.2931781626683261, + "length": 0.03591307286268967, + "height": 0.6142937383841349 + }, + "source": "generation", + "source_id": "a005ab11", + "place_id": "wall", + "place_guidance": "Hang the sign near the entrance wall at eye level", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_8661216a_picture_cfe53a58" + } + ] + ], + "mass": 0.1, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.6 + } + }, + { + "id": "room_8661216a_picture_287bdbae", + "room_id": "room_8661216a", + "type": "picture", + "description": "A single piece of thin and upright framed picture with a pastel pink and teal border, rectangular shape, glossy finish, and a subtle retro graphic", + "position": { + "x": 1.095, + "y": 4.916259106810824, + "z": 1.1875 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 180 + }, + "dimensions": { + "width": 0.48894915040911474, + "length": 0.007481786378351863, + "height": 0.7 + }, + "source": "generation", + "source_id": "01c96b3d", + "place_id": "wall", + "place_guidance": "Mount one picture near the entrance wall and the other near the jukebox wall, at eye level", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_8661216a_jukebox_72f1ab34" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.3 + } + }, + { + "id": "room_8661216a_picture_8d93505e", + "room_id": "room_8661216a", + "type": "picture", + "description": "A single piece of thin and upright framed picture with a pastel pink and teal border, rectangular shape, glossy finish, and a subtle retro graphic", + "position": { + "x": 4.416259106810824, + "y": 0.5024999999999997, + "z": 1.1875 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 90 + }, + "dimensions": { + "width": 0.48894915040911474, + "length": 0.007481786378351863, + "height": 0.7 + }, + "source": "generation", + "source_id": "01c96b3d", + "place_id": "wall", + "place_guidance": "Mount one picture near the entrance wall and the other near the jukebox wall, at eye level", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_8661216a_jukebox_72f1ab34" + } + ] + ], + "mass": 0.5, + "pbr_parameters": { + "metallic": 0.0, + "roughness": 0.3 + } + }, + { + "id": "room_8661216a_lightfixture_26d7837a", + "room_id": "room_8661216a", + "type": "lightfixture", + "description": "A chrome light fixture with a pastel pink glass shade, cylindrical and sleek, thin and upright", + "position": { + "x": 3.615, + "y": 4.603773500120919, + "z": 1.3948080697360938 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 180 + }, + "dimensions": { + "width": 0.6341584698906843, + "length": 0.6324529997581619, + "height": 1.0353838605278125 + }, + "source": "generation", + "source_id": "85ab8b8e", + "place_id": "wall", + "place_guidance": "Install the two fixtures on the wall directly above the three display cases, spaced evenly.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_8661216a_displaycase_03f3b8ab" + } + ] + ], + "mass": 5.0, + "pbr_parameters": { + "metallic": 0.9, + "roughness": 0.1 + } + }, + { + "id": "room_8661216a_lightfixture_822a55e2", + "room_id": "room_8661216a", + "type": "lightfixture", + "description": "A chrome light fixture with a pastel pink glass shade, cylindrical and sleek, thin and upright", + "position": { + "x": 2.9850000000000003, + "y": 0.396226499879081, + "z": 1.3948080697360938 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 0 + }, + "dimensions": { + "width": 0.6341584698906843, + "length": 0.6324529997581619, + "height": 1.0353838605278125 + }, + "source": "generation", + "source_id": "85ab8b8e", + "place_id": "wall", + "place_guidance": "Install the two fixtures on the wall directly above the three display cases, spaced evenly.", + "placement_constraints": [ + [ + { + "type": "alignment", + "constraint": "on_top_of", + "target": "room_8661216a_displaycase_03f3b8ab" + } + ] + ], + "mass": 5.0, + "pbr_parameters": { + "metallic": 0.9, + "roughness": 0.1 + } + }, + { + "id": "room_8661216a_framedpicture_ebf20a09", + "room_id": "room_8661216a", + "type": "framedpicture", + "description": "A single piece of thin and upright framed picture with pastel pink and teal border, rectangular and flat", + "position": { + "x": 0.08129904913338137, + "y": 1.2074999999999998, + "z": 2.0125 + }, + "rotation": { + "x": 0, + "y": 0, + "z": 270 + }, + "dimensions": { + "width": 0.4212991225811856, + "length": 0.0025980982667627075, + "height": 0.3 + }, + "source": "generation", + "source_id": "638cf4c8", + "place_id": "wall", + "place_guidance": "Hang the three pictures evenly spaced along the back wall at a comfortable viewing height.", + 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null, + "mass": 0.01, + "pbr_parameters": { + "metallic": 0.3, + "roughness": 0.3 + } + } + ], + "windows": [], + "floor_material": "room_8661216a_floor", + "ceiling_height": 2.7 + } + ], + "total_area": 22.5, + "building_style": "Retro 1950s Diner style commercial retail with pastel pink and teal accents", + "description": "Complete layout with doors/windows: a single room, medium-sized jewelry store, Retro 1950s Diner style. The room has checkerboard patterned floors (black and white) with chrome accents on all display cases, counters, and fixtures. Walls are painted in pastel pink and teal. Key features: 1) A vintage jukebox in the corner with 1950s vibe, 2) 3-4 chrome display cases with glass fronts for jewelry, 3) A counter with a cash register (with chrome trim) and 2-3 vinyl stools (teal with white stripes) for customer seating, 4) At least 2 windows (for natural light) and one entrance door. The room should feel compact but functional with clear walking paths between display areas and counter, and 1-2 small tables for fitting areas. No rugs, mats, or ceiling-hanging objects. Include pastel pink and teal color accents throughout.; The scene requires a 4.5m x 5.0m jewelry store designed in modern and bright style.", + "created_from_text": "a single room, medium-sized jewelry store, Retro 1950s Diner style. The room has checkerboard patterned floors (black and white) with chrome accents on all display cases, counters, and fixtures. Walls are painted in pastel pink and teal. Key features: 1) A vintage jukebox in the corner with 1950s vibe, 2) 3-4 chrome display cases with glass fronts for jewelry, 3) A counter with a cash register (with chrome trim) and 2-3 vinyl stools (teal with white stripes) for customer seating, 4) At least 2 windows (for natural light) and one entrance door. The room should feel compact but functional with clear walking paths between display areas and counter, and 1-2 small tables for fitting areas. No rugs, mats, or ceiling-hanging objects. Include pastel pink and teal color accents throughout.; The scene requires a 4.5m x 5.0m jewelry store designed in modern and bright style.", + "policy_analysis": { + "scene_requirements": "The scene requires a 4.5m x 5.0m jewelry store designed in modern and bright style. The room should include 9 floor-placed furniture and background objects: 3 Chrome glass display cases placed on floor; Chrome trimmed retail counter placed on floor; Vintage 1950s jukebox placed on floor; 3 Teal vinyl stool with white stripess placed on floor; 2 Small chrome fitting tables placed on floor; 2 Small potted succulents placed on floor; 2 Retro floor speakers placed on floor; Stainless steel trash can placed on floor; Floor\u2011level security safe placed on floor. Wall decorations consist of 7 items: 2 Oval pastel teal mirrors mounted on wall; 4 Retro chrome wall sconces mounted on wall; Neon pastel pink sign mounted on wall; 2 Small ceiling\u2011mounted cameras mounted on wall; 2 Wall\u2011mounted chrome shelfs mounted on wall; 2 Pastel pink & teal artworks mounted on wall; Retro wall clock mounted on wall. Furniture surfaces should be decorated with 5 functional and decorative objects: Chrome cash register placed on counter; 2 Ceramic vases placed on shelf; Brochure holder placed on counter; 2 Table lamp for fittings placed on fittingtable; Desk telephone placed on counter. Each furniture surface such as tables, desks, shelves, and cabinets should have at least 2 or more decorative or functional objects placed on top to create a lived-in, realistic environment. Important constraints: Do not add rugs, mats, carpets, curtains, blankets, ceiling-hanging objects, or ceiling objects to the scene as these are either already installed or restricted. The complete scene must contain a minimum of 21 objects total following the placement proposals described above to achieve a complete, diverse, and realistic room environment.Must ensure that: i. The layout (position, rotation, and size) is believable, and common daily objects make the room feel lived-in. Rich of daily furniture and objects.ii. Contains the necessary furniture and setup for the specified function.iii. Each objects is in **reasonable size**, neatly placed, objects of the same category are well aglined, relationships are reasonable (e.g., chairs face desks), sufficient space exists for walking, and **orientations must** be correct. iv. All necessary large and small items are present. Has rich details. Each shelf is full of objects (>5) inside. Each supporter (e.g. table, desk, and shelf) has small objects on it. The room feels done.Must avoid that: i. Unusual objects or strange placements make the room unrealistic.ii. Missing key objects or contains mismatched furniture (e.g., no bed in a bedroom).iii. Floating objects, crowded floor, **abnormal size**, objects with collision, incorrect **orientation**, or large items placed oddly (e.g., sofa not against the wall). Large empty space. Blocker in front of furniture.iv. 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/dev/null +++ b/sage10k_raw/20260102_084101_layout_e9a287db/preview/preview_1.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c47656587fe71a416d038e7a6be0090a81fafc9b76962ae17ce04cb7cbae987 +size 2096432 diff --git a/sage10k_raw/README.md b/sage10k_raw/README.md new file mode 100644 index 0000000000000000000000000000000000000000..151994ed49abf397f9ec6c1c1ed99ac5c0e7e788 --- /dev/null +++ b/sage10k_raw/README.md @@ -0,0 +1,162 @@ +# SAGE-10k 原始数据采样（10 个场景） + +来源：Hugging Face [`nvidia/SAGE-10k`](https://huggingface.co/datasets/nvidia/SAGE-10k) +采样方式：随机采样，seed=0，从 10,000 个场景中抽取 +本次共 **898 MB**，原数据集合计 869.8 GB +SAGE-10k 是 NVIDIA 的**文本生成三维场景**数据集（`task_categories: text-to-3d`）， +不是实景扫描、也不是人工设计的户型库。每个场景由一段文本提示生成， +场景 ID 带生成时间戳（如 `20251214_235237_layout_fef15043`）。 + +因此它同时保留了**生成指令**和**生成结果**，`created_from_text` 字段就是原始提示词： + +``` +Generate a single medium-sized gym_fitness_center room. +Style: Shabby Chic - distressed furniture, floral patterns... +``` + +这是其他数据集没有的——可直接用于文本到布局的训练或评测。 + +## 目录结构 + +``` +sage10k_raw/ +├── <场景ID>/ +│ ├── layout_.json 场景布局标注（核心，约 130 KB） +│ ├── objects/*.ply 物体网格 +│ ├── objects/*.png 物体贴图 +│ ├── materials/*.pkl,*.png 材质定义 +│ └── preview/*.png 预览渲染图 +├── _dataset/ +│ ├── kits/ 官方工具脚本（见下） +│ └── README.md 官方说明 +└── sample_manifest.json 本次采样清单 +``` + +本次 10 个场景共 **523 个 .ply、583 个 .png、20 个 .pkl**，单场景 59–159 个文件、43–127 MB。 + +## `layout_.json` —— 核心标注 + +### 顶层字段 + +| 字段 | 含义 | +|---|---| +| `id` | 布局编号，如 `layout_fef15043` | +| `rooms` | 房间列表（本次采样均为单房间场景） | +| `total_area` | 总面积，平方米 | +| `building_style` | 风格描述文本 | +| `description` | 场景整体描述 | +| `created_from_text` | **生成该场景的原始提示词** | +| `policy_analysis` | 生成时的需求分析，含 `scene_requirements` 等 | + +### `rooms[i]` 字段 + +| 字段 | 含义 | +|---|---| +| `id` / `room_type` | 房间编号与功能类型（`living_room`、`bathroom`、`gym_fitness_center` 等） | +| `position` / `dimensions` | 房间位置与尺寸（`{x, y, z}`） | +| `ceiling_height` | 层高，单位米 | +| `walls` | 墙体列表 | +| `doors` / `windows` | 门、窗列表 | +| `objects` | 物体列表 | +| `floor_material` | 地面材质 ID，对应 `materials/` | + +### `walls[i]` —— 建筑结构 + +```json +{"id": "wall_room_5da687e9_north_767432d2", + "start_point": {"x": 0.0, "y": 6.0, "z": 0.0}, + "end_point": {"x": 5.0, "y": 6.0, "z": 0.0}, + "height": 2.7, "thickness": 0.1, + "material": "room_5da687e9_wall"} +``` + +墙以起止点 + 高度 + 厚度描述，与 SpatialLM 的 `Wall(...)` 语义一致，可直接互转。 + +### `doors[i]` / `windows[i]` + +```json +{"id": "door_88147ed5", + "wall_id": "wall_room_5da687e9_north_767432d2", + "position_on_wall": 0.449, + "width": 0.95, "height": 2.05, + "door_type": "entry/main/front", + "opens_inward": true, "opening": false} +``` + +- `wall_id` 指向所属墙体 +- `position_on_wall` 是**沿墙的归一化位置**（0–1），不是绝对坐标，这点与 SpatialLM 用绝对中心点不同 +- `opens_inward` / `opening` 描述开启方向与当前开合状态 + +### `objects[i]` —— 物体实例 + +```json +{"id": "room_5da687e9_bench_88f4d0ab", + "room_id": "room_5da687e9", + "type": "bench", + "description": "A distressed wooden weight bench with a rectangular seat...", + "position": {"x": 4.648, "y": 5.05, "z": 0.0}, + "rotation": {"x": 0, "y": 0, "z": 90}, + "dimensions": {"width": 1.150, "length": 0.568, "height": 0.906}, + "source": "generation", "source_id": "9e9bc77d", + "place_id": "floor", "place_guidance": "Standard placement for the object", + "placement_constraints": [...], "mass": ..., "pbr_parameters": {...}} +``` + +| 字段 | 含义 | +|---|---| +| `type` | 物体类别 | +| `description` | **逐物体的自然语言描述**，其他数据集少有 | +| `position` / `rotation` / `dimensions` | 位姿与尺寸，`rotation.z` 为**角度制**（非弧度） | +| `source_id` | 对应 `objects/.ply` 与同名 `.png` 贴图 | +| `place_id` / `place_guidance` | 放置基准（`floor`、某家具表面等）与放置说明 | +| `placement_constraints` | 放置约束 | +| `mass` | 质量，可用于物理仿真 | +| `pbr_parameters` | PBR 材质参数 | + +> ⚠️ `rotation.z` 是**度**，SpatialLM 的 `angle_z` 是**弧度**，互转时注意换算。 + +## `objects/*.ply` —— 是网格，不是点云 + +样例文件 33,876 顶点、**67,765 个面**，属性为 `x y z s t` 加两个 `uchar`—— +其中 `s, t` 是 UV 纹理坐标，配合同名 `.png` 贴图使用。 + +**这一点容易误判**：后缀是 `.ply` 但它是带 UV 的三角网格。若要点云，需自行在表面采样。 + +## 本次采样统计 + +| 项 | 数量 | +|---|---| +| 场景 | 10 | +| 房间 | 10（全部为单房间） | +| 物体 | 842 | +| 墙 | 40 | +| 门 | 10 | +| 窗 | **0** | + +房型分布：`living_room` ×2、`living room` ×2、`gym_fitness_center`、`conference room`、 +`restaurant_dining_area`、`master bedroom`、`bathroom`、`jewelry store` 各 1。 + +两点值得注意： + +1. **10 个场景一扇窗都没有**。窗字段存在但本次采样全为空列表，若需要窗体标注要扩大采样量确认覆盖率。 +2. **`room_type` 命名不统一**——`living_room`（下划线）与 `living room`（空格）并存， + 说明类别标签未做规范化，聚合统计前需要先归一。 + +## 官方工具（`_dataset/kits/`） + +| 脚本 | 用途 | +|---|---| +| `export_glb.py` | 导出为 GLB | +| `export_usd.py` | 导出为 USD | +| `load_isaacsim_demo.py` | 载入 Isaac Sim | +| `render_video.py` | 渲染视频 | +| `glb_utils.py` / `tex_utils_local.py` / `isaacsim_utils.py` | 辅助库 | +| `examples.sh` | 用法示例 | + +## 重新采样 + +```bash +python3 ../../tools/sample_sage10k_raw.py --n 10 --seed 0 --dry-run +python3 ../../tools/sample_sage10k_raw.py --n 20 --seed 1 +``` + diff --git a/sage10k_raw/_dataset/README.md b/sage10k_raw/_dataset/README.md new file mode 100644 index 0000000000000000000000000000000000000000..41d09438f53ee89713d2ed236554c6a2c19e4ea8 --- /dev/null +++ b/sage10k_raw/_dataset/README.md @@ -0,0 +1,96 @@ +--- +license: apache-2.0 +pretty_name: SAGE-10k +size_categories: +- 10K + SAGE-10k is a large-scale interactive indoor scene dataset featuring realistic layouts, generated by the agentic-driven pipeline introduced in "SAGE: Scalable Agentic 3D Scene Generation for Embodied AI". The dataset contains 10,000 diverse scenes spanning 50 room types and styles, along with 565K uniquely generated 3D objects. +

+ Teaser + Teaser + +## 🔑 Key Features +
+

SAGE-10k integrates a wide variety of scenes, and particularly, preserves small items for complex layouts, resolves collisions, and further incorporates interactive objects, thus ensures:

+
    +
  • 📊 Large scale: 10,000 diverse scenes including 565K generated 3D objects by TRELLIS.
    • +
  • 🏠 Diverse room types and styles: Covers 50 different room types and interior design styles for broad scene variability.
    • +
  • 🔧 Simulation-ready: Scenes are structured for direct use in physics-based simulators and embodied AI environments.
    • +
+
+ +### Supported Tasks +
    +
  • ✅ 3D scene reconstruction +
  • ✅ 3D scene understanding +
  • ✅ Embodied navigation & manipulation +
  • ✅ Vision-language grounding +
+ +## 📋 Table of Contents +- [📊 Dataset Statistics](#-dataset-statistics) +- [🔑 Key Features](#-key-features) +- [⚙️ Getting Started](#-getting-started) + - [Download the Dataset](#download-the-dataset) + - [Dataset Structure](#dataset-structure) +- [🧷 Citation](#-citation) +- [📄 License](#-license) + + +## ⚙️ Getting Started + +### Download the Dataset +To download the full dataset, you can use the following code. If you encounter any issues, please refer to the official Hugging Face documentation. +``` +huggingface-cli login --token YOUR_HF_TOKEN_HERE + +huggingface-cli download nvidia/SAGE-10k --repo-type dataset --local-dir SAVE_DIR +``` + +### Dataset Structure + +```shell +SAGE-10k/ +|-- scenes/ # All the generated scenes + |-- scene_id/ # Each generated scene + |-- objects/ # Geometry and texture of each generated object + |-- materials/ # Textures of room walls, door, and floor. + |-- preview/ # Preview visualization of the room. + |-- layout_id.json/ # Information of the generated scene. +``` + +### Quick Start +You can use kits in kits/examples.sh to generate glb, usd files, as well as render video with the generated camera trajectory and load into IsaacSim. + + +### Notes +This dataset is purely agentic-driven generated from SAGE without any manual filtering. The quality of every scene might be varied. + +## 🧷 Citation +```BibTex +@article{xia2026sage, + title={SAGE: Scalable Agentic 3D Scene Generation for Embodied AI}, + author={Xia, Hongchi and Li, Xuan and Li, Zhaoshuo and Ma, Qianli and Xu, Jiashu and Liu, Ming-Yu and Cui, Yin and Lin, Tsung-Yi and Ma, Wei-Chiu and Wang, Shenlong and Song, Shuran and Wei, Fangyin}, + journal={arXiv preprint arXiv:2602.10116}, + year={2026} +} +``` +## 📄 License + +This dataset is released under the [Apache License 2.0](https://www.apache.org/licenses/LICENSE-2.0). You are free to use, modify, and distribute this dataset for both commercial and non-commercial purposes, provided that proper attribution is given. \ No newline at end of file diff --git a/sage10k_raw/_dataset/kits/examples.sh b/sage10k_raw/_dataset/kits/examples.sh new file mode 100644 index 0000000000000000000000000000000000000000..8d01e3c66ffc2fb55328173290c7e32a6a28e1ab --- /dev/null +++ b/sage10k_raw/_dataset/kits/examples.sh @@ -0,0 +1,16 @@ +python export_glb.py \ + data/${scene_id}/${layout_id}.json \ + vis/glb/ + +python camera_traj_gen.py \ + data/${scene_id}/${layout_id}.json \ + --output vis/renders/${scene_id}/${layout_id}.json \ + --render \ + --save_point_cloud + +python export_usd.py \ + data/${scene_id}/${layout_id}.json \ + vis/usd/${layout_id} + +python load_isaacsim_demo.py \ + data/${scene_id}/${layout_id}.json \ No newline at end of file diff --git a/sage10k_raw/_dataset/kits/export_glb.py b/sage10k_raw/_dataset/kits/export_glb.py new file mode 100644 index 0000000000000000000000000000000000000000..3a42cd53a09afc8d2550332bb45c420074fdd717 --- /dev/null +++ b/sage10k_raw/_dataset/kits/export_glb.py @@ -0,0 +1,65 @@ +import asyncio +import json +import sys +import os +import argparse +import numpy as np +from PIL import Image + +# Add the server directory to the Python path to import from layout.py +server_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) +sys.path.insert(0, server_dir) + +# from tex_utils import export_layout_to_mesh_dict_list +from tex_utils_local import export_layout_to_mesh_dict_list_v2 +from glb_utils import ( + create_glb_scene, + add_textured_mesh_to_glb_scene, + save_glb_scene +) +from utils import ( + dict_to_floor_plan, +) + +def export_glb(layout_file_path: str, output_dir: str): + """Test loading layout from JSON file""" + + + with open(layout_file_path, 'r') as f: + layout_data = json.load(f) + current_layout = dict_to_floor_plan(layout_data) + + export_glb_path = os.path.join(output_dir, os.path.basename(layout_file_path).replace(".json", ".glb")) + mesh_dict_list = export_layout_to_mesh_dict_list_v2(current_layout, os.path.dirname(layout_file_path)) + scene = create_glb_scene() + for mesh_id, mesh_data in mesh_dict_list.items(): + mesh_data_dict = { + 'vertices': mesh_data['mesh'].vertices, + 'faces': mesh_data['mesh'].faces, + 'vts': mesh_data['texture']['vts'], + 'fts': mesh_data['texture']['fts'], + 'texture_image': np.array(Image.open(mesh_data['texture']['texture_map_path'])), + 'metallic_factor': mesh_data['texture'].get('metallic_factor', 0.0), + 'roughness_factor': mesh_data['texture'].get('roughness_factor', 1.0) + } + add_textured_mesh_to_glb_scene( + mesh_data_dict, + scene, + material_name=f"material_{mesh_id}", + mesh_name=f"mesh_{mesh_id}", + preserve_coordinate_system=True, + ) + save_glb_scene(export_glb_path, scene) + print(f"GLB exported to: {os.path.abspath(export_glb_path)}") + + + +if __name__ == "__main__": + # Parse command-line arguments + parser = argparse.ArgumentParser(description="Export layout to GLB file") + parser.add_argument("layout_file_path", type=str, help="Layout file path") + parser.add_argument("output_dir", type=str, help="Output directory") + args = parser.parse_args() + + # Run the test + export_glb(args.layout_file_path, args.output_dir) diff --git a/sage10k_raw/_dataset/kits/export_usd.py b/sage10k_raw/_dataset/kits/export_usd.py new file mode 100644 index 0000000000000000000000000000000000000000..38a3183d5e0d67dc260de7ef2ff27e0551f94bb1 --- /dev/null +++ b/sage10k_raw/_dataset/kits/export_usd.py @@ -0,0 +1,18 @@ +from isaacsim_utils import ( + start_simulation_app, + get_room_layout_scene_usd_separate_from_layout +) +import argparse + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Export USD file") + parser.add_argument("layout_json_path", type=str, help="Layout JSON file path") + parser.add_argument("output_dir", type=str, help="Output directory") + args = parser.parse_args() + + start_simulation_app() + result = get_room_layout_scene_usd_separate_from_layout(args.layout_json_path, args.output_dir) + if result["status"] == "success": + print(f"USD file exported to {args.output_dir}") + else: + print(f"Failed to export USD file: {result['message']}") \ No newline at end of file diff --git a/sage10k_raw/_dataset/kits/glb_utils.py b/sage10k_raw/_dataset/kits/glb_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..fa64faeb6b76c7691eb5081dac151a41977f6b9c --- /dev/null +++ b/sage10k_raw/_dataset/kits/glb_utils.py @@ -0,0 +1,485 @@ +import numpy as np +import base64 +import json +from PIL import Image +from pygltflib import ( + GLTF2, Scene, Node, Mesh, Primitive, Attributes, + Buffer, BufferView, Accessor, + Image as GLTFImage, Texture, Sampler, Material, PbrMetallicRoughness, + FLOAT, UNSIGNED_INT, SCALAR, VEC2, VEC3, ARRAY_BUFFER, ELEMENT_ARRAY_BUFFER +) + +# Global variable to store the current GLB scene +_current_scene = None + +def create_glb_scene(): + """ + Create a new GLB scene with basic structure. + + Returns: + GLTF2: A new GLTF2 object with basic scene structure + """ + global _current_scene + + # Create a new GLTF2 object + gltf = GLTF2() + + # Set up basic asset info + gltf.asset = {"version": "2.0"} + + # Initialize empty lists for all components + gltf.scenes = [] + gltf.nodes = [] + gltf.meshes = [] + gltf.materials = [] + gltf.textures = [] + gltf.images = [] + gltf.samplers = [] + gltf.buffers = [] + gltf.bufferViews = [] + gltf.accessors = [] + + # Create a default scene + scene = Scene(nodes=[]) + gltf.scenes.append(scene) + gltf.scene = 0 # Set the default scene + + _current_scene = gltf + return gltf + +def add_textured_mesh_to_glb_scene(textured_mesh_dict, scene=None, material_name="Material", mesh_name="Mesh", preserve_coordinate_system=True): + """ + Add a textured mesh to the GLB scene. + + Args: + textured_mesh_dict: { + 'vertices': numpy array of shape (n, 3) + 'faces': numpy array of shape (m, 3) + 'vts': numpy array of shape (n', 2) + 'fts': numpy array of shape (m, 3) + 'texture_image': numpy array of shape (h, w, 3), np.uint8, RGB + } + scene: GLTF2 object to add mesh to. If None, uses the global current scene. + material_name: Name for the material + mesh_name: Name for the mesh + preserve_coordinate_system: If True, preserves original coordinate system (Z-up). + If False, converts to glTF standard (Y-up). + + Returns: + int: Index of the created mesh in the scene + """ + global _current_scene + + if scene is None: + scene = _current_scene + + if scene is None: + raise ValueError("No scene available. Call create_glb_scene() first.") + + vertices = textured_mesh_dict['vertices'] + faces = textured_mesh_dict['faces'] + vts = textured_mesh_dict['vts'] + vts[:, 1] = 1.0 - vts[:, 1] + fts = textured_mesh_dict['fts'] + texture_image = textured_mesh_dict['texture_image'] + + metallic_factor = textured_mesh_dict['metallic_factor'] + roughness_factor = textured_mesh_dict['roughness_factor'] + + # Ensure data types are correct + vertices = vertices.astype(np.float32) + faces = faces.astype(np.uint32) + vts = vts.astype(np.float32) + fts = fts.astype(np.uint32) + + # Preserve original coordinate system if requested + if preserve_coordinate_system: + # Keep vertices as-is (preserve Z-up coordinate system) + # Note: This preserves the original coordinate system instead of converting to glTF's Y-up standard + vertices_transformed = vertices.copy() + vertices_transformed[:, [1, 2]] = vertices[:, [2, 1]] # Swap Y and Z + vertices_transformed[:, 2] = -vertices_transformed[:, 2] # Flip new Z to maintain handedness + vertices = vertices_transformed + else: + # Convert to glTF standard Y-up coordinate system (Z-up -> Y-up) + pass + + # Ensure texture image is in the right format + if texture_image.dtype != np.uint8: + texture_image = (texture_image * 255).astype(np.uint8) + + # Validate that face indices are valid for vertices + if faces.max() >= len(vertices): + raise ValueError(f"Face indices exceed vertex count: max face index {faces.max()}, vertex count {len(vertices)}") + + # Validate that texture face indices are valid for texture coordinates + if fts.max() >= len(vts): + raise ValueError(f"Texture face indices exceed texture coordinate count: max fts index {fts.max()}, vts count {len(vts)}") + + # For GLB export, we need to create a unified mesh where each vertex has both position and texture coordinates + # This means we need to "expand" the vertex data to match the texture coordinate indexing + + # Create expanded vertex array that matches texture coordinate indices + # Use the texture face indices (fts) to determine the correspondence + expanded_vertices = [] + expanded_uvs = [] + new_faces = [] + + vertex_map = {} # Map (vertex_idx, uv_idx) -> new_vertex_idx + next_vertex_idx = 0 + + for face_idx in range(len(faces)): + face = faces[face_idx] + tex_face = fts[face_idx] + new_face = [] + + for i in range(3): # Triangle vertices + vertex_idx = face[i] + uv_idx = tex_face[i] + + # Create a unique key for this vertex-uv combination + key = (vertex_idx, uv_idx) + + if key not in vertex_map: + # Add new expanded vertex + expanded_vertices.append(vertices[vertex_idx]) + expanded_uvs.append(vts[uv_idx]) + vertex_map[key] = next_vertex_idx + next_vertex_idx += 1 + + new_face.append(vertex_map[key]) + + new_faces.append(new_face) + + # Convert to numpy arrays + expanded_vertices = np.array(expanded_vertices, dtype=np.float32) + expanded_uvs = np.array(expanded_uvs, dtype=np.float32) + new_faces = np.array(new_faces, dtype=np.uint32) + + # Now use the expanded data for GLB export + vertices = expanded_vertices + vts = expanded_uvs + faces = new_faces + + # Create buffer data + vertex_data = vertices.tobytes() + texcoord_data = vts.tobytes() + indices_data = faces.flatten().tobytes() + + # Calculate buffer sizes + vertex_size = len(vertex_data) + texcoord_size = len(texcoord_data) + indices_size = len(indices_data) + + # Align to 4-byte boundaries + def align_to_4(size): + return (size + 3) & ~3 + + vertex_aligned = align_to_4(vertex_size) + texcoord_aligned = align_to_4(texcoord_size) + + # Create combined buffer + buffer_data = bytearray() + buffer_data.extend(vertex_data) + buffer_data.extend(b'\x00' * (vertex_aligned - vertex_size)) # Padding + + texcoord_offset = len(buffer_data) + buffer_data.extend(texcoord_data) + buffer_data.extend(b'\x00' * (texcoord_aligned - texcoord_size)) # Padding + + indices_offset = len(buffer_data) + buffer_data.extend(indices_data) + + # Create buffer + buffer = Buffer(byteLength=len(buffer_data)) + buffer_index = len(scene.buffers) + scene.buffers.append(buffer) + + # Create buffer views + vertex_buffer_view = BufferView( + buffer=buffer_index, + byteOffset=0, + byteLength=vertex_size, + target=ARRAY_BUFFER + ) + vertex_buffer_view_index = len(scene.bufferViews) + scene.bufferViews.append(vertex_buffer_view) + + texcoord_buffer_view = BufferView( + buffer=buffer_index, + byteOffset=texcoord_offset, + byteLength=texcoord_size, + target=ARRAY_BUFFER + ) + texcoord_buffer_view_index = len(scene.bufferViews) + scene.bufferViews.append(texcoord_buffer_view) + + indices_buffer_view = BufferView( + buffer=buffer_index, + byteOffset=indices_offset, + byteLength=indices_size, + target=ELEMENT_ARRAY_BUFFER + ) + indices_buffer_view_index = len(scene.bufferViews) + scene.bufferViews.append(indices_buffer_view) + + # Create accessors + vertex_accessor = Accessor( + bufferView=vertex_buffer_view_index, + componentType=FLOAT, + count=len(vertices), + type=VEC3, + min=vertices.min(axis=0).tolist(), + max=vertices.max(axis=0).tolist() + ) + vertex_accessor_index = len(scene.accessors) + scene.accessors.append(vertex_accessor) + + texcoord_accessor = Accessor( + bufferView=texcoord_buffer_view_index, + componentType=FLOAT, + count=len(vts), + type=VEC2, + min=vts.min(axis=0).tolist(), + max=vts.max(axis=0).tolist() + ) + texcoord_accessor_index = len(scene.accessors) + scene.accessors.append(texcoord_accessor) + + indices_accessor = Accessor( + bufferView=indices_buffer_view_index, + componentType=UNSIGNED_INT, + count=len(faces.flatten()), + type=SCALAR + ) + indices_accessor_index = len(scene.accessors) + scene.accessors.append(indices_accessor) + + # Create texture + # Convert texture image to PIL Image + from io import BytesIO + pil_image = Image.fromarray(texture_image, 'RGB') + buffer_io = BytesIO() + pil_image.save(buffer_io, format='PNG') + image_data = buffer_io.getvalue() + image_base64 = base64.b64encode(image_data).decode('utf-8') + image_uri = f"data:image/png;base64,{image_base64}" + + # Create image + gltf_image = GLTFImage(uri=image_uri) + image_index = len(scene.images) + scene.images.append(gltf_image) + + # Create sampler + sampler = Sampler() + sampler_index = len(scene.samplers) + scene.samplers.append(sampler) + + # Create texture + texture = Texture(source=image_index, sampler=sampler_index) + texture_index = len(scene.textures) + scene.textures.append(texture) + + # Create material + pbr_metallic_roughness = PbrMetallicRoughness( + baseColorTexture={"index": texture_index}, + metallicFactor=metallic_factor, + roughnessFactor=roughness_factor + ) + material = Material( + name=material_name, + pbrMetallicRoughness=pbr_metallic_roughness + ) + material_index = len(scene.materials) + scene.materials.append(material) + + # Create primitive + primitive = Primitive( + attributes=Attributes( + POSITION=vertex_accessor_index, + TEXCOORD_0=texcoord_accessor_index + ), + indices=indices_accessor_index, + material=material_index + ) + + # Create mesh + mesh = Mesh(name=mesh_name, primitives=[primitive]) + mesh_index = len(scene.meshes) + scene.meshes.append(mesh) + + # Create node + node = Node(mesh=mesh_index) + node_index = len(scene.nodes) + scene.nodes.append(node) + + # Add node to the scene + scene.scenes[0].nodes.append(node_index) + + # Store buffer data for later saving + if not hasattr(scene, '_buffer_data'): + scene._buffer_data = {} + scene._buffer_data[buffer_index] = buffer_data + + return mesh_index + +def save_glb_scene(save_path, scene=None): + """ + Save the GLB scene to a file. + + Args: + save_path: Path where to save the GLB file + scene: GLTF2 object to save. If None, uses the global current scene. + """ + global _current_scene + + if scene is None: + scene = _current_scene + + if scene is None: + raise ValueError("No scene available. Call create_glb_scene() first.") + + # Consolidate all buffer data into a single buffer for GLB format + if hasattr(scene, '_buffer_data') and scene._buffer_data: + # Calculate total size and create unified buffer + total_size = 0 + buffer_info = [] + + for i, buffer_data in scene._buffer_data.items(): + if i < len(scene.buffers): + # Align to 4-byte boundaries + aligned_size = (len(buffer_data) + 3) & ~3 + buffer_info.append((i, total_size, len(buffer_data), aligned_size, buffer_data)) + total_size += aligned_size + + # Create unified buffer + unified_buffer = bytearray(total_size) + + # Copy buffer data and update buffer views + for buffer_idx, offset, original_size, aligned_size, buffer_data in buffer_info: + # Copy data to unified buffer + unified_buffer[offset:offset + original_size] = buffer_data + # Pad with zeros if needed + if aligned_size > original_size: + unified_buffer[offset + original_size:offset + aligned_size] = b'\x00' * (aligned_size - original_size) + + # Update buffer views that reference this buffer + for bv in scene.bufferViews: + if bv.buffer == buffer_idx: + bv.byteOffset += offset + bv.buffer = 0 # All buffers now reference the unified buffer + + # Replace all buffers with a single unified buffer + scene.buffers = [Buffer(byteLength=total_size)] + + # Set the unified buffer data + scene.set_binary_blob(unified_buffer) + + # Save the file + scene.save(save_path) + + + + +def save_glb_from_mesh_dict(mesh_dict, save_path): + """ + save a glb file from a mesh dict + mesh_dict: { + 'vertices': numpy array of shape (n, 3) + 'faces': numpy array of shape (m, 3) + 'vts': numpy array of shape (n', 2) + 'fts': numpy array of shape (m, 3) + 'texture_image': numpy array of shape (h, w, 3), np.uint8, RGB + } + save_path: path to save the glb file + """ + scene = create_glb_scene() + add_textured_mesh_to_glb_scene(mesh_dict, scene=scene) + save_glb_scene(save_path, scene=scene) + +def load_glb_to_mesh_dict(glb_path): + """ + load a glb file to a mesh dict + glb_path: path to the glb file + return: mesh dict: { + 'vertices': numpy array of shape (n, 3) + 'faces': numpy array of shape (m, 3) + 'vts': numpy array of shape (n', 2) + 'fts': numpy array of shape (m, 3) + 'texture_image': numpy array of shape (h, w, 3), np.uint8, RGB + } + """ + from io import BytesIO + + # Load the GLB file + gltf = GLTF2.load(glb_path) + binary_blob = gltf.binary_blob() + + # Get the first mesh (assuming single mesh saved by save_glb_from_mesh_dict) + mesh = gltf.meshes[0] + primitive = mesh.primitives[0] + + # Extract vertices from POSITION accessor + position_accessor = gltf.accessors[primitive.attributes.POSITION] + position_buffer_view = gltf.bufferViews[position_accessor.bufferView] + position_offset = position_buffer_view.byteOffset + (position_accessor.byteOffset or 0) + position_data = binary_blob[position_offset:position_offset + position_buffer_view.byteLength] + vertices = np.frombuffer(position_data, dtype=np.float32).reshape(-1, 3).copy() + + # Reverse coordinate transformation (was: swap Y/Z, then flip Z) + # To reverse: flip Z, then swap Y/Z back + vertices[:, 2] = -vertices[:, 2] # Flip Z back + vertices[:, [1, 2]] = vertices[:, [2, 1]] # Swap Y and Z back + + # Extract texture coordinates from TEXCOORD_0 accessor + texcoord_accessor = gltf.accessors[primitive.attributes.TEXCOORD_0] + texcoord_buffer_view = gltf.bufferViews[texcoord_accessor.bufferView] + texcoord_offset = texcoord_buffer_view.byteOffset + (texcoord_accessor.byteOffset or 0) + texcoord_data = binary_blob[texcoord_offset:texcoord_offset + texcoord_buffer_view.byteLength] + vts = np.frombuffer(texcoord_data, dtype=np.float32).reshape(-1, 2).copy() + + # Reverse UV flip (was: vts[:, 1] = 1.0 - vts[:, 1]) + vts[:, 1] = 1.0 - vts[:, 1] + + # Extract face indices from indices accessor + indices_accessor = gltf.accessors[primitive.indices] + indices_buffer_view = gltf.bufferViews[indices_accessor.bufferView] + indices_offset = indices_buffer_view.byteOffset + (indices_accessor.byteOffset or 0) + indices_data = binary_blob[indices_offset:indices_offset + indices_buffer_view.byteLength] + faces = np.frombuffer(indices_data, dtype=np.uint32).reshape(-1, 3).copy() + + # Since save_glb_from_mesh_dict expands vertices to match UVs 1:1, + # faces and fts are the same + fts = faces.copy() + + # Extract texture image + material = gltf.materials[primitive.material] + texture_index = material.pbrMetallicRoughness.baseColorTexture['index'] + texture = gltf.textures[texture_index] + image = gltf.images[texture.source] + + if image.uri and image.uri.startswith('data:'): + # Base64-encoded image in URI + # Format: data:image/png;base64, + base64_data = image.uri.split(',', 1)[1] + image_bytes = base64.b64decode(base64_data) + elif image.bufferView is not None: + # Image stored in buffer view + image_buffer_view = gltf.bufferViews[image.bufferView] + image_offset = image_buffer_view.byteOffset + image_bytes = binary_blob[image_offset:image_offset + image_buffer_view.byteLength] + else: + raise ValueError("Could not find texture image data") + + # Decode image + pil_image = Image.open(BytesIO(image_bytes)) + texture_image = np.array(pil_image.convert('RGB'), dtype=np.uint8) + + return { + 'vertices': vertices, + 'faces': faces, + 'vts': vts, + 'fts': fts, + 'texture_image': texture_image + } + \ No newline at end of file diff --git a/sage10k_raw/_dataset/kits/isaacsim_utils.py b/sage10k_raw/_dataset/kits/isaacsim_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..6addef354dc466f7e8e64a2c19dd3ec958e7b204 --- /dev/null +++ b/sage10k_raw/_dataset/kits/isaacsim_utils.py @@ -0,0 +1,1146 @@ +import numpy as np +import trimesh +import sys +import json +import os +from isaacsim import SimulationApp +simulation_app = None + +def start_simulation_app(): + + global simulation_app + simulation_app = SimulationApp({"headless": True}) + print("Starting simulation app...") + + +from tex_utils_local import ( + dict_to_floor_plan, + export_layout_to_mesh_dict_list_v2, + export_layout_to_mesh_dict_list_no_object_transform_v2 +) + +def AddTranslate(top, offset): + top.AddTranslateOp().Set(value=offset) + +def convert_mesh_to_usd(stage, usd_internal_path, verts, faces, collision_approximation, static, articulation, + physics_iter=(16, 1), mass=None, apply_debug_torque=False, debug_torque_value=50.0, + texture=None, usd_internal_art_reference_path="/World", + add_damping=False): + from pxr import Gf, Usd, UsdGeom, Vt, UsdPhysics, PhysxSchema, UsdUtils, Sdf, UsdShade + n_verts = verts.shape[0] + n_faces = faces.shape[0] + + points = verts + + # bbox_max = np.max(points, axis=0) + # bbox_min = np.min(points, axis=0) + # center = (bbox_max + bbox_min) / 2 + # points = points - center + # center = (center[0], center[1], center[2]) + + vertex_counts = np.ones(n_faces).astype(np.int32) * 3 + + mesh = UsdGeom.Mesh.Define(stage, usd_internal_path) + + mesh.CreatePointsAttr(Vt.Vec3fArray.FromNumpy(points)) + # mesh.CreateDisplayColorPrimvar("vertex") + mesh.CreateFaceVertexCountsAttr(Vt.IntArray.FromNumpy(vertex_counts)) + mesh.CreateFaceVertexIndicesAttr(Vt.IntArray.FromNumpy(faces)) + mesh.CreateExtentAttr([(-100, -100, -100), (100, 100, 100)]) + + # tilt = mesh.AddRotateXOp(opSuffix='tilt') + # tilt.Set(value=-90) + # AddTranslate(mesh, center) + + prim = stage.GetPrimAtPath(usd_internal_path) + + if texture is not None: + vts = texture["vts"] + fts = texture["fts"] + texture_map_path = texture["texture_map_path"] + tex_coords = vts[fts.reshape(-1)].reshape(-1, 2) + + texCoords = UsdGeom.PrimvarsAPI(mesh).CreatePrimvar("st", + Sdf.ValueTypeNames.TexCoord2fArray, + UsdGeom.Tokens.faceVarying) + texCoords.Set(Vt.Vec2fArray.FromNumpy(tex_coords)) + + usd_mat_path = usd_internal_path+"_mat" + material = UsdShade.Material.Define(stage, usd_mat_path) + stInput = material.CreateInput('frame:stPrimvarName', Sdf.ValueTypeNames.Token) + stInput.Set('st') + + pbrShader = UsdShade.Shader.Define(stage, f"{usd_mat_path}/PBRShader") + pbrShader.CreateIdAttr("UsdPreviewSurface") + if "pbr_parameters" in texture: + pbr_parameters = texture["pbr_parameters"] + roughness = pbr_parameters.get("roughness", 1.0) + metallic = pbr_parameters.get("metallic", 0.0) + else: + roughness = 1.0 + metallic = 0.0 + pbrShader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(roughness) + pbrShader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(metallic) + pbrShader.CreateInput('useSpecularWorkflow', Sdf.ValueTypeNames.Bool).Set(True) + + material.CreateSurfaceOutput().ConnectToSource(pbrShader.ConnectableAPI(), "surface") + + # create texture coordinate reader + stReader = UsdShade.Shader.Define(stage, f"{usd_mat_path}/stReader") + stReader.CreateIdAttr('UsdPrimvarReader_float2') + # Note here we are connecting the shader's input to the material's + # "public interface" attribute. This allows users to change the primvar name + # on the material itself without drilling inside to examine shader nodes. + stReader.CreateInput('varname',Sdf.ValueTypeNames.Token).ConnectToSource(stInput) + + # diffuse texture + diffuseTextureSampler = UsdShade.Shader.Define(stage, f"{usd_mat_path}/diffuseTexture") + diffuseTextureSampler.CreateIdAttr('UsdUVTexture') + diffuseTextureSampler.CreateInput('file', Sdf.ValueTypeNames.Asset).Set(texture_map_path) + diffuseTextureSampler.CreateInput("st", Sdf.ValueTypeNames.Float2).ConnectToSource(stReader.ConnectableAPI(), 'result') + diffuseTextureSampler.CreateOutput('rgb', Sdf.ValueTypeNames.Float3) + pbrShader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).ConnectToSource(diffuseTextureSampler.ConnectableAPI(), 'rgb') + + # Now bind the Material to the card + mesh.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI) + UsdShade.MaterialBindingAPI(mesh).Bind(material) + + + physx_rigid_body = PhysxSchema.PhysxRigidBodyAPI.Apply(prim) + if not static: + mass_api = UsdPhysics.MassAPI.Apply(prim) + if mass is not None: + mass_api.CreateMassAttr(mass) + rigid_api = UsdPhysics.RigidBodyAPI.Apply(prim) + ps_rigid_api = PhysxSchema.PhysxRigidBodyAPI.Apply(prim) + physx_rigid_body.CreateSolverPositionIterationCountAttr(physics_iter[0]) + physx_rigid_body.CreateSolverVelocityIterationCountAttr(physics_iter[1]) + + if articulation is not None: + articulation_api = UsdPhysics.ArticulationRootAPI.Apply(prim) + # Add revolute joint articulation + rotate_axis_point_lower, rotate_axis_point_upper = articulation + + # Calculate the rotation axis vector + axis_vector = np.array(rotate_axis_point_upper) - np.array(rotate_axis_point_lower) + axis_vector = axis_vector / np.linalg.norm(axis_vector) # Normalize + # Create a revolute joint + joint_path = usd_internal_path + "_joint" + joint = UsdPhysics.RevoluteJoint.Define(stage, joint_path) + # Set the joint axis (in local space) + joint.CreateAxisAttr("Z") # Default to Z-axis, we'll transform to match our axis + # Set the joint bodies - this connects the joint to the rigid body + joint.CreateBody0Rel().SetTargets([usd_internal_path]) + joint.CreateBody1Rel().SetTargets([usd_internal_art_reference_path]) + # For a single body joint (attached to world), we don't set body1 + # Create joint position (midpoint of the axis) + joint_pos = (np.array(rotate_axis_point_lower) + np.array(rotate_axis_point_upper)) / 2 + # Apply transform to position the joint at the rotation axis + joint_prim = stage.GetPrimAtPath(joint_path) + joint_xform = UsdGeom.Xformable(joint_prim) + # Set the joint position using physics:localPos0 and physics:localPos1 + # These define the connection points on each body + joint.CreateLocalPos0Attr(Gf.Vec3f(joint_pos[0], joint_pos[1], joint_pos[2])) + joint.CreateLocalPos1Attr(Gf.Vec3f(joint_pos[0], joint_pos[1], joint_pos[2])) + + # # Also set the transform position for visualization/debugging + # translate_op = joint_xform.AddTranslateOp() + # translate_op.Set(Gf.Vec3f(joint_pos[0], joint_pos[1], joint_pos[2])) + # If the rotation axis is not along Z, we need to rotate the joint + if not np.allclose(axis_vector, [0, 0, 1]): + # Calculate rotation to align Z-axis with our desired axis + z_axis = np.array([0, 0, 1]) + # Use cross product to find rotation axis + rotation_axis = np.cross(z_axis, axis_vector) + if np.linalg.norm(rotation_axis) > 1e-6: # Not parallel + rotation_axis = rotation_axis / np.linalg.norm(rotation_axis) + # Calculate angle between vectors + angle = np.arccos(np.clip(np.dot(z_axis, axis_vector), -1.0, 1.0)) + # Convert to degrees + angle_degrees = np.degrees(angle) + + # Create rotation quaternion + sin_half = np.sin(angle / 2) + cos_half = np.cos(angle / 2) + quat = Gf.Quatf(cos_half, sin_half * rotation_axis[0], + sin_half * rotation_axis[1], sin_half * rotation_axis[2]) + + # Apply rotation using physics:localRot0 and physics:localRot1 + joint.CreateLocalRot0Attr(quat) + joint.CreateLocalRot1Attr(quat) + # Optional: Set joint limits if needed + # joint.CreateLowerLimitAttr(-180.0) # -180 degrees + # joint.CreateUpperLimitAttr(180.0) # +180 degrees + + # Apply debug torque if requested (for testing joint functionality) + if apply_debug_torque: + print(f"Applying debug torque: {debug_torque_value}") + # Apply DriveAPI to the joint + drive_api = UsdPhysics.DriveAPI.Apply(joint_prim, "angular") + # Set drive type to velocity control + drive_api.CreateTypeAttr("force") + # Set target velocity to make the joint rotate + drive_api.CreateTargetVelocityAttr(debug_torque_value) # degrees per second + # Set drive stiffness and damping + drive_api.CreateStiffnessAttr(0.0) # No position control + drive_api.CreateDampingAttr(1e4) # High damping for velocity control + # Set max force + drive_api.CreateMaxForceAttr(1000.0) # Maximum force for the drive + print("Debug torque applied - joint should rotate") + + # Apply PhysX-specific joint properties for better simulation + physx_joint = PhysxSchema.PhysxJointAPI.Apply(joint_prim) + # Note: Break force/torque attributes may not be available for all joint types + # physx_joint.CreateBreakForceAttr(1e10) # Very large value - effectively never break + # physx_joint.CreateBreakTorqueAttr(1e10) # Very large value - effectively never break + UsdPhysics.CollisionAPI.Apply(prim) + ps_collision_api = PhysxSchema.PhysxCollisionAPI.Apply(prim) + ps_collision_api.CreateContactOffsetAttr(0.005) + ps_collision_api.CreateRestOffsetAttr(0.001) + ps_collision_api.CreateTorsionalPatchRadiusAttr(0.01) + + physx_rigid_body.CreateLinearDampingAttr(10.0) + physx_rigid_body.CreateAngularDampingAttr(10.0) + + physx_rigid_body.CreateMaxLinearVelocityAttr(0.5) + physx_rigid_body.CreateMaxAngularVelocityAttr(0.5) + physx_rigid_body.CreateMaxDepenetrationVelocityAttr(50.0) + + # physxSceneAPI = PhysxSchema.PhysxSceneAPI.Apply(prim) + # physxSceneAPI.CreateGpuTempBufferCapacityAttr(16 * 1024 * 1024 * 2) + # physxSceneAPI.CreateGpuHeapCapacityAttr(64 * 1024 * 1024 * 2) + + if collision_approximation == "sdf": + physx_sdf = PhysxSchema.PhysxSDFMeshCollisionAPI.Apply(prim) + physx_sdf.CreateSdfResolutionAttr(256) + collider = UsdPhysics.MeshCollisionAPI.Apply(prim) + collider.CreateApproximationAttr("sdf") + elif collision_approximation == "convexDecomposition": + convexdecomp = PhysxSchema.PhysxConvexDecompositionCollisionAPI.Apply(prim) + collider = UsdPhysics.MeshCollisionAPI.Apply(prim) + collider.CreateApproximationAttr("convexDecomposition") + + mat = UsdPhysics.MaterialAPI.Apply(prim) + mat.CreateDynamicFrictionAttr(1e20) + mat.CreateStaticFrictionAttr(1e20) + # mat.CreateDynamicFrictionAttr(2.0) # Increased from 0.4 for better grasping + # mat.CreateStaticFrictionAttr(2.0) # Increased from 0.4 for better grasping + + return stage + + +def door_frame_to_usd( + stage, + usd_internal_path_door, + usd_internal_path_door_frame, + mesh_obj_door, + mesh_obj_door_frame, + articulation_door, + texture_door, + texture_door_frame, + apply_debug_torque=False, + debug_torque_value=50.0 +): + """ + Create door and door frame USD objects with a revolute joint between them. + + Args: + stage: USD stage + usd_internal_path_door: USD path for the door + usd_internal_path_door_frame: USD path for the door frame + mesh_obj_door: Trimesh object for the door + mesh_obj_door_frame: Trimesh object for the door frame + articulation_door: Tuple of (rotate_axis_point_lower, rotate_axis_point_upper) in world coordinates + texture_door: Texture info for door (can be None) + texture_door_frame: Texture info for door frame (can be None) + apply_debug_torque: Whether to apply debug torque for testing joint functionality + debug_torque_value: Target velocity for debug torque (degrees per second) + """ + from pxr import Gf, Usd, UsdGeom, Vt, UsdPhysics, PhysxSchema, UsdUtils, Sdf, UsdShade + + # Extract vertices and faces from mesh objects + door_verts = np.array(mesh_obj_door.vertices) + door_faces = np.array(mesh_obj_door.faces) + frame_verts = np.array(mesh_obj_door_frame.vertices) + frame_faces = np.array(mesh_obj_door_frame.faces) + + # Create the door frame first (this will be the static parent) + # Door frame is static and acts as the base for the joint + n_frame_verts = frame_verts.shape[0] + n_frame_faces = frame_faces.shape[0] + frame_vertex_counts = np.ones(n_frame_faces).astype(np.int32) * 3 + + # Create door frame mesh + frame_mesh = UsdGeom.Mesh.Define(stage, usd_internal_path_door_frame) + frame_mesh.CreatePointsAttr(Vt.Vec3fArray.FromNumpy(frame_verts)) + frame_mesh.CreateFaceVertexCountsAttr(Vt.IntArray.FromNumpy(frame_vertex_counts)) + frame_mesh.CreateFaceVertexIndicesAttr(Vt.IntArray.FromNumpy(frame_faces)) + frame_mesh.CreateExtentAttr([(-100, -100, -100), (100, 100, 100)]) + + frame_prim = stage.GetPrimAtPath(usd_internal_path_door_frame) + + # Apply texture to door frame if provided + if texture_door_frame is not None: + vts = texture_door_frame["vts"] + fts = texture_door_frame["fts"] + texture_map_path = texture_door_frame["texture_map_path"] + tex_coords = vts[fts.reshape(-1)].reshape(-1, 2) + + texCoords = UsdGeom.PrimvarsAPI(frame_mesh).CreatePrimvar("st", + Sdf.ValueTypeNames.TexCoord2fArray, + UsdGeom.Tokens.faceVarying) + texCoords.Set(Vt.Vec2fArray.FromNumpy(tex_coords)) + + usd_mat_path = usd_internal_path_door_frame + "_mat" + material = UsdShade.Material.Define(stage, usd_mat_path) + stInput = material.CreateInput('frame:stPrimvarName', Sdf.ValueTypeNames.Token) + stInput.Set('st') + + pbrShader = UsdShade.Shader.Define(stage, f"{usd_mat_path}/PBRShader") + pbrShader.CreateIdAttr("UsdPreviewSurface") + pbrShader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(1.0) + pbrShader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(0.0) + pbrShader.CreateInput('useSpecularWorkflow', Sdf.ValueTypeNames.Bool).Set(True) + + material.CreateSurfaceOutput().ConnectToSource(pbrShader.ConnectableAPI(), "surface") + + # create texture coordinate reader + stReader = UsdShade.Shader.Define(stage, f"{usd_mat_path}/stReader") + stReader.CreateIdAttr('UsdPrimvarReader_float2') + stReader.CreateInput('varname',Sdf.ValueTypeNames.Token).ConnectToSource(stInput) + + # diffuse texture + diffuseTextureSampler = UsdShade.Shader.Define(stage, f"{usd_mat_path}/diffuseTexture") + diffuseTextureSampler.CreateIdAttr('UsdUVTexture') + diffuseTextureSampler.CreateInput('file', Sdf.ValueTypeNames.Asset).Set(texture_map_path) + diffuseTextureSampler.CreateInput("st", Sdf.ValueTypeNames.Float2).ConnectToSource(stReader.ConnectableAPI(), 'result') + diffuseTextureSampler.CreateOutput('rgb', Sdf.ValueTypeNames.Float3) + pbrShader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).ConnectToSource(diffuseTextureSampler.ConnectableAPI(), 'rgb') + + # Bind material to door frame + frame_mesh.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI) + UsdShade.MaterialBindingAPI(frame_mesh).Bind(material) + + # Set up door frame physics (static) + # UsdPhysics.CollisionAPI.Apply(frame_prim) + # UsdPhysics.RigidBodyAPI.Apply(frame_prim) + + # Apply physics material to door frame + frame_mat = UsdPhysics.MaterialAPI.Apply(frame_prim) + frame_mat.CreateDynamicFrictionAttr(2.0) + frame_mat.CreateStaticFrictionAttr(2.0) + + # Create the door (this will be the moving part) + n_door_verts = door_verts.shape[0] + n_door_faces = door_faces.shape[0] + door_vertex_counts = np.ones(n_door_faces).astype(np.int32) * 3 + + # Create door mesh + door_mesh = UsdGeom.Mesh.Define(stage, usd_internal_path_door) + door_mesh.CreatePointsAttr(Vt.Vec3fArray.FromNumpy(door_verts)) + door_mesh.CreateFaceVertexCountsAttr(Vt.IntArray.FromNumpy(door_vertex_counts)) + door_mesh.CreateFaceVertexIndicesAttr(Vt.IntArray.FromNumpy(door_faces)) + door_mesh.CreateExtentAttr([(-100, -100, -100), (100, 100, 100)]) + + door_prim = stage.GetPrimAtPath(usd_internal_path_door) + + # Apply texture to door if provided + if texture_door is not None: + vts = texture_door["vts"] + fts = texture_door["fts"] + texture_map_path = texture_door["texture_map_path"] + tex_coords = vts[fts.reshape(-1)].reshape(-1, 2) + + texCoords = UsdGeom.PrimvarsAPI(door_mesh).CreatePrimvar("st", + Sdf.ValueTypeNames.TexCoord2fArray, + UsdGeom.Tokens.faceVarying) + texCoords.Set(Vt.Vec2fArray.FromNumpy(tex_coords)) + + usd_mat_path = usd_internal_path_door + "_mat" + material = UsdShade.Material.Define(stage, usd_mat_path) + stInput = material.CreateInput('frame:stPrimvarName', Sdf.ValueTypeNames.Token) + stInput.Set('st') + + pbrShader = UsdShade.Shader.Define(stage, f"{usd_mat_path}/PBRShader") + pbrShader.CreateIdAttr("UsdPreviewSurface") + pbrShader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(1.0) + pbrShader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(0.0) + pbrShader.CreateInput('useSpecularWorkflow', Sdf.ValueTypeNames.Bool).Set(True) + + material.CreateSurfaceOutput().ConnectToSource(pbrShader.ConnectableAPI(), "surface") + + # create texture coordinate reader + stReader = UsdShade.Shader.Define(stage, f"{usd_mat_path}/stReader") + stReader.CreateIdAttr('UsdPrimvarReader_float2') + stReader.CreateInput('varname',Sdf.ValueTypeNames.Token).ConnectToSource(stInput) + + # diffuse texture + diffuseTextureSampler = UsdShade.Shader.Define(stage, f"{usd_mat_path}/diffuseTexture") + diffuseTextureSampler.CreateIdAttr('UsdUVTexture') + diffuseTextureSampler.CreateInput('file', Sdf.ValueTypeNames.Asset).Set(texture_map_path) + diffuseTextureSampler.CreateInput("st", Sdf.ValueTypeNames.Float2).ConnectToSource(stReader.ConnectableAPI(), 'result') + diffuseTextureSampler.CreateOutput('rgb', Sdf.ValueTypeNames.Float3) + pbrShader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).ConnectToSource(diffuseTextureSampler.ConnectableAPI(), 'rgb') + + # Bind material to door + door_mesh.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI) + UsdShade.MaterialBindingAPI(door_mesh).Bind(material) + + # Set up door physics (dynamic) + UsdPhysics.CollisionAPI.Apply(door_prim) + mass_api = UsdPhysics.MassAPI.Apply(door_prim) + mass_api.CreateMassAttr(10.0) # Set door mass to 10kg + rigid_api = UsdPhysics.RigidBodyAPI.Apply(door_prim) + + # Apply PhysX rigid body properties for better simulation + physx_rigid_body = PhysxSchema.PhysxRigidBodyAPI.Apply(door_prim) + physx_rigid_body.CreateSolverPositionIterationCountAttr(255) + physx_rigid_body.CreateSolverVelocityIterationCountAttr(255) + physx_rigid_body.CreateLinearDampingAttr(10.0) + physx_rigid_body.CreateAngularDampingAttr(10.0) + physx_rigid_body.CreateMaxLinearVelocityAttr(0.5) + physx_rigid_body.CreateMaxAngularVelocityAttr(0.5) + physx_rigid_body.CreateMaxDepenetrationVelocityAttr(50.0) + + # # Apply collision properties + # ps_collision_api = PhysxSchema.PhysxCollisionAPI.Apply(door_prim) + # ps_collision_api.CreateContactOffsetAttr(0.005) + # ps_collision_api.CreateRestOffsetAttr(0.001) + # ps_collision_api.CreateTorsionalPatchRadiusAttr(0.01) + + physx_sdf = PhysxSchema.PhysxSDFMeshCollisionAPI.Apply(door_prim) + physx_sdf.CreateSdfResolutionAttr(256) + collider = UsdPhysics.MeshCollisionAPI.Apply(door_prim) + collider.CreateApproximationAttr("sdf") + + # Apply physics material to door + door_mat = UsdPhysics.MaterialAPI.Apply(door_prim) + door_mat.CreateDynamicFrictionAttr(2.0) + door_mat.CreateStaticFrictionAttr(2.0) + + # Create the revolute joint between door and door frame + if articulation_door is not None: + rotate_axis_point_lower, rotate_axis_point_upper = articulation_door + + # Calculate the rotation axis vector + axis_vector = np.array(rotate_axis_point_upper) - np.array(rotate_axis_point_lower) + axis_vector = axis_vector / np.linalg.norm(axis_vector) # Normalize + + # Create a revolute joint + joint_path = usd_internal_path_door + "_hinge_joint" + joint = UsdPhysics.RevoluteJoint.Define(stage, joint_path) + + # Set the joint axis (in local space) + joint.CreateAxisAttr("Z") # Default to Z-axis, we'll transform to match our axis + + # Set the joint bodies - door rotates relative to door frame + joint.CreateBody0Rel().SetTargets([usd_internal_path_door]) # Moving body (door) + joint.CreateBody1Rel().SetTargets([usd_internal_path_door_frame]) # Static body (door frame) + + # Create joint position (midpoint of the axis) + joint_pos = (np.array(rotate_axis_point_lower) + np.array(rotate_axis_point_upper)) / 2 + + # Set the joint position using physics:localPos0 and physics:localPos1 + # These define the connection points on each body + joint.CreateLocalPos0Attr(Gf.Vec3f(joint_pos[0], joint_pos[1], joint_pos[2])) + joint.CreateLocalPos1Attr(Gf.Vec3f(joint_pos[0], joint_pos[1], joint_pos[2])) + + # If the rotation axis is not along Z, we need to rotate the joint + if not np.allclose(axis_vector, [0, 0, 1]): + # Calculate rotation to align Z-axis with our desired axis + z_axis = np.array([0, 0, 1]) + # Use cross product to find rotation axis + rotation_axis = np.cross(z_axis, axis_vector) + if np.linalg.norm(rotation_axis) > 1e-6: # Not parallel + rotation_axis = rotation_axis / np.linalg.norm(rotation_axis) + # Calculate angle between vectors + angle = np.arccos(np.clip(np.dot(z_axis, axis_vector), -1.0, 1.0)) + + # Create rotation quaternion + sin_half = np.sin(angle / 2) + cos_half = np.cos(angle / 2) + quat = Gf.Quatf(cos_half, sin_half * rotation_axis[0], + sin_half * rotation_axis[1], sin_half * rotation_axis[2]) + + # Apply rotation using physics:localRot0 and physics:localRot1 + joint.CreateLocalRot0Attr(quat) + joint.CreateLocalRot1Attr(quat) + + # Set joint limits for a typical door (0 to 120 degrees) + joint.CreateLowerLimitAttr(-120.0) # 0 degrees (closed) + joint.CreateUpperLimitAttr(120.0) # 120 degrees (open) + + # Apply PhysX-specific joint properties for better simulation + joint_prim = stage.GetPrimAtPath(joint_path) + physx_joint = PhysxSchema.PhysxJointAPI.Apply(joint_prim) + + # Apply debug torque if requested (for testing joint functionality) + if apply_debug_torque: + print(f"Applying debug torque to door joint: {debug_torque_value}") + # Apply DriveAPI to the joint + drive_api = UsdPhysics.DriveAPI.Apply(joint_prim, "angular") + # Set drive type to velocity control + drive_api.CreateTypeAttr("force") + # Set target velocity to make the door rotate + drive_api.CreateTargetVelocityAttr(debug_torque_value) # degrees per second + # Set drive stiffness and damping + drive_api.CreateStiffnessAttr(0.0) # No position control + drive_api.CreateDampingAttr(100) # High damping for velocity control + # Set max force + drive_api.CreateMaxForceAttr(1000.0) # Maximum force for the drive + print("Debug torque applied - door should rotate") + else: + # Add some damping to make the door movement more realistic without active torque + drive_api = UsdPhysics.DriveAPI.Apply(joint_prim, "angular") + drive_api.CreateTypeAttr("force") + drive_api.CreateStiffnessAttr(0.0) # No position control + drive_api.CreateDampingAttr(100.0) # Add damping for realistic movement + drive_api.CreateMaxForceAttr(1000.0) # Maximum force for the drive + + return stage + + +def save_usd_with_ids(usd_file_path, mesh_info_dict, room_base_ids): + from pxr import Gf, Usd, UsdGeom, Vt, UsdPhysics, PhysxSchema, UsdUtils, Sdf, UsdShade + + + stage = Usd.Stage.CreateNew(usd_file_path) + + collision_approximation = "sdf" + # collision_approximation = "convexDecomposition" + + + world_base_prim = UsdGeom.Xform.Define(stage, "/World") + + # set default prim to World + stage.SetDefaultPrim(stage.GetPrimAtPath("/World")) + + for mesh_id in room_base_ids: + if mesh_id.startswith("door_"): + continue + else: + usd_internal_path = f"/World/{mesh_id}" + mesh_dict = mesh_info_dict[mesh_id] + mesh_obj_i = mesh_dict['mesh'] + static = mesh_dict['static'] + articulation = mesh_dict.get('articulation', None) + # articulation = None + texture = mesh_dict.get('texture', None) + mass = mesh_dict.get('mass', 1.0) + + stage = convert_mesh_to_usd(stage, usd_internal_path, + mesh_obj_i.vertices, mesh_obj_i.faces, + collision_approximation, static, articulation, mass=mass, physics_iter=(16, 4), + apply_debug_torque=False, debug_torque_value=30.0, texture=texture, + usd_internal_art_reference_path=f"/World/{mesh_id}", + add_damping=True) + + + stage.Save() + + + success = UsdUtils.CreateNewUsdzPackage(f"{usd_file_path}", + usd_file_path.replace(".usd", ".usdz")) + + if success: + print(f"Successfully created USDZ: {usd_file_path.replace('.usd', '.usdz')}") + else: + print("Failed to create USDZ.") + +def save_door_frame_to_usd( + usd_file_path, + mesh_info_dict_door, + mesh_info_dict_door_frame, + door_id, + door_frame_id +): + from pxr import Gf, Usd, UsdGeom, Vt, UsdPhysics, PhysxSchema, UsdUtils, Sdf, UsdShade + stage = Usd.Stage.CreateNew(usd_file_path) + + world_base_prim = UsdGeom.Xform.Define(stage, "/World") + + # set default prim to World + stage.SetDefaultPrim(stage.GetPrimAtPath("/World")) + + UsdPhysics.ArticulationRootAPI.Apply(stage.GetPrimAtPath("/World")) + + usd_internal_path_door = f"/World/{door_id}" + usd_internal_path_door_frame = f"/World/{door_frame_id}" + + + mesh_dict_door = mesh_info_dict_door + mesh_obj_door = mesh_dict_door['mesh'] + articulation_door = mesh_dict_door.get('articulation', None) + texture_door = mesh_dict_door.get('texture', None) + + mesh_dict_door_frame = mesh_info_dict_door_frame + mesh_obj_door_frame = mesh_dict_door_frame['mesh'] + texture_door_frame = mesh_dict_door_frame.get('texture', None) + + stage = door_frame_to_usd( + stage, + usd_internal_path_door, + usd_internal_path_door_frame, + mesh_obj_door, + mesh_obj_door_frame, + articulation_door, + texture_door, + texture_door_frame + ) + + stage.Save() + + + success = UsdUtils.CreateNewUsdzPackage(f"{usd_file_path}", + usd_file_path.replace(".usd", ".usdz")) + + if success: + print(f"Successfully created USDZ: {usd_file_path.replace('.usd', '.usdz')}") + else: + print("Failed to create USDZ.") + + + + + +def get_room_layout_scene_usd_separate_from_layout(layout_json_path: str, usd_collection_dir: str): + """ + Create a room layout scene from a dictionary of mesh information. + """ + with open(layout_json_path, 'r') as f: + layout_data = json.load(f) + + layout_dir = os.path.dirname(layout_json_path) + + floor_plan = dict_to_floor_plan(layout_data) + current_layout = floor_plan + + mesh_info_dict = export_layout_to_mesh_dict_list_no_object_transform_v2(current_layout, layout_dir) + + rigid_object_property_dict = {} + rigid_object_transform_dict = {} + + os.makedirs(usd_collection_dir, exist_ok=True) + + room_base_ids = [mesh_id for mesh_id in mesh_info_dict.keys() if mesh_id.startswith("door_") or mesh_id.startswith("wall_room_") or mesh_id.startswith("window_") or mesh_id.startswith("floor_")] + rigid_object_ids = [mesh_id for mesh_id in mesh_info_dict.keys() if mesh_id not in room_base_ids] + + door_ids = [] + door_frame_ids = [] + + for room_base_id in room_base_ids: + if room_base_id.startswith("door_"): + if room_base_id.endswith("_frame"): + door_frame_ids.append(room_base_id) + else: + door_ids.append(room_base_id) + continue + + usd_file_path = f"{usd_collection_dir}/{room_base_id}.usd" + save_usd_with_ids(usd_file_path, mesh_info_dict, [room_base_id]) + + for rigid_object_id in rigid_object_ids: + usd_file_path = f"{usd_collection_dir}/{rigid_object_id}.usd" + rigid_object_property_dict[rigid_object_id] = { + "static": mesh_info_dict[rigid_object_id]['static'], + "mass": mesh_info_dict[rigid_object_id]['mass'], + } + rigid_object_transform_dict[rigid_object_id] = mesh_info_dict[rigid_object_id]["transform"] + mesh_info_dict[rigid_object_id]['static'] = False + save_usd_with_ids(usd_file_path, mesh_info_dict, [rigid_object_id]) + + + for door_id, door_frame_id in zip(door_ids, door_frame_ids): + + save_door_frame_to_usd( + usd_file_path=f"{usd_collection_dir}/{door_id}.usd", + mesh_info_dict_door=mesh_info_dict[door_id], + mesh_info_dict_door_frame=mesh_info_dict[door_frame_id], + door_id=door_id, + door_frame_id=door_frame_id + ) + + with open(os.path.join(usd_collection_dir, "rigid_object_property_dict.json"), "w") as f: + json.dump(rigid_object_property_dict, f, indent=4) + + with open(os.path.join(usd_collection_dir, "rigid_object_transform_dict.json"), "w") as f: + json.dump(rigid_object_transform_dict, f, indent=4) + + return { + "status": "success", + "message": f"Room layout scene created successfully", + } + + +def get_layout_scene_loaded(layout_json_path: str): + """ + Create a room layout scene from a dictionary of mesh information. + """ + from pxr import Gf, Usd, UsdGeom, Vt, UsdPhysics, PhysxSchema, UsdUtils, Sdf, UsdShade + import omni + with open(layout_json_path, 'r') as f: + layout_data = json.load(f) + + layout_dir = os.path.dirname(layout_json_path) + + floor_plan = dict_to_floor_plan(layout_data) + current_layout = floor_plan + mesh_info_dict = export_layout_to_mesh_dict_list_v2(current_layout, layout_dir) + + stage = Usd.Stage.CreateInMemory() + + + world_base_prim = UsdGeom.Xform.Define(stage, "/World") + + # set default prim to World + stage.SetDefaultPrim(stage.GetPrimAtPath("/World")) + + collision_approximation = "sdf" + + track_ids = [] + door_ids = [] + door_frame_ids = [] + + print(f"mesh_info_dict: {mesh_info_dict.keys()}") + + for mesh_id in mesh_info_dict: + if mesh_id.startswith("wall_room_") or mesh_id.startswith("window_") or mesh_id.startswith("floor_"): + usd_internal_path = f"/World/{mesh_id}" + elif mesh_id.startswith("door_"): + if mesh_id.endswith("_frame"): + door_frame_ids.append(mesh_id) + else: + door_ids.append(mesh_id) + continue + else: + track_ids.append(mesh_id) + usd_internal_path = f"/World/{mesh_id}" + mesh_dict = mesh_info_dict[mesh_id] + mesh_obj_i = mesh_dict['mesh'] + static = mesh_dict['static'] + articulation = mesh_dict.get('articulation', None) + texture = mesh_dict.get('texture', None) + mass = mesh_dict.get('mass', 1.0) + + print(f"usd_internal_path: {usd_internal_path}") + + stage = convert_mesh_to_usd(stage, usd_internal_path, + mesh_obj_i.vertices, mesh_obj_i.faces, + collision_approximation, static, articulation, mass=mass, physics_iter=(16, 4), + apply_debug_torque=False, debug_torque_value=30.0, texture=texture, + usd_internal_art_reference_path=f"/World/{mesh_id}") + + door_ids = sorted(door_ids) + door_frame_ids = sorted(door_frame_ids) + + for door_id, door_frame_id in zip(door_ids, door_frame_ids): + usd_internal_path_door = f"/World/{door_id}" + usd_internal_path_door_frame = f"/World/{door_frame_id}" + + + mesh_dict_door = mesh_info_dict[door_id] + mesh_obj_door = mesh_dict_door['mesh'] + articulation_door = mesh_dict_door.get('articulation', None) + texture_door = mesh_dict_door.get('texture', None) + + mesh_dict_door_frame = mesh_info_dict[door_frame_id] + mesh_obj_door_frame = mesh_dict_door_frame['mesh'] + texture_door_frame = mesh_dict_door_frame.get('texture', None) + + stage = door_frame_to_usd( + stage, + usd_internal_path_door, + usd_internal_path_door_frame, + mesh_obj_door, + mesh_obj_door_frame, + articulation_door, + texture_door, + texture_door_frame, + ) + + cache = UsdUtils.StageCache.Get() + stage_id = cache.Insert(stage).ToLongInt() + omni.usd.get_context().attach_stage_with_callback(stage_id) + + # Set the world axis of the stage root layer to Z + UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z) + + return track_ids + +def get_all_prim_paths(ids): + # Get all prim paths in the stage + + prim_paths = [f"/World/{id}" for id in ids] + return prim_paths + +def get_prim(prim_path): + import omni + stage = omni.usd.get_context().get_stage() + prim = stage.GetPrimAtPath(prim_path) + if not prim.IsValid(): + print(f"Prim at path {prim_path} is not valid.") + return None + return prim + + +def quaternion_angle(q1, q2): + """ + Calculate the angle between two quaternions. + + Parameters: + q1, q2: Lists or arrays of shape [w, x, y, z] representing quaternions + + Returns: + angle: The angle in radians between the two quaternions + """ + # Convert lists to numpy arrays if they aren't already + q1 = np.array(q1) + q2 = np.array(q2) + + # Normalize the quaternions + q1 = q1 / np.linalg.norm(q1) + q2 = q2 / np.linalg.norm(q2) + + # Calculate the relative quaternion: q_rel = q2 * q1^(-1) + q1_inv = np.array([q1[0], -q1[1], -q1[2], -q1[3]]) # Inverse of a normalized quaternion + + # Quaternion multiplication for q_rel = q2 * q1_inv + q_rel = np.array([ + q2[0] * q1_inv[0] - q2[1] * q1_inv[1] - q2[2] * q1_inv[2] - q2[3] * q1_inv[3], + q2[0] * q1_inv[1] + q2[1] * q1_inv[0] + q2[2] * q1_inv[3] - q2[3] * q1_inv[2], + q2[0] * q1_inv[2] - q2[1] * q1_inv[3] + q2[2] * q1_inv[0] + q2[3] * q1_inv[1], + q2[0] * q1_inv[3] + q2[1] * q1_inv[2] - q2[2] * q1_inv[1] + q2[3] * q1_inv[0] + ]) + + # The angle can be calculated from the scalar part (real part) of the relative quaternion + angle = 2 * np.arccos(min(abs(q_rel[0]), 1.0)) + + return angle * 180 / np.pi # Convert to degrees + + + + +def get_all_prims_with_paths(ids): + # implement this function to get all prims in the stage + prim_paths = get_all_prim_paths(ids) + prims = [] + for prim_path in prim_paths: + prim = get_prim(prim_path) + prims.append(prim) + return prims, prim_paths + +def extract_position_orientation(transform): + from pxr import Gf, Usd, UsdGeom, Vt, UsdPhysics, PhysxSchema, UsdUtils + position = Gf.Vec3d(transform.ExtractTranslation()) + rotation = transform.ExtractRotationQuat() + orientation = Gf.Quatd(rotation.GetReal(), *rotation.GetImaginary()) + return position, orientation + + +def start_simulation_and_track( + prims, prim_paths, + simulation_steps=2000, + longterm_equilibrium_steps=20, + stable_position_limit=0.2, stable_rotation_limit=8.0, + early_stop_unstable_exemption_prim_paths=[] + ): + + import omni + import omni.kit.app + from pxr import Gf, Usd, UsdGeom, Vt, UsdPhysics, PhysxSchema, UsdUtils + app = omni.kit.app.get_app() + + # Reset and initialize the simulation + stage = omni.usd.get_context().get_stage() + + # Get the timeline interface + timeline = omni.timeline.get_timeline_interface() + # Stop the timeline if it's currently playing + if timeline.is_playing(): + timeline.stop() + # Reset the simulation to initial state + timeline.set_current_time(0.0) + # Wait a moment for the reset to complete + import time + time.sleep(0.1) + # Define a list to store the traced data + traced_data_all = {} + init_data = {} + + # Start the simulation + timeline.play() + # Initialize variables for tracking the previous position for speed calculation + elapsed_steps = 0 + init = True + + early_stop = False + while not early_stop and elapsed_steps < simulation_steps: + # Get the current time code + current_time_code = Usd.TimeCode.Default() + # Get current position and orientation + traced_data_frame_prims = [] + for prim in prims: + xform = UsdGeom.Xformable(prim) + transform = xform.ComputeLocalToWorldTransform(current_time_code) + traced_data_frame_prim = extract_position_orientation(transform) + traced_data_frame_prims.append(traced_data_frame_prim) + for prim_i, (position, orientation) in enumerate(traced_data_frame_prims): + # Calculate speed if previous position is available + + prim_path = prim_paths[prim_i] + + traced_data = traced_data_all.get(prim_path, []) + + + if init: + init_data[prim_path] = {} + init_data[prim_path]["position"] = [position[0], position[1], position[2]] + init_data[prim_path]["orientation"] = [orientation.GetReal(), + orientation.GetImaginary()[0], + orientation.GetImaginary()[1], + orientation.GetImaginary()[2] + ] + relative_position = 0. + relative_orientation = 0. + + position_cur = np.array([init_data[prim_path]["position"][0], + init_data[prim_path]["position"][1], + init_data[prim_path]["position"][2]]) + + orientation_cur = np.array([init_data[prim_path]["orientation"][0], + init_data[prim_path]["orientation"][1], + init_data[prim_path]["orientation"][2], + init_data[prim_path]["orientation"][3] + ]) + + else: + position_cur = np.array([position[0], position[1], position[2]]) + position_init = np.array([init_data[prim_path]["position"][0], + init_data[prim_path]["position"][1], + init_data[prim_path]["position"][2]]) + + orientation_cur = np.array([orientation.GetReal(), + orientation.GetImaginary()[0], + orientation.GetImaginary()[1], + orientation.GetImaginary()[2] + ]) + orientation_init = np.array([init_data[prim_path]["orientation"][0], + init_data[prim_path]["orientation"][1], + init_data[prim_path]["orientation"][2], + init_data[prim_path]["orientation"][3] + ]) + + position_last = traced_data[0]["position_last"] + orientation_last = traced_data[0]["orientation_last"] + + relative_position_last = position_cur - position_last + relative_orientation_last = quaternion_angle(orientation_cur, orientation_last) + + relative_position_last = float(np.linalg.norm(relative_position_last)) + relative_orientation_last = float(relative_orientation_last) + + relative_position = position_cur - position_init + relative_orientation = quaternion_angle(orientation_cur, orientation_init) + + relative_position = float(np.linalg.norm(relative_position)) + relative_orientation = float(relative_orientation) + + + traced_data.append({ + "position": position_cur.copy(), + "orientation": orientation_cur.copy(), + "d_position": relative_position, + "d_orientation": relative_orientation, + "position_last": position_cur.copy(), + "orientation_last": orientation_cur.copy(), + }) + + if traced_data[-1]["d_position"] > stable_position_limit or \ + traced_data[-1]["d_orientation"] > stable_rotation_limit: + traced_data[-1]["stable"] = False + else: + traced_data[-1]["stable"] = True + + if not init: + traced_data[-1]["relative_position_last"] = relative_position_last + traced_data[-1]["relative_orientation_last"] = relative_orientation_last + if relative_position_last < 1e-3 and relative_orientation_last < 1e-3: + traced_data[-1]["shortterm_equilibrium"] = True + else: + traced_data[-1]["shortterm_equilibrium"] = False + + + if len(traced_data) > longterm_equilibrium_steps: + traced_data.pop(0) + + longterm_equilibrium = True + for trace_item in traced_data: + longterm_equilibrium = longterm_equilibrium and trace_item["shortterm_equilibrium"] + + traced_data[-1]["longterm_equilibrium"] = longterm_equilibrium + else: + traced_data[-1]["longterm_equilibrium"] = False + traced_data_all[prim_path] = traced_data + + all_longterm_equilibrium = True + + for prim_path, traced_data in traced_data_all.items(): + all_longterm_equilibrium = all_longterm_equilibrium and traced_data[-1]["longterm_equilibrium"] + + if all_longterm_equilibrium: + print("early stop: all longterm equilibrium") + early_stop = True + + + existing_stable = True + + for prim_path, traced_data in traced_data_all.items(): + if prim_path not in early_stop_unstable_exemption_prim_paths and not traced_data[-1]["stable"]: + print(f"early stop: unstable prim: {prim_path}") + existing_stable = False + break + + if not existing_stable: + early_stop = True + + if init: + init = False + + + # Step the simulation forward by one frame + + + # Update the simulation by one frame + app.update() + + # Also step the timeline forward if needed + current_time = timeline.get_current_time() + time_step = 1.0 / 60.0 # Assuming 60 FPS + timeline.set_current_time(current_time + time_step) + + + # Increment the elapsed time + elapsed_steps += 1 + + print(f"\relapsed steps: {elapsed_steps:05d}/{simulation_steps:05d}", end="") + + traced_data_all_final = {} + + for prim_path, traced_data in traced_data_all.items(): + + traced_data_all_final[prim_path] = {} + traced_data_all_final[prim_path]["final_position"] = np.array(traced_data[-1]["position"]).reshape(3) + traced_data_all_final[prim_path]["final_orientation"] = np.array(traced_data[-1]["orientation"]).reshape(4) + traced_data_all_final[prim_path]["stable"] = traced_data[-1]["stable"] + + traced_data_all_final[prim_path]["initial_position"] = np.array(init_data[prim_path]["position"]).reshape(3) + traced_data_all_final[prim_path]["initial_orientation"] = np.array(init_data[prim_path]["orientation"]).reshape(4) + + position_list = [np.array(traced_data[trace_idx]["position"]).reshape(3) for trace_idx in range(len(traced_data))] + orientation_list = [np.array(traced_data[trace_idx]["orientation"]).reshape(4) for trace_idx in range(len(traced_data))] + + traced_data_all_final[prim_path]["position_traj"] = np.array(position_list).reshape(-1, 3).astype(np.float32) + traced_data_all_final[prim_path]["orientation_traj"] = np.array(orientation_list).reshape(-1, 4).astype(np.float32) + + # Stop the simulation + timeline.stop() + + return traced_data_all_final + + + +def generate_physics_statistics(traced_data_all, track_ids): + """ + Generate physics statistics from traced simulation data. + + Args: + traced_data_all: Dictionary mapping prim paths to traced data + track_ids: List of object IDs that were tracked + + Returns: + Dictionary containing physics statistics in the desired format + """ + statistics = { + "objects": {}, + "total_objects": 0, + "stable_objects": 0, + "unstable_objects": 0, + "stability_ratio": 0.0 + } + + # Generate statistics for each object + for object_id, (prim_path, traced_data) in zip(track_ids, traced_data_all.items()): + # Extract data + initial_pos = traced_data["initial_position"] + final_pos = traced_data["final_position"] + initial_orient = traced_data["initial_orientation"] + final_orient = traced_data["final_orientation"] + stable = traced_data["stable"] + + # Calculate position offset + position_offset = (final_pos - initial_pos).tolist() + position_offset_magnitude = float(np.linalg.norm(final_pos - initial_pos)) + + # Calculate orientation angle offset using quaternion_angle function + orientation_angle_offset = float(quaternion_angle(initial_orient, final_orient)) + + + # Store statistics for this object + statistics["objects"][object_id] = { + "stable": bool(stable), + "position_offset": position_offset, + "position_offset_magnitude": position_offset_magnitude, + "orientation_angle_offset": orientation_angle_offset, + } + + # Update counters + statistics["total_objects"] += 1 + if stable: + statistics["stable_objects"] += 1 + else: + statistics["unstable_objects"] += 1 + + # Calculate stability ratio + if statistics["total_objects"] > 0: + statistics["stability_ratio"] = statistics["stable_objects"] / statistics["total_objects"] + + + return statistics + + + +def simulate_the_scene(track_ids): + """ + Simulate the scene. + """ + from pxr import Gf, Usd, UsdGeom, Vt, UsdPhysics, PhysxSchema, UsdUtils, Sdf, UsdShade + import omni + stage = omni.usd.get_context().get_stage() + + prims, prim_paths = get_all_prims_with_paths(track_ids) + traced_data_all = start_simulation_and_track( + prims, prim_paths, simulation_steps=120, longterm_equilibrium_steps=120, + early_stop_unstable_exemption_prim_paths=prim_paths + ) + + unstable_prims = [] + unstable_object_ids = [] + for object_id, (prim_path, traced_data) in zip(track_ids, traced_data_all.items()): + if not traced_data["stable"]: + unstable_prims.append(os.path.basename(prim_path)) + unstable_object_ids.append(object_id) + + if len(unstable_prims) > 0: + next_step_message = f""" +The scene is unstable: {unstable_prims}; +""" + else: + next_step_message = "The scene is stable." + + return { + "status": "success", + "message": "Scene simulated successfully!", + "unstable_objects": unstable_object_ids, + "next_step": next_step_message, + "traced_data_all": traced_data_all, + } \ No newline at end of file diff --git a/sage10k_raw/_dataset/kits/load_isaacsim_demo.py b/sage10k_raw/_dataset/kits/load_isaacsim_demo.py new file mode 100644 index 0000000000000000000000000000000000000000..2769e5092b9baa669453df0abd5a0cc7e83db0d1 --- /dev/null +++ b/sage10k_raw/_dataset/kits/load_isaacsim_demo.py @@ -0,0 +1,31 @@ +from isaacsim_utils import ( + start_simulation_app, + get_layout_scene_loaded, + simulate_the_scene, + generate_physics_statistics +) +import argparse + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Export USD file") + parser.add_argument("layout_json_path", type=str, help="Layout JSON file path") + args = parser.parse_args() + + start_simulation_app() + track_ids = get_layout_scene_loaded(args.layout_json_path) + result = simulate_the_scene(track_ids) + + # print(result) + unstable_objects = result["unstable_objects"] + traced_data_all = result["traced_data_all"] + + # Generate physics statistics with pre-computed collision record + physics_statistics = generate_physics_statistics(traced_data_all, track_ids) + + # Print summary + print(f"\n=== Physics Simulation Results ===") + print(f"Total objects: {physics_statistics['total_objects']}") + print(f"Stable objects: {physics_statistics['stable_objects']}") + print(f"Unstable objects: {physics_statistics['unstable_objects']}") + print(f"Stability ratio: {physics_statistics['stability_ratio']:.2%}") + \ No newline at end of file diff --git a/sage10k_raw/_dataset/kits/models.py b/sage10k_raw/_dataset/kits/models.py new file mode 100644 index 0000000000000000000000000000000000000000..9cb42aa56307e0137808c260023932b2534e4ed1 --- /dev/null +++ b/sage10k_raw/_dataset/kits/models.py @@ -0,0 +1,102 @@ +from typing import List, Optional, Dict +from dataclasses import dataclass + + +@dataclass +class Point3D: + """Represents a 3D coordinate point.""" + x: float + y: float + z: float + +@dataclass +class Euler: + """Represents a 3D rotation in Euler angles (x, y, z) in degrees.""" + x: float + y: float + z: float + +@dataclass +class Dimensions: + """Represents 3D dimensions.""" + width: float + length: float + height: float + +@dataclass +class Wall: + """Represents a wall in the room.""" + id: str + start_point: Point3D + end_point: Point3D + height: float + thickness: float = 0.1 + material: str = "drywall" + +@dataclass +class Window: + """Represents a window on a wall.""" + id: str + wall_id: str + position_on_wall: float # 0-1, position along the wall + width: float + height: float + sill_height: float # height from floor to window sill + window_type: str = "standard" + window_material: str = "standard" + +@dataclass +class Door: + """Represents a door on a wall.""" + id: str + wall_id: str + position_on_wall: float # 0-1, position along the wall + width: float + height: float + door_type: str = "standard" + opens_inward: bool = True + opening: bool = False # if opening is true, then it is a permanent opening without any actual door at the space + door_material: str = "standard" + +@dataclass +class Object: + """Represents an object/furniture item in a room.""" + id: str # unique id for the object + room_id: str # id of the room the object is in + type: str # type of the object + description: str # description of the object + position: Point3D # position of the object in the room + rotation: Euler # rotation of the object in the room + dimensions: Dimensions # dimensions of the object + source: str # "objaverse", "generation", etc. + source_id: str # id of the object in the source + place_id: str # id of the place the object is in; could be a wall (wall_id), a floor (room_id), or another object (object_id) + place_guidance: str = "Standard placement for the object" # guidance on where to place the object in the room + placement_constraints: List[Dict] = None # constraints on the placement of the object + mass: float = 1.0 # mass of the object in kg + pbr_parameters: Dict = None # pbr parameters of the object + +@dataclass +class Room: + """Represents a room in the layout.""" + id: str + room_type: str + position: Point3D + dimensions: Dimensions + walls: List[Wall] + doors: List[Door] + objects: List[Object] + windows: List[Window] + floor_material: str = "hardwood" + ceiling_height: float = 2.7 # meters + +@dataclass +class FloorPlan: + """Represents the complete floor plan layout.""" + id: str + rooms: List[Room] + total_area: float + building_style: str + description: str + created_from_text: str + policy_analysis: Dict = None \ No newline at end of file diff --git a/sage10k_raw/_dataset/kits/render_video.py b/sage10k_raw/_dataset/kits/render_video.py new file mode 100644 index 0000000000000000000000000000000000000000..b91dbc4e832f3083e637dc39a4369be21e05689f --- /dev/null +++ b/sage10k_raw/_dataset/kits/render_video.py @@ -0,0 +1,1606 @@ +import argparse +from ast import arg +import os +import sys +import json +import numpy as np +import trimesh +from tqdm import tqdm +from scipy.interpolate import CubicHermiteSpline, interp1d +from scipy.ndimage import gaussian_filter1d +from collections import Counter +from contextlib import contextmanager +import bpy +import imageio +from tqdm import tqdm +from PIL import Image +import mathutils +import open3d as o3d + +# Add parent directory to path to import modules +sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) + +@contextmanager +def suppress_output(): + with open(os.devnull, "w") as devnull: + old_stdout = os.dup(1) + old_stderr = os.dup(2) + try: + os.dup2(devnull.fileno(), 1) + os.dup2(devnull.fileno(), 2) + yield + finally: + os.dup2(old_stdout, 1) + os.dup2(old_stderr, 2) + os.close(old_stdout) + os.close(old_stderr) + +from tex_utils_local import ( + dict_to_floor_plan, + export_layout_to_mesh_dict_list_v2 +) + +# Constants +MIN_DIST_OBSTACLE = 0.5 # User requirement +CAMERA_RADIUS = 0.5 # Safety margin for camera body +WORLD_UP = np.array([0, 0, 1]) + +# Step limits for adaptive sampling +MAX_TRANS_STEP = 0.05 +MAX_ROT_STEP = np.radians(0.5) + +class CameraPlannerEnv: + def __init__(self, room_bounds, all_meshes, interest_meshes=None): + """ + room_bounds: list/array [x_min, y_min, z_min, x_max, y_max, z_max] + all_meshes: list of trimesh.Trimesh objects (walls, floor, objects) + interest_meshes: list of trimesh.Trimesh objects (only objects to focus on) + """ + self.bounds = np.array(room_bounds) + + # 1. MERGE MESHES + if all_meshes: + self.scene_mesh = trimesh.util.concatenate(all_meshes) + else: + self.scene_mesh = trimesh.Trimesh() # Empty mesh if no objects + + print("Finished merging meshes") + + if interest_meshes: + self.interest_mesh = trimesh.util.concatenate(interest_meshes) + else: + self.interest_mesh = trimesh.Trimesh() + + print("Finished merging interest meshes") + + # 2. BUILD COLLISION ENGINE (All Meshes) + self.use_kdtree = True + + if len(self.scene_mesh.faces) > 0: + try: + # Sample points from the surface (fast) for collision + self.collision_points, _ = trimesh.sample.sample_surface(self.scene_mesh, 100000) + from scipy.spatial import cKDTree + print(f"Sampled {len(self.collision_points)} collision points, shape: {self.collision_points.shape}") + self.collision_kdtree = cKDTree(self.collision_points, balanced_tree=False) + print("Finished building collision kdtree") + except Exception as e: + print(f"Warning: Collision point sampling failed ({e}).") + self.use_kdtree = False + else: + self.use_kdtree = False + + print("Finished building collision engine") + + # 3. RAY INTERSECTOR + try: + from trimesh.ray.ray_pyembree import RayMeshIntersector + self.intersector = RayMeshIntersector(self.scene_mesh) + except ImportError: + from trimesh.ray.ray_triangle import RayMeshIntersector + self.intersector = RayMeshIntersector(self.scene_mesh) + + print("Finished building ray intersector") + + def is_valid_location(self, point, min_dist=0.1): + """ + Check if the camera position is inside the room AND + far enough from obstacles. + """ + # A. Room Bounds Check (Simple AABB) + if not (np.all(point > self.bounds[:3]) and np.all(point < self.bounds[3:])): + return False + + if not self.use_kdtree: + return True + + # B. Obstacle Distance Check (Approximate using KDTree of ALL surface points) + dist, _ = self.collision_kdtree.query(point, k=1) + + if dist < min_dist: + return False + + return True + + def is_view_clear(self, origin, target, min_view_dist=0.1): + """ + Check if the 'forward' ray hits an object too early. + """ + direction = np.array(target) - np.array(origin) + dist_to_target = np.linalg.norm(direction) + + if dist_to_target < 1e-6: return False # Target too close to origin + + direction = direction / dist_to_target + + if len(self.scene_mesh.faces) == 0: + return True + + # Cast a single ray + hit_points, _, _ = self.intersector.intersects_location( + ray_origins=[origin], + ray_directions=[direction] + ) + + if len(hit_points) == 0: + return True + + # Check distance to the closest hit + closest_hit_dist = np.min(np.linalg.norm(hit_points - origin, axis=1)) + + # If the ray hits something closer than the target (with some margin), view is blocked + # Ideally we want to see the target, so if hit < dist_to_target, it's blocked. + # However, target is on surface, so we might hit target itself. + if closest_hit_dist < dist_to_target - 0.1: + return False + + return True + + def ray_hits_mesh(self, origin, direction): + """ + Check if a ray from origin in direction hits the mesh. + """ + if len(self.scene_mesh.faces) == 0: + return False + + hit_points, _, _ = self.intersector.intersects_location( + ray_origins=[origin], + ray_directions=[direction] + ) + + return len(hit_points) > 0 + +def check_view_up(forward): + # Check if up vector satisfies constraint: abs(up . world_up) > 0.2 + # forward: (3,) + right = np.cross(forward, WORLD_UP) + if np.linalg.norm(right) < 1e-6: + return False + right = right / np.linalg.norm(right) + up = np.cross(right, forward) + up = up / np.linalg.norm(up) + return abs(np.dot(up, WORLD_UP)) > 0.2 + +def slerp_vector(v0, v1, t_array): + # v0, v1: (3,) unit vectors + # t_array: (N,) or float, 0..1 + # Returns (N, 3) + + if np.isscalar(t_array): + t_array = np.array([t_array]) + + dot = np.dot(v0, v1) + dot = np.clip(dot, -1.0, 1.0) + theta = np.arccos(dot) + sin_theta = np.sin(theta) + + if abs(sin_theta) < 1e-6: + # Linear interpolation if parallel + res = (1 - t_array)[:, np.newaxis] * v0 + t_array[:, np.newaxis] * v1 + norms = np.linalg.norm(res, axis=1) + # Avoid division by zero + norms[norms < 1e-6] = 1.0 + return res / norms[:, np.newaxis] + + w0 = np.sin((1 - t_array) * theta) / sin_theta + w1 = np.sin(t_array * theta) / sin_theta + + res = w0[:, np.newaxis] * v0 + w1[:, np.newaxis] * v1 + return res + +def get_interpolated_forwards(eval_dists, cum_dist, forwards): + """ + Interpolate forward vectors at given distances along the path. + """ + new_F = [] + current_seg = 0 + + # Ensure eval_dists are within range + eval_dists = np.clip(eval_dists, cum_dist[0], cum_dist[-1]) + + for d in eval_dists: + # Find segment + while current_seg < len(cum_dist) - 2 and d > cum_dist[current_seg+1]: + current_seg += 1 + + t_segment_start = cum_dist[current_seg] + t_segment_end = cum_dist[current_seg+1] + + segment_len = t_segment_end - t_segment_start + if segment_len < 1e-6: + t = 0.0 + else: + t = (d - t_segment_start) / segment_len + t = np.clip(t, 0.0, 1.0) + + f0 = forwards[current_seg] + f1 = forwards[current_seg+1] + + res = slerp_vector(f0, f1, t) + new_F.append(res[0]) + + return np.array(new_F) + +def get_object_view_candidates(env, obj_mesh, num_samples=300): + """ + Sample candidate views (position, target) around a specific object mesh. + """ + candidates = [] + + if obj_mesh is None or obj_mesh.is_empty: + return candidates + + center = obj_mesh.centroid + # max_extent = np.max(obj_mesh.bounding_box.extents) + extent_x = obj_mesh.bounding_box.extents[0] * 0.5 + extent_y = obj_mesh.bounding_box.extents[1] * 0.5 + extent_z = obj_mesh.bounding_box.extents[2] * 0.5 + max_extent = max(extent_x, extent_y, extent_z) + + # Sample points on spheres at different radii + # radii = [1.5 * max_extent, 2.0 * max_extent, 2.5 * max_extent, 3.0 * max_extent] + + for _ in range(num_samples): + # Random direction on sphere + azimuth = np.random.uniform(0, 2 * np.pi) + elevation = np.random.uniform(0, 60.0 * np.pi / 180.0) + + direction = np.array([ + np.cos(azimuth) * np.sin(elevation), + np.sin(azimuth) * np.sin(elevation), + np.cos(elevation) + ]) + + r_direction = direction * max_extent + scale_r = np.max(np.array([r_direction[0] / extent_x, r_direction[1] / extent_y, r_direction[2] / extent_z])) + r_direction = r_direction / scale_r + + for _ in range(10): + r_x = np.random.uniform(1.0, 3.0) + r_y = np.random.uniform(1.0, 3.0) + r_z = np.random.uniform(1.0, 3.0) + r = np.array([r_x, r_y, r_z]) + cam_pos = center + direction * r + + # Check if position is valid + if not env.is_valid_location(cam_pos, min_dist=CAMERA_RADIUS): + # print(f"Invalid location, too close to obstacles") + continue + + # Vector from camera to object center + forward = center - cam_pos + f_norm = np.linalg.norm(forward) + if f_norm < 1e-6: continue + forward /= f_norm + + # Check constraints + if not check_view_up(forward): + # print(f"Invalid view up") + continue + + # if not env.is_view_clear(cam_pos, center): + # print(f"Invalid view clear") + # continue + + candidates.append({ + 'position': cam_pos, + 'target': center, + 'forward': forward + }) + + return candidates + +def generate_anchors(env, room, mesh_dict, max_anchors=20): + """ + Generate anchor points based on object importance logic. + """ + + # 1. Classify objects + wall_ids = set(w.id for w in room.walls) + + # Count occurrences of objects being placed on other objects + place_counts = Counter() + children_info = {} + for obj in room.objects: + place_counts[obj.place_id] += 1 + children_info[obj.place_id] = children_info.get(obj.place_id, []) + [obj.id] + + all_candidates = [] + + # Weight Constants + BASE_SCORE_FLOOR = 2.0 + BASE_SCORE_WALL = 1.0 + BONUS_PER_CHILD = 1.0 + + processed_count = 0 + + for obj in room.objects: + # Check if mesh exists + if obj.id not in mesh_dict: + continue + + weight = 0.0 + is_target = False + + if obj.place_id == 'floor': + weight = BASE_SCORE_FLOOR + is_target = True + elif obj.place_id == 'wall': + weight = BASE_SCORE_WALL + is_target = True + + if is_target: + # Add bonus for children objects (objects on top) + weight += place_counts[obj.id] * BONUS_PER_CHILD + + + # Generate candidates + mesh_info = mesh_dict.get(obj.id) + + target_mesh = mesh_info['mesh'] + children_meshes = [] + for child_id in children_info.get(obj.id, []): + child_mesh = mesh_dict.get(child_id)['mesh'] + children_meshes.append(child_mesh) + + target_mesh = trimesh.util.concatenate([target_mesh] + children_meshes) + + cands = get_object_view_candidates(env, target_mesh) + if len(cands) > 2: + cands = cands[:2] + for c in cands: + c['weight'] = weight + c['obj_id'] = obj.id + all_candidates.append(c) + processed_count += 1 + + # print(f"Object {obj.id} with weight {weight} and {len(cands)} candidates") + # if 'vanity' in obj.id: + # assert False + + + print(f"Processed {processed_count} objects for anchors with weighted scoring.") + + if not all_candidates: + print("Warning: No valid object-centric views found. Falling back to random sampling.") + # Fallback to random valid points + for _ in range(max_anchors * 5): + pos = np.random.uniform(env.bounds[:3], env.bounds[3:]) + if env.is_valid_location(pos, min_dist=CAMERA_RADIUS): + # Look at random point + target = np.random.uniform(env.bounds[:3], env.bounds[3:]) + fwd = target - pos + if np.linalg.norm(fwd) > 0.1: + fwd /= np.linalg.norm(fwd) + if check_view_up(fwd): + all_candidates.append({ + 'position': pos, + 'target': target, + 'forward': fwd, + 'weight': 1.0 + }) + + if not all_candidates: + raise RuntimeError("Could not generate any valid anchors") + + # 3. Select Anchors + # Probabilistic selection without replacement (if possible) + selected_anchors = [] + + weights = np.array([c['weight'] for c in all_candidates]) + weights /= np.sum(weights) + + # Use indices + indices = np.arange(len(all_candidates)) + + num_select = min(max_anchors, len(all_candidates)) + selected_indices = np.random.choice(indices, size=num_select, replace=False, p=weights) + + for idx in selected_indices: + selected_anchors.append(all_candidates[idx]) + + return selected_anchors + +def connect_anchors_tsp(anchors, start_idx=0): + """ + Connect anchors using a greedy nearest neighbor approach, considering both translation and rotation. + """ + if not anchors: + return [] + + path = [anchors[start_idx]] + remaining = anchors[:start_idx] + anchors[start_idx+1:] + + current = anchors[start_idx] + + # Weights for distance metric + W_TRANS = 1.0 + W_ROT = 1.5 # 1.5 meter equivalent per radian of rotation + + while remaining: + # Find closest + best_cost = float('inf') + best_idx = -1 + + curr_pos = current['position'] + curr_fwd = current['forward'] + + for i, cand in enumerate(remaining): + # Translation distance + dist_trans = np.linalg.norm(cand['position'] - curr_pos) + + # Rotation distance (angle between forward vectors) + dot = np.dot(curr_fwd, cand['forward']) + dot = np.clip(dot, -1.0, 1.0) + dist_rot = np.arccos(dot) # Radians [0, pi] + + cost = W_TRANS * dist_trans + W_ROT * dist_rot + + if cost < best_cost: + best_cost = cost + best_idx = i + + current = remaining.pop(best_idx) + path.append(current) + + return path + +def generate_smooth_path(anchors, num_frames=300, env=None): + """ + Interpolate smoothly between anchors using Cubic Hermite Spline. + """ + if len(anchors) < 2: + return np.array([anchors[0]['position']]*num_frames), np.array([anchors[0]['forward']]*num_frames) + + positions = np.array([a['position'] for a in anchors]) + forwards = np.array([a['forward'] for a in anchors]) + + # Add tangents for Catmull-Rom style or just heuristic + # tangent[i] ~ (P[i+1] - P[i-1]) / 2 + # For start/end, use difference + n = len(positions) + tangents = np.zeros_like(positions) + + for i in range(n): + prev_p = positions[max(0, i-1)] + next_p = positions[min(n-1, i+1)] + tangents[i] = (next_p - prev_p) * 0.5 # tension + + # Create spline + # Parametrize by cumulative distance + dists = np.linalg.norm(positions[1:] - positions[:-1], axis=1) + cum_dist = np.insert(np.cumsum(dists), 0, 0) + total_dist = cum_dist[-1] + + if total_dist < 1e-6: + return np.resize(positions, (num_frames, 3)), np.resize(forwards, (num_frames, 3)) + + spline = CubicHermiteSpline(cum_dist, positions, tangents) + + # --- Adaptive Sampling Strategy --- + # 1. Sample densely to estimate complexity + # Use a high enough resolution to capture curvature + num_dense = max(num_frames * 10, 2000) + dense_dists = np.linspace(0, total_dist, num_dense) + dense_P = spline(dense_dists) + + # Interpolate forwards at dense points + dense_F = get_interpolated_forwards(dense_dists, cum_dist, forwards) + + # 2. Compute costs per segment + # Translation cost + delta_trans = np.linalg.norm(dense_P[1:] - dense_P[:-1], axis=1) + + # Rotation cost + dot_prods = np.sum(dense_F[1:] * dense_F[:-1], axis=1) + dot_prods = np.clip(dot_prods, -1.0, 1.0) + delta_rot = np.arccos(dot_prods) + + # Combined cost (normalized by limits) + # We want step <= LIMIT, so cost = step / LIMIT + step_costs = np.maximum(delta_trans / MAX_TRANS_STEP, delta_rot / MAX_ROT_STEP) + + # Integrate cost to get "effort" coordinate + cum_effort = np.concatenate(([0], np.cumsum(step_costs))) + total_effort = cum_effort[-1] + + # 3. Generate intermediate high-res path based on effort + # We want enough frames so that each step is small (<= limits) + # total_effort is roughly the number of steps needed at limit. + # Add safety factor and ensure at least num_frames + ideal_num_frames = int(np.ceil(total_effort * 1.2)) + intermediate_num = max(num_frames, ideal_num_frames) + + # Distribute points uniformly in effort space + target_effort = np.linspace(0, total_effort, intermediate_num) + + # Map target effort back to distance + # interp1d(x=cum_effort, y=dense_dists) + dist_mapper = interp1d(cum_effort, dense_dists, kind='linear') + eval_dists = dist_mapper(target_effort) + + # Initial intermediate positions + inter_P = spline(eval_dists) + + # --- Collision Avoidance and Smoothing (on intermediate path) --- + if env is not None and env.use_kdtree: + # Check if we have collision info + # Increase iterations for better convergence with smoothing + for iteration in range(15): + # 1. Check collisions + dists_to_obs, indices = env.collision_kdtree.query(inter_P) + + # Identify violating points + # Use a slightly larger margin for the path than for static anchors to be safe + safe_margin = CAMERA_RADIUS + 0.1 + violations = dists_to_obs < safe_margin + + # If no violations and we have done at least one smoothing pass (except if perfectly clean initially) + if not np.any(violations) and iteration > 0: + break + + # 2. Push points away + if np.any(violations): + near_obs_pts = env.collision_points[indices[violations]] + cam_pts = inter_P[violations] + + push_dirs = cam_pts - near_obs_pts + dirs_norm = np.linalg.norm(push_dirs, axis=1) + + # Handle concentric case (rare) + safe_mask = dirs_norm > 1e-6 + push_dirs[~safe_mask] = np.random.normal(size=(np.sum(~safe_mask), 3)) + push_dirs[~safe_mask] /= np.linalg.norm(push_dirs[~safe_mask], axis=1)[:, np.newaxis] + dirs_norm[~safe_mask] = 1.0 + + push_dirs = push_dirs / dirs_norm[:, np.newaxis] + + # Push amount: how much deeper are we than safe_margin? + needed_push = safe_margin - dists_to_obs[violations] + + # Add a small buffer to push slightly further to account for smoothing pulling it back + inter_P[violations] += push_dirs * (needed_push[:, np.newaxis] + 0.05) + + # 3. Smooth the path to avoid jaggedness + # Use Gaussian smoothing for higher quality results + if len(inter_P) > 5: + # Apply smoothing + # Use sigma=2.0 for reasonable smoothness. + # Since inter_P is dense (small steps), sigma=2.0 is a local smoothing. + smoothed_P = gaussian_filter1d(inter_P, sigma=2.0, axis=0, mode='nearest') + + # Anchor constraints: keep start/end fixed + smoothed_P[0] = inter_P[0] + smoothed_P[-1] = inter_P[-1] + + inter_P = smoothed_P + + # 4. Enforce room bounds + inter_P = np.maximum(inter_P, env.bounds[:3] + CAMERA_RADIUS) + inter_P = np.minimum(inter_P, env.bounds[3:] - CAMERA_RADIUS) + + # Calculate intermediate orientations + inter_F = get_interpolated_forwards(eval_dists, cum_dist, forwards) + + # --- 4. Resample to final num_frames --- + if intermediate_num == num_frames: + return inter_P, inter_F + + # Resample + t_inter = np.linspace(0, 1, intermediate_num) + t_final = np.linspace(0, 1, num_frames) + + # Linear interpolation for positions + resampler_P = interp1d(t_inter, inter_P, axis=0, kind='linear') + final_P = resampler_P(t_final) + + # Linear interpolation for forwards (safe because dense) + resampler_F = interp1d(t_inter, inter_F, axis=0, kind='linear') + final_F = resampler_F(t_final) + + # Normalize forwards + norms = np.linalg.norm(final_F, axis=1) + norms[norms < 1e-6] = 1.0 + final_F = final_F / norms[:, np.newaxis] + + return final_P, final_F + +def setup_camera_look_at(camera, camera_pos, lookat_pos): + """Position camera and make it look at target position""" + # Set camera position + camera.location = camera_pos + + # Calculate direction vector + direction = mathutils.Vector(lookat_pos) - mathutils.Vector(camera_pos) + + # Point camera to look at target + rot_quat = direction.to_track_quat('-Z', 'Y') + camera.rotation_euler = rot_quat.to_euler() + + +def generate_camera_trajectory( + room_bounds, + all_meshes, + num_frames=300, + complexity=10, + env=None, + room=None, + mesh_dict=None +): + # 0. Preprocessing + if env is None: + print("preprocessing: Building environment...") + env = CameraPlannerEnv(room_bounds, all_meshes) + + # 1. Generate Anchors + anchors = generate_anchors(env, room, mesh_dict, max_anchors=complexity) + + # 2. Connect Anchors + # Start with a random one as the first point + start_idx = np.random.randint(0, len(anchors)) + sorted_anchors = connect_anchors_tsp(anchors, start_idx) + + # 3. Generate Smooth Path + trajectory_P, trajectory_F = generate_smooth_path(sorted_anchors, num_frames, env=env) + + trajectory_poses = [] + + for i in range(num_frames): + curr_P = trajectory_P[i] + curr_F = trajectory_F[i] + + # 4. Compute Orientation (LookAt) + forward = curr_F + dist = np.linalg.norm(forward) + if dist < 1e-6: forward = np.array([1, 0, 0]) + else: forward = forward / dist + + right = np.cross(forward, WORLD_UP) + if np.linalg.norm(right) < 1e-6: + right = np.array([1, 0, 0]) + + right = right / np.linalg.norm(right) + up = np.cross(right, forward) + up = up / np.linalg.norm(up) + + R_mat = np.column_stack([right, up, -forward]) + + # Calculate lookat target from forward vector + target_pt = curr_P + forward * 2.0 + + trajectory_poses.append({ + 'position': curr_P, + 'rotation': R_mat, + 'target': target_pt + }) + + return trajectory_poses + +def get_room_meshes(layout, layout_dir): + mesh_info_dict = export_layout_to_mesh_dict_list_v2(layout, layout_dir) + all_meshes = [] + interest_meshes = [] + + # Identify object IDs + object_ids = set() + for r in layout.rooms: + for obj in r.objects: + object_ids.add(obj.id) + + for mesh_id, mesh_info in mesh_info_dict.items(): + if "mesh" in mesh_info: + m = mesh_info["mesh"] + all_meshes.append(m) + # Check if this mesh corresponds to an object + if mesh_id in object_ids: + interest_meshes.append(m) + + print(f"Found {len(all_meshes)} meshes, {len(interest_meshes)} object meshes") + + return all_meshes, interest_meshes, mesh_info_dict + +def setup_scene_lighting(scene, room_size_dict): + if scene.world is None: + scene.world = bpy.data.worlds.new("World") + scene.world.use_nodes = True + world_nodes = scene.world.node_tree.nodes + world_nodes.clear() + world_bg = world_nodes.new(type='ShaderNodeBackground') + world_bg.inputs[0].default_value = (1, 1, 1, 1) + world_bg.inputs[1].default_value = 1.0 + world_output = world_nodes.new(type='ShaderNodeOutputWorld') + scene.world.node_tree.links.new(world_output.inputs['Surface'], world_bg.outputs['Background']) + + if "WarmAmbientLight" in bpy.data.objects: + light = bpy.data.objects["WarmAmbientLight"] + else: + bpy.ops.object.light_add(type='SUN', location=(0, 0, 10)) + light = bpy.context.active_object + light.name = "WarmAmbientLight" + + light.data.energy = 10.0 + light.data.color = (1.0, 0.9, 0.7) + light.data.angle = np.radians(10) + + # add ceiling grid lights with 1.0m spacing + grid_size = 2.0 + offset = 0.1 + ceiling_z = room_size_dict['height'] - offset + + # Grid spans from offset to width/length - offset + x_start = offset + x_end = room_size_dict['width'] - offset + y_start = offset + y_end = room_size_dict['length'] - offset + + # Calculate number of lights in each direction + num_x = max(1, int((x_end - x_start) / grid_size) + 1) + num_y = max(1, int((y_end - y_start) / grid_size) + 1) + + # Calculate spacing + x_spacing = (x_end - x_start) / max(1, num_x - 1) if num_x > 1 else 0 + y_spacing = (y_end - y_start) / max(1, num_y - 1) if num_y > 1 else 0 + + for i in range(num_x): + for j in range(num_y): + x = x_start + x_spacing * i if num_x > 1 else (x_start + x_end) / 2 + y = y_start + y_spacing * j if num_y > 1 else (y_start + y_end) / 2 + bpy.ops.object.light_add(type='POINT', location=(x, y, ceiling_z)) + light = bpy.context.active_object + light.name = f"CeilingGridLight_{i}_{j}" + light.data.energy = 100.0 + light.data.color = (1.0, 0.9, 0.7) + +def get_or_create_collection(collection_name): + """Get or create a collection""" + if collection_name in bpy.data.collections: + return bpy.data.collections[collection_name] + + collection = bpy.data.collections.new(collection_name) + bpy.context.scene.collection.children.link(collection) + return collection + + +def clear_blender_scene(): + """Clear all objects from Blender scene""" + bpy.ops.object.select_all(action='SELECT') + bpy.ops.object.delete(use_global=False) + + # Clear all collections except the default Scene Collection + for collection in list(bpy.data.collections): + bpy.data.collections.remove(collection) + + +def load_scene_meshes_into_blender(room, layout, layout_dir): + """Load room layout meshes from files into Blender""" + + # Clear all existing Blender assets before loading new ones + clear_blender_scene() + + # Get mesh info dict + mesh_info_dict = export_layout_to_mesh_dict_list_v2(layout, layout_dir) + + # Create collection for scene objects + scene_collection = get_or_create_collection("scene_objects") + + # Identify object IDs for pass index assignment + # Sort for determinism + object_ids = sorted([obj.id for obj in room.objects]) + obj_id_to_pass_index = {oid: idx + 1 for idx, oid in enumerate(object_ids)} + print(f"Assigned pass indices for {len(object_ids)} objects (indices 1-{len(object_ids)})") + + # Import each mesh + for mesh_id, mesh_info in mesh_info_dict.items(): + # if mesh_id.startswith("door") or mesh_id.startswith("window"): + # continue + + trimesh_mesh = mesh_info["mesh"] + + # Convert trimesh to Blender mesh + vertices = trimesh_mesh.vertices + faces = trimesh_mesh.faces + + # Create new mesh data + mesh_data = bpy.data.meshes.new(name=f"mesh_{mesh_id}") + mesh_data.from_pydata(vertices.tolist(), [], faces.tolist()) + mesh_data.update() + + # Create object from mesh + obj = bpy.data.objects.new(mesh_id, mesh_data) + + # Assign pass index + if mesh_id in obj_id_to_pass_index: + obj.pass_index = obj_id_to_pass_index[mesh_id] + else: + obj.pass_index = 0 + + scene_collection.objects.link(obj) + + # Load and apply texture if available + texture_info = mesh_info.get("texture") + if texture_info and texture_info.get("texture_map_path"): + texture_path = texture_info["texture_map_path"] + if os.path.exists(texture_path): + # Create material with texture + mat = bpy.data.materials.new(name=f"mat_{mesh_id}") + mat.use_nodes = True + nodes = mat.node_tree.nodes + nodes.clear() + + # Create shader nodes + bsdf = nodes.new(type='ShaderNodeBsdfPrincipled') + tex_image = nodes.new(type='ShaderNodeTexImage') + output = nodes.new(type='ShaderNodeOutputMaterial') + + # Load texture image + tex_image.image = bpy.data.images.load(texture_path) + tex_image.image.colorspace_settings.name = 'sRGB' # Ensure correct color space + + # Configure BSDF for clean, slightly glossy appearance like reference images + bsdf.inputs['Roughness'].default_value = texture_info.get("roughness_factor", 1.0) # Slight gloss + bsdf.inputs['Specular'].default_value = texture_info.get("metallic_factor", 0.03) # Subtle specularity + bsdf.inputs['Sheen Tint'].default_value = 0.0 # No sheen + + # Connect nodes + mat.node_tree.links.new(bsdf.inputs['Base Color'], tex_image.outputs['Color']) + mat.node_tree.links.new(output.inputs['Surface'], bsdf.outputs['BSDF']) + + # Apply material to object + if obj.data.materials: + obj.data.materials[0] = mat + else: + obj.data.materials.append(mat) + + # Set UV coordinates if available + vts = texture_info.get("vts") + fts = texture_info.get("fts") + if vts is not None and fts is not None: + # Create UV layer + uv_layer = obj.data.uv_layers.new(name="UVMap") + for face_idx, face in enumerate(fts): + for vert_idx in range(len(face)): + loop_idx = face_idx * len(face) + vert_idx + if loop_idx < len(uv_layer.data): + uv = vts[face[vert_idx]] + uv_layer.data[loop_idx].uv = (uv[0], uv[1]) + + print(f"Loaded {len(mesh_info_dict)} meshes into Blender scene") + return mesh_info_dict, len(object_ids) + + + +def render_trajectory_video(layout, layout_dir, room_id, trajectory, output_path, fov=30.0, resolution=512, fps=30, render_depth=True): + + + all_rooms = layout.rooms + room = next((r for r in all_rooms if r.id == room_id), None) + if room is None: + raise ValueError(f"Room {room_id} not found in layout") + + print("Loading scene meshes into Blender...") + mesh_info_dict, num_objects = load_scene_meshes_into_blender(room, layout, layout_dir) + + scene_collection = bpy.data.collections.get("scene_objects") + scene_objects = list(scene_collection.objects) if scene_collection else [] + + scene = bpy.context.scene + + if "Camera" in bpy.data.objects: + camera = bpy.data.objects["Camera"] + else: + bpy.ops.object.camera_add() + camera = bpy.context.active_object + camera.name = "Camera" + scene.camera = camera + + camera.data.type = 'PERSP' + camera.data.sensor_fit = 'VERTICAL' + camera.data.angle = np.radians(fov) + + if args.engine == 'CYCLES': + + scene.render.engine = 'CYCLES' + scene.cycles.samples = 64 # Lower samples, denoiser compensates + scene.cycles.use_denoising = True + + # Enable GPU/CUDA rendering + scene.cycles.device = 'GPU' + + # Use OptiX denoiser (GPU-accelerated, much faster than OIDN on NVIDIA) + # Fall back to OIDN if OptiX not available + # scene.cycles.denoiser = 'OPENIMAGEDENOISE' + + preferences = bpy.context.preferences + cycles_preferences = preferences.addons['cycles'].preferences + cycles_preferences.compute_device_type = 'OPTIX' + # scene.cycles.denoiser = 'OPTIX' + # Refresh devices to ensure L40S is recognized + cycles_preferences.get_devices() + for device in cycles_preferences.devices: + device.use = (device.type == 'OPTIX') + + # GPU performance optimizations + scene.cycles.use_adaptive_sampling = True # Reduces samples in simple areas + scene.cycles.adaptive_threshold = 0.01 + scene.render.use_persistent_data = True # Keep BVH in memory between frames + + # Reduce light bounces for faster rendering (still good quality for interiors) + scene.cycles.max_bounces = 2 + scene.cycles.diffuse_bounces = 2 + scene.cycles.glossy_bounces = 1 + scene.cycles.transmission_bounces = 1 + scene.cycles.volume_bounces = 0 + scene.cycles.transparent_max_bounces = 1 + + else: + scene.render.engine = 'BLENDER_EEVEE' + scene.eevee.taa_render_samples = 64 + scene.eevee.use_gtao = True + scene.eevee.use_ssr = True + scene.eevee.use_soft_shadows = True + + room_size_dict = { + 'width': room.dimensions.width, + 'length': room.dimensions.length, + 'height': room.dimensions.height + } + + setup_scene_lighting(scene, room_size_dict) + + scene.render.resolution_x = resolution + scene.render.resolution_y = resolution + scene.render.image_settings.file_format = "PNG" + scene.render.image_settings.color_mode = "RGBA" + scene.render.film_transparent = True + + scene.use_nodes = True + scene.view_layers["ViewLayer"].use_pass_combined = True + scene.view_layers["ViewLayer"].use_pass_object_index = True + scene.view_layers["ViewLayer"].use_pass_z = True # Enable depth pass + + output_dir = os.path.dirname(output_path) + output_basename = os.path.splitext(os.path.basename(output_path))[0] + frames_dir = os.path.join(output_dir, f"{output_basename}_frames") + os.makedirs(frames_dir, exist_ok=True) + + # Setup Compositor for Instance Masks + tree = scene.node_tree + # Clear default nodes + for n in tree.nodes: + tree.nodes.remove(n) + + rl_node = tree.nodes.new('CompositorNodeRLayers') + + # Output node for masks + masks_dir = os.path.join(output_dir, f"{output_basename}_masks") + os.makedirs(masks_dir, exist_ok=True) + + mask_output_node = tree.nodes.new('CompositorNodeOutputFile') + mask_output_node.base_path = masks_dir + mask_output_node.file_slots[0].path = "mask_" + mask_output_node.file_slots[0].use_node_format = True + mask_output_node.file_slots[0].format.file_format = 'PNG' + mask_output_node.file_slots[0].format.color_depth = '8' + mask_output_node.file_slots[0].format.color_mode = 'BW' + + # Divide index by 255 so that ID 1 becomes 1/255 (value 1 in 8-bit PNG) + math_node = tree.nodes.new('CompositorNodeMath') + math_node.operation = 'DIVIDE' + math_node.inputs[1].default_value = 255.0 + + tree.links.new(rl_node.outputs['IndexOB'], math_node.inputs[0]) + tree.links.new(math_node.outputs[0], mask_output_node.inputs[0]) + + # Setup depth output via File Output node with EXR format + depth_dir = None + if render_depth: + depth_dir = os.path.join(output_dir, f"{output_basename}_depth") + os.makedirs(depth_dir, exist_ok=True) + + # Add File Output node for depth - saves as EXR (32-bit float) + depth_output_node = tree.nodes.new('CompositorNodeOutputFile') + depth_output_node.name = "DepthOutput" + depth_output_node.base_path = depth_dir + depth_output_node.file_slots[0].path = "depth_" + depth_output_node.file_slots[0].use_node_format = False + depth_output_node.file_slots[0].format.file_format = 'OPEN_EXR' + depth_output_node.file_slots[0].format.color_depth = '32' + tree.links.new(rl_node.outputs['Depth'], depth_output_node.inputs[0]) + + rendered_frames = [] + depth_frames = [] # Store depth arrays for video generation + + print(f"Rendering {len(trajectory)} frames...") + for i, pose in enumerate(tqdm(trajectory, desc="Rendering frames")): + scene.frame_set(i) # Update frame for File Output node naming + + camera_pos = pose['position'] + lookat_pos = pose['target'] + + setup_camera_look_at(camera, camera_pos, lookat_pos) + + frame_path = os.path.join(frames_dir, f"frame_{i:04d}.png") + scene.render.filepath = frame_path + + # Render the frame + with suppress_output(): + bpy.ops.render.render(write_still=True) + + if os.path.exists(frame_path): + img = Image.open(frame_path) + frame_img = np.array(img) + + if frame_img.shape[-1] == 4: + alpha_mask = frame_img[:, :, 3] == 0 + frame_img[alpha_mask, 0:3] = 255 + + rendered_frames.append(frame_img) + + # Depth EXR is saved by the compositor File Output node + # We'll read all depth files after rendering is complete + + print(f"Saving video to {output_path}...") + imageio.mimsave(output_path, rendered_frames, fps=fps) + + # --- Generate Mask Video --- + mask_files = [] + if os.path.exists(masks_dir): + # List all png files in masks_dir + # Expected format: mask_XXXX.png (created by blender file output node) + # We need to sort them numerically to ensure correct order + files = [f for f in os.listdir(masks_dir) if f.endswith('.png')] + + # Helper to extract frame number + def get_frame_num(fname): + # Assumes format mask_XXXX.png or similar where last part is number + name_part = os.path.splitext(fname)[0] + # Try to find the number at the end + try: + return int(name_part.split('_')[-1]) + except ValueError: + return 0 + + files.sort(key=get_frame_num) + mask_files = [os.path.join(masks_dir, f) for f in files] + + if mask_files and len(mask_files) == len(trajectory): + print("Generating mask video with random colors...") + mask_frames = [] + + # Generate stable random colors + # 0 is background (black) + # 1..num_objects are instances + np.random.seed(42) + # Ensure at least enough colors + # +1 for background, +1 for safety margin + palette_size = max(num_objects + 2, 256) + colors = np.random.randint(50, 256, size=(palette_size, 3), dtype=np.uint8) + colors[0] = [0, 0, 0] # Background Black + + for fpath in tqdm(mask_files, desc="Processing masks"): + try: + # Read mask image + img = Image.open(fpath) + m = np.array(img) + + # Check dimensions. If saved as RGB/RGBA by mistake, take first channel + if m.ndim == 3: + m = m[..., 0] + + # m contains values 0..N (where 0 is bg, 1..N are objects) + # Clip to palette size just in case + m_indices = np.clip(m, 0, palette_size - 1) + + # Map to colors + colored_frame = colors[m_indices] + mask_frames.append(colored_frame) + except Exception as e: + print(f"Warning: Failed to process mask {fpath}: {e}") + + if mask_frames: + mask_video_path = output_path.replace('.mp4', '_mask.mp4') + # Handle case where extension wasn't .mp4 + if mask_video_path == output_path: + mask_video_path = output_path + '_mask.mp4' + + print(f"Saving mask video to {mask_video_path}...") + imageio.mimsave(mask_video_path, mask_frames, fps=fps) + + # --- Process Depth EXR files and Generate Visualization Video --- + if render_depth and depth_dir and os.path.exists(depth_dir): + print("Processing depth EXR files using Blender...") + import matplotlib.pyplot as plt + + # Find all EXR files in depth_dir + exr_files = [f for f in os.listdir(depth_dir) if f.endswith('.exr')] + + # Sort by frame number + def get_frame_num(fname): + name_part = os.path.splitext(fname)[0] + try: + return int(name_part.split('_')[-1]) + except ValueError: + return 0 + + exr_files.sort(key=get_frame_num) + print(f"Found {len(exr_files)} EXR depth files") + + if exr_files: + depth_frames = [] + + # Read all EXR files using Blender's image loading + for exr_fname in tqdm(exr_files, desc="Reading depth EXR files"): + exr_path = os.path.join(depth_dir, exr_fname) + + # Load image using Blender + img = bpy.data.images.load(exr_path) + + width = img.size[0] + height = img.size[1] + + # Get pixel data as float array + pixels = np.array(img.pixels[:], dtype=np.float32) + pixels = pixels.reshape((height, width, 4)) # RGBA + + # Depth is in R channel + depth = pixels[:, :, 0].copy() + + # Flip vertically (Blender images are bottom-up) + depth = np.flipud(depth) + + # print(f"Depth: {depth.shape}, {depth.min():.4f}, {depth.max():.4f}") + + depth_frames.append(depth) + + # Save as .npy + frame_num = get_frame_num(exr_fname) + npy_path = os.path.join(depth_dir, f"depth_{frame_num:04d}.npy") + np.save(npy_path, depth) + + # Remove from Blender to free memory + bpy.data.images.remove(img) + + # Remove EXR files after converting to npy + for exr_fname in exr_files: + exr_path = os.path.join(depth_dir, exr_fname) + os.remove(exr_path) + + print("Generating depth visualization video with plasma colormap...") + + # Find global max depth for normalization (excluding inf values) + all_depths = np.concatenate([d.flatten() for d in depth_frames]) + finite_depths = all_depths[np.isfinite(all_depths) & (all_depths > 0) & (all_depths < 1e3)] + if len(finite_depths) > 0: + global_max_depth = np.max(finite_depths) + else: + global_max_depth = 1.0 + + print(f"Global max depth: {global_max_depth}") + + depth_viz_frames = [] + plasma_cmap = plt.cm.plasma + + for depth in tqdm(depth_frames, desc="Processing depth frames"): + # Handle infinite values (background/sky) + depth_viz = depth.copy() + depth_viz[~np.isfinite(depth_viz)] = global_max_depth + + # Normalize by max depth + depth_normalized = depth_viz / global_max_depth + depth_normalized = np.clip(depth_normalized, 0, 1) + + # Apply plasma colormap + depth_colored = plasma_cmap(depth_normalized) + + # Convert to uint8 RGB (drop alpha channel) + depth_rgb = (depth_colored[:, :, :3] * 255).astype(np.uint8) + depth_viz_frames.append(depth_rgb) + + depth_video_path = output_path.replace('.mp4', '_depth.mp4') + if depth_video_path == output_path: + depth_video_path = output_path + '_depth.mp4' + + print(f"Saving depth video to {depth_video_path}...") + imageio.mimsave(depth_video_path, depth_viz_frames, fps=fps) + + print(f"Depth .npy files saved to {depth_dir}") + + print("Done!") + + +def save_point_cloud(output_path, camera_json_path, voxel_size=0.02, save_instance_cloud=True): + """ + Create a merged point cloud from RGB-D frames using Open3D. + + Args: + output_path: Path to save the .ply file + camera_json_path: Path to the camera trajectory JSON file containing K, width, height, and frames + voxel_size: Voxel size for downsampling (default 0.02m = 2cm) + save_instance_cloud: If True, also save an instance-colored point cloud (bg=white, instances=random colors) + """ + # Load camera data from JSON + with open(camera_json_path, 'r') as f: + camera_data = json.load(f) + + K = np.array(camera_data['K']) + width = camera_data['width'] + height = camera_data['height'] + frames = camera_data['frames'] + + # Derive directory paths from camera JSON path (assumes video is .mp4 with same basename) + output_dir = os.path.dirname(camera_json_path) + output_basename = os.path.splitext(os.path.basename(camera_json_path))[0] + + frames_dir = os.path.join(output_dir, f"{output_basename}_frames") + depth_dir = os.path.join(output_dir, f"{output_basename}_depth") + masks_dir = os.path.join(output_dir, f"{output_basename}_masks") + + if not os.path.exists(frames_dir): + print(f"Error: Frames directory not found: {frames_dir}") + return + if not os.path.exists(depth_dir): + print(f"Error: Depth directory not found: {depth_dir}") + return + + # Check if masks directory exists for instance cloud + has_masks = os.path.exists(masks_dir) and save_instance_cloud + if save_instance_cloud and not os.path.exists(masks_dir): + print(f"Warning: Masks directory not found: {masks_dir}. Skipping instance point cloud.") + + # Create Open3D intrinsic object + intrinsic = o3d.camera.PinholeCameraIntrinsic( + width=width, + height=height, + fx=K[0, 0], + fy=K[1, 1], + cx=K[0, 2], + cy=K[1, 2] + ) + + # Find all frame files + frame_files = sorted([f for f in os.listdir(frames_dir) if f.endswith('.png')]) + depth_files = sorted([f for f in os.listdir(depth_dir) if f.endswith('.npy')]) + mask_files = sorted([f for f in os.listdir(masks_dir) if f.endswith('.png')]) if has_masks else [] + + print(f"Found {len(frame_files)} RGB frames and {len(depth_files)} depth maps") + if has_masks: + print(f"Found {len(mask_files)} mask files") + + if len(frame_files) != len(frames) or len(depth_files) != len(frames): + print(f"Warning: Mismatch in counts - rgb_frames: {len(frame_files)}, " + f"depths: {len(depth_files)}, camera_frames: {len(frames)}") + + # Use minimum count + num_frames = min(len(frame_files), len(depth_files), len(frames)) + if has_masks: + num_frames = min(num_frames, len(mask_files)) + + # Generate random colors for instances (consistent across frames) + # Use a fixed seed for reproducibility + np.random.seed(42) + palette_size = 256 # Should be enough for most scenes + instance_colors = np.random.randint(50, 256, size=(palette_size, 3), dtype=np.uint8) + instance_colors[0] = [255, 255, 255] # Background is white + + # Merged point clouds + merged_pcd = o3d.geometry.PointCloud() + merged_instance_pcd = o3d.geometry.PointCloud() if has_masks else None + + print(f"Processing {num_frames} frames...") + for i in tqdm(range(num_frames), desc="Building point cloud"): + # Load RGB image + rgb_path = os.path.join(frames_dir, frame_files[i]) + rgb_img = np.array(Image.open(rgb_path)) + + # Handle RGBA -> RGB + if rgb_img.shape[-1] == 4: + rgb_img = rgb_img[:, :, :3] + + # Load depth map + depth_path = os.path.join(depth_dir, depth_files[i]) + depth = np.load(depth_path) + + # Handle infinite/invalid depth values + max_depth = 100.0 # Clip to reasonable max + depth[~np.isfinite(depth)] = 0 + depth[depth > max_depth] = 0 + + # Get camera pose from JSON frame data (eye, lookat, up) + frame_data = frames[i] + eye = np.array(frame_data['eye']) + lookat = np.array(frame_data['lookat']) + up_vec = np.array(frame_data['up']) + + # Reconstruct rotation matrix from eye, lookat, up + # forward = direction camera is looking + forward = lookat - eye + forward = forward / np.linalg.norm(forward) + + # right = forward × up (perpendicular to both) + right = np.cross(forward, up_vec) + right = right / np.linalg.norm(right) + + # Recompute up to ensure orthonormality + up = np.cross(right, forward) + up = up / np.linalg.norm(up) + + # Build rotation matrix: columns are [right, -up, forward] + R_mat = np.column_stack([right, -up, forward]) + + # Build camera-to-world transform (extrinsic) + # R_mat transforms from camera to world: world_vec = R_mat @ cam_vec + extrinsic_c2w = np.eye(4) + extrinsic_c2w[:3, :3] = R_mat + extrinsic_c2w[:3, 3] = eye + + # Open3D's create_point_cloud_from_rgbd_image expects world-to-camera (extrinsic) + # So we need the inverse + extrinsic_w2c = np.linalg.inv(extrinsic_c2w) + + # Convert to Open3D images for RGB point cloud + rgb_o3d = o3d.geometry.Image(rgb_img.astype(np.uint8)) + depth_o3d = o3d.geometry.Image(depth.astype(np.float32)) + + # Create RGBD image + rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth( + rgb_o3d, + depth_o3d, + depth_scale=1.0, # depth is already in meters + depth_trunc=max_depth, + convert_rgb_to_intensity=False + ) + + # Create point cloud from this frame + pcd = o3d.geometry.PointCloud.create_from_rgbd_image( + rgbd, + intrinsic, + extrinsic=extrinsic_w2c + ) + + # Merge into main point cloud + merged_pcd += pcd + + # Process instance mask if available + if has_masks: + # Load mask + mask_path = os.path.join(masks_dir, mask_files[i]) + mask_img = np.array(Image.open(mask_path)) + + # Handle RGB/RGBA mask - take first channel + if mask_img.ndim == 3: + mask_img = mask_img[..., 0] + + # Map mask indices to colors + mask_indices = np.clip(mask_img, 0, palette_size - 1) + instance_rgb = instance_colors[mask_indices] + + # Create instance-colored RGBD image + instance_rgb_o3d = o3d.geometry.Image(instance_rgb.astype(np.uint8)) + depth_o3d_instance = o3d.geometry.Image(depth.astype(np.float32)) + + rgbd_instance = o3d.geometry.RGBDImage.create_from_color_and_depth( + instance_rgb_o3d, + depth_o3d_instance, + depth_scale=1.0, + depth_trunc=max_depth, + convert_rgb_to_intensity=False + ) + + # Create instance point cloud from this frame + instance_pcd = o3d.geometry.PointCloud.create_from_rgbd_image( + rgbd_instance, + intrinsic, + extrinsic=extrinsic_w2c + ) + + merged_instance_pcd += instance_pcd + + print(f"Total points before downsampling: {len(merged_pcd.points)}") + + # Downsample using voxel grid + if voxel_size > 0 and len(merged_pcd.points) > 0: + merged_pcd = merged_pcd.voxel_down_sample(voxel_size=voxel_size) + print(f"Total points after downsampling (voxel_size={voxel_size}m): {len(merged_pcd.points)}") + + # Remove statistical outliers + if len(merged_pcd.points) > 100: + merged_pcd, _ = merged_pcd.remove_statistical_outlier(nb_neighbors=20, std_ratio=2.0) + print(f"Total points after outlier removal: {len(merged_pcd.points)}") + + # Save point cloud + o3d.io.write_point_cloud(output_path, merged_pcd) + print(f"Point cloud saved to {output_path}") + + # Process and save instance point cloud + if has_masks and merged_instance_pcd is not None: + print(f"Instance point cloud - Total points before downsampling: {len(merged_instance_pcd.points)}") + + if voxel_size > 0 and len(merged_instance_pcd.points) > 0: + merged_instance_pcd = merged_instance_pcd.voxel_down_sample(voxel_size=voxel_size) + print(f"Instance point cloud - Total points after downsampling: {len(merged_instance_pcd.points)}") + + if len(merged_instance_pcd.points) > 100: + merged_instance_pcd, _ = merged_instance_pcd.remove_statistical_outlier(nb_neighbors=20, std_ratio=2.0) + print(f"Instance point cloud - Total points after outlier removal: {len(merged_instance_pcd.points)}") + + # Generate instance output path + instance_output_path = output_path.replace('.ply', '_instance.ply') + if instance_output_path == output_path: + instance_output_path = output_path + '_instance.ply' + + o3d.io.write_point_cloud(instance_output_path, merged_instance_pcd) + print(f"Instance point cloud saved to {instance_output_path}") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Generate camera trajectory for a room") + parser.add_argument("layout_path", type=str, help="Layout ID to visualize") + parser.add_argument("--room_id", type=str, help="Room ID (optional, defaults to first room)") + parser.add_argument("--frames", type=int, default=300, help="Number of frames") + parser.add_argument("--complexity", type=int, default=25, help="Number of anchors") + parser.add_argument("--num_samples", type=int, default=1, help="Number of samples to generate") + parser.add_argument("--output", type=str, default="trajectory.json", help="Output JSON path") + parser.add_argument("--render", action="store_true", help="Render video using Blender") + parser.add_argument("--engine", type=str, default="CYCLES", choices=["CYCLES", "BLENDER_EEVEE"], help="Render engine") + parser.add_argument("--resolution", type=int, default=1024, help="Resolution width (if rendering)") + parser.add_argument("--fps", type=int, default=30, help="FPS (if rendering)") + parser.add_argument("--save_point_cloud", action="store_true", help="Save merged point cloud from RGB-D frames") + + if "--" in sys.argv: + argv = sys.argv[sys.argv.index("--") + 1:] + else: + argv = sys.argv[1:] + + args = parser.parse_args(argv) + + try: + layout_dir = os.path.dirname(args.layout_path) + json_path = args.layout_path + + if not os.path.exists(json_path): + print(f"Error: Layout file not found at {json_path}") + sys.exit(1) + + print(f"Loading layout from {json_path}...") + with open(json_path, 'r') as f: + layout_data = json.load(f) + layout = dict_to_floor_plan(layout_data) + + if args.room_id: + room = next((r for r in layout.rooms if r.id == args.room_id), None) + if room is None: + print(f"Error: Room {args.room_id} not found") + sys.exit(1) + else: + room = layout.rooms[0] + print(f"Selected room: {room.id}") + + bounds = [ + room.position.x, room.position.y, room.position.z, + room.position.x + room.dimensions.width, + room.position.y + room.dimensions.length, + room.position.z + room.dimensions.height + ] + + print("Extracting meshes...") + all_meshes, interest_meshes, mesh_info_dict = get_room_meshes(layout, layout_dir) + + print("Building environment...") + env = CameraPlannerEnv(bounds, all_meshes, interest_meshes) + + base_output, ext = os.path.splitext(args.output) + os.makedirs(os.path.dirname(args.output), exist_ok=True) + if ext == '': ext = '.json' + + for sample_idx in range(args.num_samples): + print(f"\n--- Generating sample {sample_idx} / {args.num_samples} ---") + trajectory = generate_camera_trajectory( + bounds, + all_meshes, + num_frames=args.frames, + complexity=args.complexity, + env=env, + room=room, + mesh_dict=mesh_info_dict + ) + + # Compute camera intrinsic matrix K + args.fov = np.random.choice([35.0, 45.0, 60.0, 80.0]) + fov_y = np.radians(args.fov) # Vertical FOV from camera settings + width = args.resolution + height = width # Aspect ratio from render settings + + fy = height / (2 * np.tan(fov_y / 2)) + fx = fy # Square pixels + cx = width / 2.0 + cy = height / 2.0 + + K = [ + [fx, 0.0, cx], + [0.0, fy, cy], + [0.0, 0.0, 1.0] + ] + + frames_data = [] + for pose in trajectory: + # up vector is column 1 of rotation matrix (R_mat = [right, up, -forward]) + up_vector = pose['rotation'][:, 1] + + frames_data.append({ + 'eye': pose['position'].tolist(), + 'lookat': pose['target'].tolist(), + 'up': up_vector.tolist() + }) + + output_data = { + 'K': K, + 'width': width, + 'height': height, + 'fov_y_deg': args.fov, + 'frames': frames_data + } + + current_output_path = f"{base_output}_{sample_idx}{ext}" + + with open(current_output_path, 'w') as f: + json.dump(output_data, f, indent=2) + + print(f"Trajectory saved to {current_output_path} with {len(frames_data)} frames") + + if args.render: + print(f"Rendering video for sample {sample_idx}...") + video_output_path = current_output_path.replace('.json', '.mp4') + if video_output_path == current_output_path: + video_output_path = current_output_path + '.mp4' + + render_trajectory_video( + layout, + layout_dir, + room.id, + trajectory, + video_output_path, + fov=args.fov, + resolution=args.resolution, + fps=args.fps, + render_depth=True + ) + + if args.save_point_cloud: + if not args.render: + print("Warning: --save_point_cloud requires --render to generate RGB-D frames. Skipping.") + else: + print(f"Saving point cloud for sample {sample_idx}...") + point_cloud_output_path = current_output_path.replace('.json', '_point_cloud.ply') + if point_cloud_output_path == current_output_path: + point_cloud_output_path = current_output_path + '_point_cloud.ply' + + save_point_cloud( + output_path=point_cloud_output_path, + camera_json_path=current_output_path + ) + + except Exception as e: + print(f"Error: {e}", file=sys.stderr) + import traceback + traceback.print_exc() + sys.exit(1) diff --git a/sage10k_raw/_dataset/kits/tex_utils_local.py b/sage10k_raw/_dataset/kits/tex_utils_local.py new file mode 100644 index 0000000000000000000000000000000000000000..187aa495580bcf7f2ec6be1e14e5e8af736d1701 --- /dev/null +++ b/sage10k_raw/_dataset/kits/tex_utils_local.py @@ -0,0 +1,2016 @@ +from models import FloorPlan, Room, Wall, Door, Object, Window, Point3D, Dimensions, Euler +import trimesh +import numpy as np +import os +import xatlas +from typing import Dict +import json +from glb_utils import load_glb_to_mesh_dict +from plyfile import PlyData + + +def load_ply_to_mesh_dict(ply_path): + """ + Load PLY file to mesh dict with texture coordinates. + Loads the original topology without any modifications. + + Args: + ply_path: Path to the PLY file + + Returns: + mesh_dict: Dictionary containing: + - 'vertices': Nx3 array of vertex positions + - 'faces': Mx3 array of face vertex indices + - 'vts': Kx2 array of texture coordinates + - 'fts': Mx3 array of face texture coordinate indices + """ + + ply_data = PlyData.read(ply_path) + + # Extract vertex data + vertex_data = ply_data['vertex'] + vertices = np.column_stack([ + vertex_data['x'], + vertex_data['y'], + vertex_data['z'] + ]) + + # Extract texture coordinates from separate element + texcoord_data = ply_data['texcoord'] + vts = np.column_stack([ + texcoord_data['s'], + texcoord_data['t'] + ]) + + # Extract face data with both vertex_indices and texcoord_indices + face_data = ply_data['face'] + faces = np.vstack(face_data['vertex_indices']) + fts = np.vstack(face_data['texcoord_indices']) + + return { + 'vertices': vertices, + 'faces': faces, + 'vts': vts, + 'fts': fts, + } + + + +def dict_to_room(room_data: dict) -> Room: + """ + Convert a dictionary to a Room object. + + Args: + room_data: Dictionary containing room data + + Returns: + Room object reconstructed from the dictionary + """ + try: + # Convert position + position = Point3D( + x=room_data["position"]["x"], + y=room_data["position"]["y"], + z=room_data["position"]["z"] + ) + + # Convert dimensions + dimensions = Dimensions( + width=room_data["dimensions"]["width"], + length=room_data["dimensions"]["length"], + height=room_data["dimensions"]["height"] + ) + + # Convert walls + walls = [] + for wall_data in room_data["walls"]: + wall = dict_to_wall(wall_data) + walls.append(wall) + + # Convert doors + doors = [] + for door_data in room_data["doors"]: + door = dict_to_door(door_data) + doors.append(door) + + # Convert windows + windows = [] + for window_data in room_data["windows"]: + window = dict_to_window(window_data) + windows.append(window) + + # Convert objects + objects = [] + for object_data in room_data.get("objects", []): + obj = dict_to_object(object_data) + objects.append(obj) + + # Create Room object + room = Room( + id=room_data["id"], + room_type=room_data["room_type"], + position=position, + dimensions=dimensions, + walls=walls, + doors=doors, + objects=objects, + windows=windows, + floor_material=room_data.get("floor_material", "hardwood"), + ceiling_height=room_data.get("ceiling_height", 2.7) + ) + + return room + + except KeyError as e: + raise ValueError(f"Missing required field in room data: {e}") + except Exception as e: + raise ValueError(f"Error converting room data: {e}") + + +def dict_to_wall(wall_data: dict) -> Wall: + """ + Convert a dictionary to a Wall object. + + Args: + wall_data: Dictionary containing wall data + + Returns: + Wall object reconstructed from the dictionary + """ + try: + start_point = Point3D( + x=wall_data["start_point"]["x"], + y=wall_data["start_point"]["y"], + z=wall_data["start_point"]["z"] + ) + + end_point = Point3D( + x=wall_data["end_point"]["x"], + y=wall_data["end_point"]["y"], + z=wall_data["end_point"]["z"] + ) + + wall = Wall( + id=wall_data["id"], + start_point=start_point, + end_point=end_point, + height=wall_data["height"], + thickness=wall_data.get("thickness", 0.1), + material=wall_data.get("material", "drywall") + ) + + return wall + + except KeyError as e: + raise ValueError(f"Missing required field in wall data: {e}") + except Exception as e: + raise ValueError(f"Error converting wall data: {e}") + + +def dict_to_door(door_data: dict) -> Door: + """ + Convert a dictionary to a Door object. + + Args: + door_data: Dictionary containing door data + + Returns: + Door object reconstructed from the dictionary + """ + try: + door = Door( + id=door_data["id"], + wall_id=door_data["wall_id"], + position_on_wall=door_data["position_on_wall"], + width=door_data["width"], + height=door_data["height"], + door_type=door_data.get("door_type", "standard"), + opens_inward=door_data.get("opens_inward", True), + opening=door_data.get("opening", False), + door_material=door_data.get("door_material", "wood") + ) + + return door + + except KeyError as e: + raise ValueError(f"Missing required field in door data: {e}") + except Exception as e: + raise ValueError(f"Error converting door data: {e}") + + +def dict_to_window(window_data: dict) -> Window: + """ + Convert a dictionary to a Window object. + + Args: + window_data: Dictionary containing window data + + Returns: + Window object reconstructed from the dictionary + """ + try: + window = Window( + id=window_data["id"], + wall_id=window_data["wall_id"], + position_on_wall=window_data["position_on_wall"], + width=window_data["width"], + height=window_data["height"], + sill_height=window_data["sill_height"], + window_type=window_data.get("window_type", "standard") + ) + + return window + + except KeyError as e: + raise ValueError(f"Missing required field in window data: {e}") + except Exception as e: + raise ValueError(f"Error converting window data: {e}") + + +def dict_to_object(object_data: dict) -> Object: + """ + Convert a dictionary to an Object object. + + Args: + object_data: Dictionary containing object data + + Returns: + Object object reconstructed from the dictionary + """ + try: + # Convert position + position = Point3D( + x=object_data["position"]["x"], + y=object_data["position"]["y"], + z=object_data["position"]["z"] + ) + + # Convert rotation + rotation = Euler( + x=object_data["rotation"]["x"], + y=object_data["rotation"]["y"], + z=object_data["rotation"]["z"] + ) + + # Convert dimensions + dimensions = Dimensions( + width=object_data["dimensions"]["width"], + length=object_data["dimensions"]["length"], + height=object_data["dimensions"]["height"] + ) + + obj = Object( + id=object_data["id"], + room_id=object_data["room_id"], + type=object_data["type"], + description=object_data["description"], + position=position, + rotation=rotation, + dimensions=dimensions, + source=object_data["source"], + source_id=object_data["source_id"], + place_id=object_data["place_id"], + mass=object_data.get("mass", 1.0), + pbr_parameters=object_data.get("pbr_parameters", None) + ) + + return obj + + except KeyError as e: + raise ValueError(f"Missing required field in object data: {e}") + except Exception as e: + raise ValueError(f"Error converting object data: {e}") + + +def apply_object_transform(mesh: trimesh.Trimesh, obj: Object) -> trimesh.Trimesh: + """ + Apply position and rotation transforms to an object mesh. + + Args: + mesh: The original mesh (untransformed) + obj: Object containing position and rotation information + + Returns: + Transformed mesh positioned and rotated according to object properties + """ + # Create a copy of the mesh to avoid modifying the original + transformed_mesh = mesh.copy() + + # Convert Euler angles from degrees to radians + rx_rad = np.radians(obj.rotation.x) + ry_rad = np.radians(obj.rotation.y) + rz_rad = np.radians(obj.rotation.z) + + # Create rotation matrices for each axis + # Rotation order: X -> Y -> Z (Euler XYZ) + rotation_x = trimesh.transformations.rotation_matrix(rx_rad, [1, 0, 0]) + rotation_y = trimesh.transformations.rotation_matrix(ry_rad, [0, 1, 0]) + rotation_z = trimesh.transformations.rotation_matrix(rz_rad, [0, 0, 1]) + + # Combine rotations (order matters: Z * Y * X for XYZ Euler) + combined_rotation = rotation_z @ rotation_y @ rotation_x + + # Create translation matrix + translation = trimesh.transformations.translation_matrix([ + obj.position.x, + obj.position.y, + obj.position.z + ]) + + # Combine rotation and translation (translation after rotation) + final_transform = translation @ combined_rotation + + # Apply the transform to the mesh + transformed_mesh.apply_transform(final_transform) + + return transformed_mesh + +def apply_object_transform_return_transform(mesh: trimesh.Trimesh, obj: Object) -> trimesh.Trimesh: + """ + Apply position and rotation transforms to an object mesh. + + Args: + mesh: The original mesh (untransformed) + obj: Object containing position and rotation information + + Returns: + Transformed mesh positioned and rotated according to object properties + """ + # Create a copy of the mesh to avoid modifying the original + transformed_mesh = mesh.copy() + + # Convert Euler angles from degrees to radians + rx_rad = np.radians(obj.rotation.x) + ry_rad = np.radians(obj.rotation.y) + rz_rad = np.radians(obj.rotation.z) + + # Create rotation matrices for each axis + # Rotation order: X -> Y -> Z (Euler XYZ) + rotation_x = trimesh.transformations.rotation_matrix(rx_rad, [1, 0, 0]) + rotation_y = trimesh.transformations.rotation_matrix(ry_rad, [0, 1, 0]) + rotation_z = trimesh.transformations.rotation_matrix(rz_rad, [0, 0, 1]) + + # Combine rotations (order matters: Z * Y * X for XYZ Euler) + combined_rotation = rotation_z @ rotation_y @ rotation_x + + # Create translation matrix + translation = trimesh.transformations.translation_matrix([ + obj.position.x, + obj.position.y, + obj.position.z + ]) + + # Combine rotation and translation (translation after rotation) + final_transform = translation @ combined_rotation + + # Apply the transform to the mesh + transformed_mesh.apply_transform(final_transform) + + return transformed_mesh, final_transform + + +def apply_object_transform_direct(mesh: trimesh.Trimesh, position: Dict[str, float], rotation: Dict[str, float]) -> trimesh.Trimesh: + """ + Apply position and rotation transforms to an object mesh. + + Args: + mesh: The original mesh (untransformed) + obj: Object containing position and rotation information + + Returns: + Transformed mesh positioned and rotated according to object properties + """ + # Create a copy of the mesh to avoid modifying the original + transformed_mesh = mesh.copy() + + # Convert Euler angles from degrees to radians + rx_rad = np.radians(rotation["x"]) + ry_rad = np.radians(rotation["y"]) + rz_rad = np.radians(rotation["z"]) + + # Create rotation matrices for each axis + # Rotation order: X -> Y -> Z (Euler XYZ) + rotation_x = trimesh.transformations.rotation_matrix(rx_rad, [1, 0, 0]) + rotation_y = trimesh.transformations.rotation_matrix(ry_rad, [0, 1, 0]) + rotation_z = trimesh.transformations.rotation_matrix(rz_rad, [0, 0, 1]) + + # Combine rotations (order matters: Z * Y * X for XYZ Euler) + combined_rotation = rotation_z @ rotation_y @ rotation_x + + # Create translation matrix + translation = trimesh.transformations.translation_matrix([ + position["x"], + position["y"], + position["z"] + ]) + + # Combine rotation and translation (translation after rotation) + final_transform = translation @ combined_rotation + + # Apply the transform to the mesh + transformed_mesh.apply_transform(final_transform) + + return transformed_mesh + + +def dict_to_floor_plan(layout_data: dict) -> FloorPlan: + """ + Convert a dictionary (from JSON) back to a FloorPlan object. + + Args: + layout_data: Dictionary containing the floor plan data + + Returns: + FloorPlan object reconstructed from the dictionary + + Raises: + ValueError: If the data structure is invalid or incomplete + """ + try: + # Convert rooms + rooms = [] + for room_data in layout_data["rooms"]: + room = dict_to_room(room_data) + rooms.append(room) + + # Create FloorPlan object + floor_plan = FloorPlan( + id=layout_data["id"], + rooms=rooms, + total_area=layout_data["total_area"], + building_style=layout_data["building_style"], + description=layout_data["description"], + created_from_text=layout_data["created_from_text"] + ) + + return floor_plan + + except KeyError as e: + raise ValueError(f"Missing required field in layout data: {e}") + except Exception as e: + raise ValueError(f"Error converting layout data: {e}") + + +def create_floor_mesh(room: Room) -> trimesh.Trimesh: + """Create a floor mesh for a room.""" + pos = room.position + dims = room.dimensions + + # Create floor as a thin box + floor_thickness = 0.1 + floor_box = trimesh.creation.box( + extents=[dims.width, dims.length, floor_thickness], + transform=trimesh.transformations.translation_matrix([ + pos.x + dims.width/2, + pos.y + dims.length/2, + pos.z - floor_thickness/2 + ]) + ) + + return floor_box + + +def create_room_meshes_with_openings(room: Room, processed_doors: set, processed_windows: set): + """ + Create wall meshes with door and window openings cut out using boolean operations. + + Returns: + Tuple of (wall_meshes, door_meshes, window_meshes) + """ + wall_meshes = [] + door_meshes = [] + window_meshes = [] + + wall_ids = [] + door_ids = [] + window_ids = [] + + # Create each wall + for wall in room.walls: + wall_mesh = create_wall_mesh(wall, room) + wall_ids.append(wall.id) + # Find doors and windows on this wall + wall_doors = [door for door in room.doors if door.wall_id == wall.id] + wall_windows = [window for window in room.windows if window.wall_id == wall.id] + + # Create door meshes and subtract from wall + for door in wall_doors: + door_id = get_door_unique_id(room, door) + if door_id not in processed_doors: + door_mesh = create_door_mesh(wall, door, door_size_offset=0.11) + if not door.opening: + door_meshes.append(door_mesh) + processed_doors.add(door_id) + door_ids.append(door_id) + # Cut door opening from wall + try: + wall_mesh = wall_mesh.difference(door_mesh, engine="manifold") + except: + # If boolean operation fails, just subtract a simple box + opening_mesh = create_door_opening_mesh(wall, door) + try: + wall_mesh = wall_mesh.difference(opening_mesh, engine="manifold") + except: + print(f"Boolean operation failed for door {door.id} on wall {wall.id}") + pass # Keep original wall if boolean ops fail + + # Create window meshes and subtract from wall + for window in wall_windows: + window_id = get_window_unique_id(room, window) + if window_id not in processed_windows: + window_mesh = create_window_mesh(wall, window) + window_meshes.append(window_mesh) + processed_windows.add(window_id) + window_ids.append(window.id) + # Cut window opening from wall + try: + wall_mesh = wall_mesh.difference(window_mesh, engine="manifold") + except: + # If boolean operation fails, just subtract a simple box + opening_mesh = create_window_opening_mesh(wall, window) + try: + wall_mesh = wall_mesh.difference(opening_mesh, engine="manifold") + except: + print(f"Boolean operation failed for window {window.id} on wall {wall.id}") + pass # Keep original wall if boolean ops fail + + wall_meshes.append(wall_mesh) + + return wall_meshes, door_meshes, window_meshes, wall_ids, door_ids, window_ids + + + +def create_wall_mesh(wall: Wall, room: Room) -> trimesh.Trimesh: + """Create a wall mesh from wall definition.""" + import numpy as np + + # Calculate wall direction and length + start = np.array([wall.start_point.x, wall.start_point.y, wall.start_point.z]) + end = np.array([wall.end_point.x, wall.end_point.y, wall.end_point.z]) + + wall_vector = end - start + wall_length = np.linalg.norm(wall_vector) + wall_direction = wall_vector / wall_length + + # Calculate room center from room position and dimensions + room_center = np.array([ + room.position.x + room.dimensions.width / 2, + room.position.y + room.dimensions.length / 2, + room.position.z + ]) + + # Calculate wall center point at the midpoint of start-end line + wall_center = (start + end) / 2 + + # Calculate both possible normal directions (perpendicular to wall) + # For a vector (x, y, z), the two perpendicular directions in XY plane are: + normal1 = np.array([wall_direction[1], -wall_direction[0], 0]) + normal2 = np.array([-wall_direction[1], wall_direction[0], 0]) + + # Vector from wall center to room center + wall_to_room = room_center - wall_center + + # Choose the normal that points toward the room center + # (has positive dot product with wall_to_room vector) + if np.dot(normal1, wall_to_room) > 0: + inward_normal = normal1 + else: + inward_normal = normal2 + + # Use half thickness to avoid overlapping with adjacent walls + half_thickness = wall.thickness / 2 + + # Set wall center Z coordinate + wall_center[2] = wall.start_point.z + wall.height / 2 + + # Offset the wall center by half thickness in the inward direction + # This positions the wall mesh only on the inside of the room + wall_center_offset = wall_center + inward_normal * (half_thickness / 2) + + # Create wall mesh as a box with half thickness + wall_box = trimesh.creation.box( + extents=[wall_length, half_thickness, wall.height] + ) + + # Calculate rotation to align with wall direction + # Default box is aligned with X-axis, we need to rotate to wall direction + if abs(wall_direction[0]) < 0.001: # Vertical wall (Y-aligned) + rotation_matrix = trimesh.transformations.rotation_matrix(np.pi/2, [0, 0, 1]) + else: # Horizontal wall (X-aligned) - no rotation needed + rotation_matrix = np.eye(4) + + # Apply transformation + transform = trimesh.transformations.translation_matrix(wall_center_offset) @ rotation_matrix + wall_box.apply_transform(transform) + + return wall_box + + +def create_door_mesh(wall: Wall, door: Door, size_scale: float = 1.0, thickness_scale: float = 1.0, door_size_offset: float = 0.0) -> trimesh.Trimesh: + """Create a door mesh positioned on the wall.""" + import numpy as np + + # Calculate door position on wall + start = np.array([wall.start_point.x, wall.start_point.y, wall.start_point.z]) + end = np.array([wall.end_point.x, wall.end_point.y, wall.end_point.z]) + wall_vector = end - start + + # Position along the wall + door_position_3d = start + wall_vector * door.position_on_wall + door_position_3d[2] = wall.start_point.z + door.height / 2 + + # Create door mesh + door_box = trimesh.creation.box( + extents=[door.width * size_scale + door_size_offset, wall.thickness * thickness_scale, door.height * size_scale + door_size_offset] # Slightly thicker than wall + ) + + # Rotate if wall is vertical + wall_direction = wall_vector / np.linalg.norm(wall_vector) + if abs(wall_direction[0]) < 0.001: # Vertical wall + rotation_matrix = trimesh.transformations.rotation_matrix(np.pi/2, [0, 0, 1]) + door_box.apply_transform(rotation_matrix) + + # Position door + door_box.apply_translation(door_position_3d) + + return door_box + + +def create_door_frame_mesh(wall: Wall, door: Door, size_scale: float = 1.0, thickness_scale: float = 1.0, frame_width: float = 0.05) -> trimesh.Trimesh: + """Create a door frame mesh with left, right, and top edges surrounding the door.""" + import numpy as np + + # Calculate door position on wall + start = np.array([wall.start_point.x, wall.start_point.y, wall.start_point.z]) + end = np.array([wall.end_point.x, wall.end_point.y, wall.end_point.z]) + wall_vector = end - start + wall_direction = wall_vector / np.linalg.norm(wall_vector) + + # Position along the wall + door_position_3d = start + wall_vector * door.position_on_wall + door_position_3d[2] = wall.start_point.z + door.height / 2 + + # Door dimensions (scaled) - this is the actual door size that will be created + door_width = door.width * size_scale + door_height = door.height * size_scale + door_thickness = wall.thickness * thickness_scale + + # Frame dimensions + frame_thickness = wall.thickness * thickness_scale # Frame uses full wall thickness + + # Calculate the gap between scaled door and original door opening + # The wall opening is typically the full door size, scaled door is smaller + gap_width = (door.width - door_width) / 2 + gap_height = door.height - door_height # Only at top since door sits on floor + + # The frame should be positioned completely outside the door region + # We need to ensure no overlap with the actual door (door_width x door_height) + + frame_meshes = [] + + # Create left frame piece - positioned completely outside the door region + left_frame = trimesh.creation.box( + extents=[frame_width, frame_thickness, door_height + gap_height + frame_width] + ) + # Position left frame to be completely outside the door region + # The door extends from -door_width/2 to +door_width/2 + # So the left frame should start at -door_width/2 - frame_width/2 and extend outward + left_offset = np.array([-(door_width/2 + frame_width/2), 0, (gap_height + frame_width)/2]) + + # Create right frame piece - positioned completely outside the door region + right_frame = trimesh.creation.box( + extents=[frame_width, frame_thickness, door_height + gap_height + frame_width] + ) + # Position right frame to be completely outside the door region + # The right frame should start at +door_width/2 + frame_width/2 and extend outward + right_offset = np.array([door_width/2 + frame_width/2, 0, (gap_height + frame_width)/2]) + + # Create top frame piece - positioned completely above the door region + top_frame = trimesh.creation.box( + extents=[door_width + 2*frame_width, frame_thickness, frame_width] + ) + # Position top frame to be completely above the door region + # The door extends from 0 to door_height, so top frame starts at door_height + frame_width/2 + top_offset = np.array([0, 0, door_height/2 + frame_width/2]) + + # Apply offsets + left_frame.apply_translation(left_offset) + right_frame.apply_translation(right_offset) + top_frame.apply_translation(top_offset) + + # Combine frame pieces + frame_meshes = [left_frame, right_frame, top_frame] + combined_frame = trimesh.util.concatenate(frame_meshes) + + # Rotate if wall is vertical + if abs(wall_direction[0]) < 0.001: # Vertical wall + rotation_matrix = trimesh.transformations.rotation_matrix(np.pi/2, [0, 0, 1]) + combined_frame.apply_transform(rotation_matrix) + + # Position frame at door location + combined_frame.apply_translation(door_position_3d) + + return combined_frame + + +def create_window_mesh(wall: Wall, window: Window) -> trimesh.Trimesh: + """Create a window mesh positioned on the wall.""" + import numpy as np + + # Calculate window position on wall + start = np.array([wall.start_point.x, wall.start_point.y, wall.start_point.z]) + end = np.array([wall.end_point.x, wall.end_point.y, wall.end_point.z]) + wall_vector = end - start + + # Position along the wall + window_position_3d = start + wall_vector * window.position_on_wall + window_position_3d[2] = wall.start_point.z + window.sill_height + window.height / 2 + + # Create window mesh + window_box = trimesh.creation.box( + extents=[window.width, wall.thickness * 1.0, window.height] # Slightly thicker than wall + ) + + # Rotate if wall is vertical + wall_direction = wall_vector / np.linalg.norm(wall_vector) + if abs(wall_direction[0]) < 0.001: # Vertical wall + rotation_matrix = trimesh.transformations.rotation_matrix(np.pi/2, [0, 0, 1]) + window_box.apply_transform(rotation_matrix) + + # Position window + window_box.apply_translation(window_position_3d) + + return window_box + + +def create_door_opening_mesh(wall: Wall, door: Door) -> trimesh.Trimesh: + """Create a door opening mesh for boolean subtraction.""" + return create_door_mesh(wall, door) # Same as door mesh for cutting + + +def create_window_opening_mesh(wall: Wall, window: Window) -> trimesh.Trimesh: + """Create a window opening mesh for boolean subtraction.""" + return create_window_mesh(wall, window) # Same as window mesh for cutting + + +def get_door_unique_id(room: Room, door: Door) -> str: + """Generate unique ID for a door to avoid processing bidirectional doors twice.""" + if door.door_type == "connecting": + # For connecting doors, create ID based on position to match bidirectional pairs + wall_id = door.wall_id + position = door.position_on_wall + return f"connecting_door_{wall_id}_{position:.3f}" + else: + return f"door_{room.id}_{door.id}" + + +def get_window_unique_id(room: Room, window: Window) -> str: + """Generate unique ID for a window to avoid processing bidirectional windows twice.""" + if window.window_type == "connecting": + # For connecting windows, create ID based on position to match bidirectional pairs + wall_id = window.wall_id + position = window.position_on_wall + return f"connecting_window_{wall_id}_{position:.3f}" + else: + return f"window_{room.id}_{window.id}" + + +def create_ceiling_mesh(room: Room) -> trimesh.Trimesh: + """Create a ceiling mesh for a room.""" + pos = room.position + dims = room.dimensions + + # Create floor as a thin box + ceiling_thickness = 0.1 + ceiling_box = trimesh.creation.box( + extents=[dims.width, dims.length, ceiling_thickness], + transform=trimesh.transformations.translation_matrix([ + pos.x + dims.width/2, + pos.y + dims.length/2, + pos.z + dims.height + ceiling_thickness/2 + ]) + ) + + return ceiling_box + +def create_floor_mesh_tex_coords(floor_mesh: trimesh.Trimesh) -> dict: + """ + Generate texture coordinates for a floor mesh using xatlas. + + Args: + floor_mesh: Trimesh object representing the floor + + Returns: + Dictionary with 'vts' (texture coordinates) and 'fts' (face texture indices) + """ + try: + # Create xatlas mesh from trimesh + atlas = xatlas.Atlas() + + # Convert trimesh to xatlas format + vertices = floor_mesh.vertices.astype(np.float32) + faces = floor_mesh.faces.astype(np.uint32) + + # Add mesh to atlas + atlas.add_mesh(vertices, faces) + + # Generate UV coordinates + atlas.generate() + + # Get the UV coordinates and face indices + vmapping, indices, uvs = atlas.get_mesh(0) + + # Convert to the expected format + # vts: texture coordinates (u, v) for each vertex + vts = uvs + + # fts: face texture indices - map each face to texture coordinates + fts = indices + + return { + "vts": vts, + "fts": fts + } + + except Exception as e: + print(f"Error generating texture coordinates for floor mesh: {e}") + # Fallback: simple planar UV mapping + return _simple_planar_uv_mapping(floor_mesh) + + +def create_wall_mesh_tex_coords(wall_mesh: trimesh.Trimesh) -> dict: + """ + Generate texture coordinates for a wall mesh using xatlas. + + Args: + wall_mesh: Trimesh object representing the wall + + Returns: + Dictionary with 'vts' (texture coordinates) and 'fts' (face texture indices) + """ + try: + # Create xatlas mesh from trimesh + atlas = xatlas.Atlas() + + # Convert trimesh to xatlas format + vertices = wall_mesh.vertices.astype(np.float32) + faces = wall_mesh.faces.astype(np.uint32) + + # Add mesh to atlas + atlas.add_mesh(vertices, faces) + + # Generate UV coordinates + atlas.generate() + + # Get the UV coordinates and face indices + vmapping, indices, uvs = atlas.get_mesh(0) + + # Convert to the expected format + # vts: texture coordinates (u, v) for each vertex + vts = uvs + + # fts: face texture indices - map each face to texture coordinates + fts = indices + + return { + "vts": vts, + "fts": fts + } + + except Exception as e: + print(f"Error generating texture coordinates for wall mesh: {e}") + # Fallback: simple planar UV mapping + return _simple_planar_uv_mapping(wall_mesh) + + +def _simple_planar_uv_mapping(mesh: trimesh.Trimesh) -> dict: + """ + Fallback function for simple planar UV mapping when xatlas fails. + + Args: + mesh: Trimesh object + + Returns: + Dictionary with 'vts' (texture coordinates) and 'fts' (face texture indices) + """ + # Get mesh bounds + bounds = mesh.bounds + min_coords = bounds[0] + max_coords = bounds[1] + + # Calculate UV coordinates by projecting vertices onto XY plane + vertices = mesh.vertices + u = (vertices[:, 0] - min_coords[0]) / (max_coords[0] - min_coords[0]) + v = (vertices[:, 1] - min_coords[1]) / (max_coords[1] - min_coords[1]) + + # Clamp to [0, 1] range + u = np.clip(u, 0, 1) + v = np.clip(v, 0, 1) + + # Create texture coordinates + vts = np.column_stack([u, v]) + + # Face texture indices are the same as vertex indices + fts = mesh.faces + + return { + "vts": vts, + "fts": fts + } + + +def export_layout_to_mesh_dict_list(layout: FloorPlan, layout_dir: str): + """ + Export a FloorPlan object to a mesh file using trimesh. + Creates gray boxes for walls/floors, red boxes for doors, blue boxes for windows, + and includes actual object meshes with their transforms. + Uses boolean operations to cut door/window openings in walls. + + Args: + layout: FloorPlan object to export + """ + import os + import pickle + + def get_object_mesh(source, source_id): + object_save_path = f"{layout_dir}/{source}/{source_id}.ply" + if os.path.exists(object_save_path): + return trimesh.load(object_save_path) + else: + return None + + def get_object_mesh_texture(source, source_id): + tex_coords_save_path = f"{layout_dir}/{source}/{source_id}_tex_coords.pkl" + texture_map_path = f"{layout_dir}/{source}/{source_id}_texture.png" + pbr_metallic_roughness_save_path = f"{layout_dir}/{source}/{source_id}_pbr_parameters.json" + if os.path.exists(tex_coords_save_path) and os.path.exists(pbr_metallic_roughness_save_path): + with open(tex_coords_save_path, "rb") as f: + tex_coords = pickle.load(f) + pbr_metallic_roughness = json.load(open(pbr_metallic_roughness_save_path)) + return { + "vts": tex_coords["vts"], + "fts": tex_coords["fts"], + "texture_map_path": texture_map_path, + "metallic_factor": pbr_metallic_roughness["metallic"], + "roughness_factor": pbr_metallic_roughness["roughness"] + } + else: + return None + + mesh_info_dict = {} + + # Collections for different mesh types + floor_meshes = [] + wall_meshes = [] + door_meshes = [] + window_meshes = [] + object_meshes = [] + + # Track processed bidirectional doors/windows to avoid duplicates + processed_doors = set() + processed_windows = set() + + # Process each room + for room in layout.rooms: + # Create floor mesh + floor_mesh = create_floor_mesh(room) + floor_mesh_texture_map_path = f"{layout_dir}/materials/{room.floor_material}.png" + # TODO: generate tex coords for floor mesh + floor_mesh_tex_coords = create_floor_mesh_tex_coords(floor_mesh) + # floor_meshes.append(floor_mesh) + + mesh_info_dict[f"floor_{room.id}"] = { + "mesh": floor_mesh, + "static": True, + "texture": { + "vts": floor_mesh_tex_coords["vts"], + "fts": floor_mesh_tex_coords["fts"], + "texture_map_path": floor_mesh_texture_map_path + } + } + + # Create wall meshes with door/window cutouts + room_wall_meshes, room_door_meshes, room_window_meshes, room_wall_ids, room_door_ids, room_window_ids = create_room_meshes_with_openings( + room, processed_doors, processed_windows + ) + + # wall_meshes.extend(room_wall_meshes) + # door_meshes.extend(room_door_meshes) + # window_meshes.extend(room_window_meshes) + + wall_mesh_texture_map_path = f"{layout_dir}/materials/{room.walls[0].material}.png" + + for wall_id, wall_mesh in zip(room_wall_ids, room_wall_meshes): + # TODO: generate tex coords for wall mesh + wall_mesh_tex_coords = create_wall_mesh_tex_coords(wall_mesh) + mesh_info_dict[f"{wall_id}"] = { + "mesh": wall_mesh, + "static": True, + "texture": { + "vts": wall_mesh_tex_coords["vts"], + "fts": wall_mesh_tex_coords["fts"], + "texture_map_path": wall_mesh_texture_map_path + } + } + + for window_id, window_mesh in zip(room_window_ids, room_window_meshes): + # window_mesh_tex_coords = create_window_mesh_tex_coords(window_mesh) + + window_mesh_texture_map_path = f"{layout_dir}/materials/{window_id}_texture.png" + window_mesh_tex_coords_save_path = f"{layout_dir}/materials/{window_id}_tex_coords.pkl" + with open(window_mesh_tex_coords_save_path, "rb") as f: + window_mesh_tex_coords = pickle.load(f) + + mesh_info_dict[f"{window_id}"] = { + "mesh": window_mesh, + "static": True, + "texture": { + "vts": window_mesh_tex_coords["vts"], + "fts": window_mesh_tex_coords["fts"], + "texture_map_path": window_mesh_texture_map_path + } + } + + ceiling_mesh = create_ceiling_mesh(room) + ceiling_mesh_texture_map_path = f"{layout_dir}/materials/{room.walls[0].material}.png" + # TODO: generate tex coords for floor mesh + ceiling_mesh_tex_coords = create_wall_mesh_tex_coords(ceiling_mesh) + + mesh_info_dict[f"floor_{room.id}_ceiling"] = { + "mesh": ceiling_mesh, + "static": True, + "texture": { + "vts": ceiling_mesh_tex_coords["vts"], + "fts": ceiling_mesh_tex_coords["fts"], + "texture_map_path": ceiling_mesh_texture_map_path + } + } + + # Process each room + for room in layout.rooms: + # Create object meshes with transforms + for obj in room.objects: + obj_mesh = get_object_mesh(obj.source, obj.source_id) + if obj_mesh is not None: + # Apply transforms to the object mesh + transformed_mesh = apply_object_transform(obj_mesh, obj) + texture_info = get_object_mesh_texture(obj.source, obj.source_id) + + mesh_info_dict[obj.id] = { + "mesh": transformed_mesh, + "static": False if obj.place_id != "wall" else True, + "texture": texture_info, + "mass": getattr(obj, 'mass', 1.0) + } + + + door_center_list = [] + + for room in layout.rooms: + wall_map = {wall.id: wall for wall in room.walls} + + # Add doors - position them at the inner room boundary + for door in room.doors: + + if door.opening: + continue + + # Get the wall this door is on + wall = wall_map.get(door.wall_id) + assert wall is not None, f"Wall {door.wall_id} not found" + + start_point = wall.start_point + end_point = wall.end_point + + position_on_wall = door.position_on_wall + door_center_x = start_point.x + (end_point.x - start_point.x) * position_on_wall + door_center_y = start_point.y + (end_point.y - start_point.y) * position_on_wall + + duplicate_door = False + for door_center_prev_x, door_center_prev_y in door_center_list: + if abs(door_center_x - door_center_prev_x) < 0.01 and abs(door_center_y - door_center_prev_y) < 0.01: + duplicate_door = True + break + + if duplicate_door: + continue + + door_center_list.append((door_center_x, door_center_y)) + + thickness_scale = 0.99 + size_scale = 0.99 + + door_width_original = door.width + door_thickness = wall.thickness * thickness_scale + + delta_s = 0.5 * (1 - size_scale) * door_width_original + delta_r_min = max(0, ((0.5 * door_thickness) ** 2 - delta_s ** 2) / (2 * delta_s)) + delta_r = delta_r_min * 1.1 + + door_size_offset_calculated = (size_scale - 1) * door_width_original + door_mesh = create_door_mesh(wall, door, size_scale=1.0, thickness_scale=thickness_scale, door_size_offset=door_size_offset_calculated) + door_frame_mesh = create_door_frame_mesh(wall, door, size_scale=1.0, thickness_scale=1.05, frame_width=0.05) + + + # Calculate door position on wall + start = np.array([wall.start_point.x, wall.start_point.y, 0]) + end = np.array([wall.end_point.x, wall.end_point.y, 0]) + wall_vector = end - start + wall_vector_norm = wall_vector / np.linalg.norm(wall_vector) + + # Position along the wall + door_center_point = start + wall_vector * door.position_on_wall + door_start_point = door_center_point - wall_vector_norm * door.width / 2 + + door_rotate_axis_point_lower = door_start_point + wall_vector_norm * (delta_s + delta_r) + door_rotate_axis_point_lower[2] = 0. + door_rotate_axis_point_upper = door_start_point + wall_vector_norm * (delta_s + delta_r) + door_rotate_axis_point_upper[2] = door.height + + door_mesh_texture_map_path = f"{layout_dir}/materials/{door.door_material}_texture.png" + + door_mesh_tex_coords_save_path = f"{layout_dir}/materials/{door.door_material}_tex_coords.pkl" + with open(door_mesh_tex_coords_save_path, "rb") as f: + door_mesh_tex_coords = pickle.load(f) + + texture_info = { + "vts": door_mesh_tex_coords["vts"], + "fts": door_mesh_tex_coords["fts"], + "texture_map_path": door_mesh_texture_map_path + } + + + mesh_info_dict[f"{door.id}"] = { + "mesh": door_mesh, + "static": False, + "articulation": (door_rotate_axis_point_lower, door_rotate_axis_point_upper), + "texture": texture_info + } + + # Add door frame mesh to the dictionary + # Use door-specific frame texture based on door material + door_frame_texture_map_path = f"{layout_dir}/materials/{door.door_material}_frame_texture.png" + door_frame_tex_coords_save_path = f"{layout_dir}/materials/{door.door_material}_frame_tex_coords.pkl" + + # Check if door frame texture files exist, if not use door material as fallback + if not os.path.exists(door_frame_tex_coords_save_path): + door_frame_texture_map_path = door_mesh_texture_map_path + door_frame_tex_coords_save_path = door_mesh_tex_coords_save_path + + with open(door_frame_tex_coords_save_path, "rb") as f: + door_frame_tex_coords = pickle.load(f) + + door_frame_texture_info = { + "vts": door_frame_tex_coords["vts"], + "fts": door_frame_tex_coords["fts"], + "texture_map_path": door_frame_texture_map_path + } + + mesh_info_dict[f"{door.id}_frame"] = { + "mesh": door_frame_mesh, + "static": True, # Door frame is static, doesn't move with door + "texture": door_frame_texture_info + } + + + return mesh_info_dict + + + +def export_layout_to_mesh_dict_list_v2(layout: FloorPlan, layout_dir: str): + """ + Export a FloorPlan object to a mesh file using trimesh. + Creates gray boxes for walls/floors, red boxes for doors, blue boxes for windows, + and includes actual object meshes with their transforms. + Uses boolean operations to cut door/window openings in walls. + + Args: + layout: FloorPlan object to export + """ + import os + import pickle + + def get_object_mesh(source, source_id): + object_save_path = f"{layout_dir}/{source}/{source_id}.ply" + if os.path.exists(object_save_path): + return trimesh.load(object_save_path) + else: + return None + + def get_object_mesh_texture(source, source_id): + tex_coords_save_path = f"{layout_dir}/{source}/{source_id}_tex_coords.pkl" + texture_map_path = f"{layout_dir}/{source}/{source_id}_texture.png" + pbr_metallic_roughness_save_path = f"{layout_dir}/{source}/{source_id}_pbr_parameters.json" + if os.path.exists(tex_coords_save_path) and os.path.exists(pbr_metallic_roughness_save_path): + with open(tex_coords_save_path, "rb") as f: + tex_coords = pickle.load(f) + pbr_metallic_roughness = json.load(open(pbr_metallic_roughness_save_path)) + return { + "vts": tex_coords["vts"], + "fts": tex_coords["fts"], + "texture_map_path": texture_map_path, + "metallic_factor": pbr_metallic_roughness["metallic"], + "roughness_factor": pbr_metallic_roughness["roughness"] + } + else: + return None + + mesh_info_dict = {} + + # Collections for different mesh types + floor_meshes = [] + wall_meshes = [] + door_meshes = [] + window_meshes = [] + object_meshes = [] + + # Track processed bidirectional doors/windows to avoid duplicates + processed_doors = set() + processed_windows = set() + + # Process each room + for room in layout.rooms: + # Create floor mesh + floor_mesh = create_floor_mesh(room) + floor_mesh_texture_map_path = f"{layout_dir}/materials/{room.floor_material}.png" + # TODO: generate tex coords for floor mesh + floor_mesh_tex_coords = create_floor_mesh_tex_coords(floor_mesh) + # floor_meshes.append(floor_mesh) + + mesh_info_dict[f"floor_{room.id}"] = { + "mesh": floor_mesh, + "static": True, + "texture": { + "vts": floor_mesh_tex_coords["vts"], + "fts": floor_mesh_tex_coords["fts"], + "texture_map_path": floor_mesh_texture_map_path + } + } + + # Create wall meshes with door/window cutouts + room_wall_meshes, room_door_meshes, room_window_meshes, room_wall_ids, room_door_ids, room_window_ids = create_room_meshes_with_openings( + room, processed_doors, processed_windows + ) + + # wall_meshes.extend(room_wall_meshes) + # door_meshes.extend(room_door_meshes) + # window_meshes.extend(room_window_meshes) + + wall_mesh_texture_map_path = f"{layout_dir}/materials/{room.walls[0].material}.png" + + for wall_id, wall_mesh in zip(room_wall_ids, room_wall_meshes): + # TODO: generate tex coords for wall mesh + wall_mesh_tex_coords = create_wall_mesh_tex_coords(wall_mesh) + mesh_info_dict[f"{wall_id}"] = { + "mesh": wall_mesh, + "static": True, + "texture": { + "vts": wall_mesh_tex_coords["vts"], + "fts": wall_mesh_tex_coords["fts"], + "texture_map_path": wall_mesh_texture_map_path + } + } + + for window_id, window_mesh in zip(room_window_ids, room_window_meshes): + # window_mesh_tex_coords = create_window_mesh_tex_coords(window_mesh) + + window_mesh_texture_map_path = f"{layout_dir}/materials/{window_id}_texture.png" + window_mesh_tex_coords_save_path = f"{layout_dir}/materials/{window_id}_tex_coords.pkl" + with open(window_mesh_tex_coords_save_path, "rb") as f: + window_mesh_tex_coords = pickle.load(f) + + mesh_info_dict[f"{window_id}"] = { + "mesh": window_mesh, + "static": True, + "texture": { + "vts": window_mesh_tex_coords["vts"], + "fts": window_mesh_tex_coords["fts"], + "texture_map_path": window_mesh_texture_map_path + } + } + + ceiling_mesh = create_ceiling_mesh(room) + ceiling_mesh_texture_map_path = f"{layout_dir}/materials/{room.walls[0].material}.png" + # TODO: generate tex coords for floor mesh + ceiling_mesh_tex_coords = create_wall_mesh_tex_coords(ceiling_mesh) + + mesh_info_dict[f"floor_{room.id}_ceiling"] = { + "mesh": ceiling_mesh, + "static": True, + "texture": { + "vts": ceiling_mesh_tex_coords["vts"], + "fts": ceiling_mesh_tex_coords["fts"], + "texture_map_path": ceiling_mesh_texture_map_path + } + } + + # Process each room + for room in layout.rooms: + # Create object meshes with transforms + for obj in room.objects: + # obj_mesh = get_object_mesh(obj.source, obj.source_id) + mesh_dict = load_ply_to_mesh_dict(f"{layout_dir}/objects/{obj.source_id}.ply") + texture_map_path = f"{layout_dir}/objects/{obj.source_id}_texture.png" + obj_mesh = trimesh.Trimesh(vertices=mesh_dict["vertices"], faces=mesh_dict["faces"], process=False) + # Apply transforms to the object mesh + transformed_mesh = apply_object_transform(obj_mesh, obj) + texture_info = { + "vts": mesh_dict["vts"], + "fts": mesh_dict["fts"], + "texture_map_path": texture_map_path, + "pbr_parameters": obj.pbr_parameters + } + + mesh_info_dict[obj.id] = { + "mesh": transformed_mesh, + "static": False if obj.place_id != "wall" else True, + "texture": texture_info, + "mass": getattr(obj, 'mass', 1.0) + } + + + door_center_list = [] + + for room in layout.rooms: + wall_map = {wall.id: wall for wall in room.walls} + + # Add doors - position them at the inner room boundary + for door in room.doors: + + if door.opening: + continue + + # Get the wall this door is on + wall = wall_map.get(door.wall_id) + assert wall is not None, f"Wall {door.wall_id} not found" + + start_point = wall.start_point + end_point = wall.end_point + + position_on_wall = door.position_on_wall + door_center_x = start_point.x + (end_point.x - start_point.x) * position_on_wall + door_center_y = start_point.y + (end_point.y - start_point.y) * position_on_wall + + duplicate_door = False + for door_center_prev_x, door_center_prev_y in door_center_list: + if abs(door_center_x - door_center_prev_x) < 0.01 and abs(door_center_y - door_center_prev_y) < 0.01: + duplicate_door = True + break + + if duplicate_door: + continue + + door_center_list.append((door_center_x, door_center_y)) + + thickness_scale = 0.99 + size_scale = 0.99 + + door_width_original = door.width + door_thickness = wall.thickness * thickness_scale + + delta_s = 0.5 * (1 - size_scale) * door_width_original + delta_r_min = max(0, ((0.5 * door_thickness) ** 2 - delta_s ** 2) / (2 * delta_s)) + delta_r = delta_r_min * 1.1 + + door_size_offset_calculated = (size_scale - 1) * door_width_original + door_mesh = create_door_mesh(wall, door, size_scale=1.0, thickness_scale=thickness_scale, door_size_offset=door_size_offset_calculated) + door_frame_mesh = create_door_frame_mesh(wall, door, size_scale=1.0, thickness_scale=1.05, frame_width=0.05) + + + # Calculate door position on wall + start = np.array([wall.start_point.x, wall.start_point.y, 0]) + end = np.array([wall.end_point.x, wall.end_point.y, 0]) + wall_vector = end - start + wall_vector_norm = wall_vector / np.linalg.norm(wall_vector) + + # Position along the wall + door_center_point = start + wall_vector * door.position_on_wall + door_start_point = door_center_point - wall_vector_norm * door.width / 2 + + door_rotate_axis_point_lower = door_start_point + wall_vector_norm * (delta_s + delta_r) + door_rotate_axis_point_lower[2] = 0. + door_rotate_axis_point_upper = door_start_point + wall_vector_norm * (delta_s + delta_r) + door_rotate_axis_point_upper[2] = door.height + + door_mesh_texture_map_path = f"{layout_dir}/materials/{door.door_material}_texture.png" + + door_mesh_tex_coords_save_path = f"{layout_dir}/materials/{door.door_material}_tex_coords.pkl" + with open(door_mesh_tex_coords_save_path, "rb") as f: + door_mesh_tex_coords = pickle.load(f) + + texture_info = { + "vts": door_mesh_tex_coords["vts"], + "fts": door_mesh_tex_coords["fts"], + "texture_map_path": door_mesh_texture_map_path + } + + + mesh_info_dict[f"{door.id}"] = { + "mesh": door_mesh, + "static": False, + "articulation": (door_rotate_axis_point_lower, door_rotate_axis_point_upper), + "texture": texture_info + } + + # Add door frame mesh to the dictionary + # Use door-specific frame texture based on door material + door_frame_texture_map_path = f"{layout_dir}/materials/{door.door_material}_frame_texture.png" + door_frame_tex_coords_save_path = f"{layout_dir}/materials/{door.door_material}_frame_tex_coords.pkl" + + # Check if door frame texture files exist, if not use door material as fallback + if not os.path.exists(door_frame_tex_coords_save_path): + door_frame_texture_map_path = door_mesh_texture_map_path + door_frame_tex_coords_save_path = door_mesh_tex_coords_save_path + + with open(door_frame_tex_coords_save_path, "rb") as f: + door_frame_tex_coords = pickle.load(f) + + door_frame_texture_info = { + "vts": door_frame_tex_coords["vts"], + "fts": door_frame_tex_coords["fts"], + "texture_map_path": door_frame_texture_map_path + } + + mesh_info_dict[f"{door.id}_frame"] = { + "mesh": door_frame_mesh, + "static": True, # Door frame is static, doesn't move with door + "texture": door_frame_texture_info + } + + + return mesh_info_dict + + +def export_layout_to_mesh_dict_list_no_object_transform(layout: FloorPlan, layout_dir: str): + """ + Export a FloorPlan object to a mesh file using trimesh. + Creates gray boxes for walls/floors, red boxes for doors, blue boxes for windows, + and includes actual object meshes with their transforms. + Uses boolean operations to cut door/window openings in walls. + + Args: + layout: FloorPlan object to export + export_path: Path where the mesh file will be saved (supports .obj, .ply, .stl, etc.) + """ + import os + import pickle + + def get_object_mesh(source, source_id): + object_save_path = f"{layout_dir}/{source}/{source_id}.ply" + if os.path.exists(object_save_path): + return trimesh.load(object_save_path) + else: + return None + + def get_object_mesh_texture(source, source_id): + tex_coords_save_path = f"{layout_dir}/{source}/{source_id}_tex_coords.pkl" + texture_map_path = f"{layout_dir}/{source}/{source_id}_texture.png" + texture_pbr_params_path = f"{layout_dir}/{source}/{source_id}_pbr_parameters.json" + if os.path.exists(tex_coords_save_path): + with open(tex_coords_save_path, "rb") as f: + tex_coords = pickle.load(f) + tex_dict = { + "vts": tex_coords["vts"], + "fts": tex_coords["fts"], + "texture_map_path": texture_map_path + } + if os.path.exists(texture_pbr_params_path): + with open(texture_pbr_params_path, "r") as f: + pbr_parameters = json.load(f) + tex_dict["pbr_parameters"] = pbr_parameters + return tex_dict + else: + return None + + mesh_info_dict = {} + + # Track processed bidirectional doors/windows to avoid duplicates + processed_doors = set() + processed_windows = set() + + # Process each room + for room in layout.rooms: + # Create floor mesh + floor_mesh = create_floor_mesh(room) + floor_mesh_texture_map_path = f"{layout_dir}/materials/{room.floor_material}.png" + # TODO: generate tex coords for floor mesh + floor_mesh_tex_coords = create_floor_mesh_tex_coords(floor_mesh) + # floor_meshes.append(floor_mesh) + + mesh_info_dict[f"floor_{room.id}"] = { + "mesh": floor_mesh, + "static": True, + "texture": { + "vts": floor_mesh_tex_coords["vts"], + "fts": floor_mesh_tex_coords["fts"], + "texture_map_path": floor_mesh_texture_map_path + } + } + + # Create wall meshes with door/window cutouts + room_wall_meshes, room_door_meshes, room_window_meshes, room_wall_ids, room_door_ids, room_window_ids = create_room_meshes_with_openings( + room, processed_doors, processed_windows + ) + + # wall_meshes.extend(room_wall_meshes) + # door_meshes.extend(room_door_meshes) + # window_meshes.extend(room_window_meshes) + + wall_mesh_texture_map_path = f"{layout_dir}/materials/{room.walls[0].material}.png" + + for wall_id, wall_mesh in zip(room_wall_ids, room_wall_meshes): + # TODO: generate tex coords for wall mesh + wall_mesh_tex_coords = create_wall_mesh_tex_coords(wall_mesh) + mesh_info_dict[f"{wall_id}"] = { + "mesh": wall_mesh, + "static": True, + "texture": { + "vts": wall_mesh_tex_coords["vts"], + "fts": wall_mesh_tex_coords["fts"], + "texture_map_path": wall_mesh_texture_map_path + } + } + + ceiling_mesh = create_ceiling_mesh(room) + ceiling_mesh_texture_map_path = f"{layout_dir}/materials/{room.walls[0].material}.png" + # TODO: generate tex coords for floor mesh + ceiling_mesh_tex_coords = create_wall_mesh_tex_coords(ceiling_mesh) + + mesh_info_dict[f"floor_{room.id}_ceiling"] = { + "mesh": ceiling_mesh, + "static": True, + "texture": { + "vts": ceiling_mesh_tex_coords["vts"], + "fts": ceiling_mesh_tex_coords["fts"], + "texture_map_path": ceiling_mesh_texture_map_path + } + } + + for window_id, window_mesh in zip(room_window_ids, room_window_meshes): + # window_mesh_tex_coords = create_window_mesh_tex_coords(window_mesh) + + window_mesh_texture_map_path = f"{layout_dir}/materials/{window_id}_texture.png" + window_mesh_tex_coords_save_path = f"{layout_dir}/materials/{window_id}_tex_coords.pkl" + with open(window_mesh_tex_coords_save_path, "rb") as f: + window_mesh_tex_coords = pickle.load(f) + + mesh_info_dict[f"{window_id}"] = { + "mesh": window_mesh, + "static": True, + "texture": { + "vts": window_mesh_tex_coords["vts"], + "fts": window_mesh_tex_coords["fts"], + "texture_map_path": window_mesh_texture_map_path, + "pbr_parameters": { + "roughness": 0.05, + "metallic": 0.0 + } + } + } + + + # Process each room + for room in layout.rooms: + # Create object meshes with transforms + for obj in room.objects: + obj_mesh = get_object_mesh(obj.source, obj.source_id) + if obj_mesh is not None: + # Apply transforms to the object mesh + # transformed_mesh = apply_object_transform(obj_mesh, obj) + texture_info = get_object_mesh_texture(obj.source, obj.source_id) + + mesh_info_dict[obj.id] = { + "mesh": obj_mesh, + "static": False if obj.place_id != "wall" else True, + "texture": texture_info, + "mass": getattr(obj, 'mass', 1.0), + "transform": { + "position": { + "x": obj.position.x, + "y": obj.position.y, + "z": obj.position.z + }, + "rotation": { + "x": obj.rotation.x, + "y": obj.rotation.y, + "z": obj.rotation.z + } + } + } + + + door_center_list = [] + + for room in layout.rooms: + wall_map = {wall.id: wall for wall in room.walls} + + # Add doors - position them at the inner room boundary + for door in room.doors: + + if door.opening: + continue + + # Get the wall this door is on + wall = wall_map.get(door.wall_id) + assert wall is not None, f"Wall {door.wall_id} not found" + + start_point = wall.start_point + end_point = wall.end_point + + position_on_wall = door.position_on_wall + door_center_x = start_point.x + (end_point.x - start_point.x) * position_on_wall + door_center_y = start_point.y + (end_point.y - start_point.y) * position_on_wall + + duplicate_door = False + for door_center_prev_x, door_center_prev_y in door_center_list: + if abs(door_center_x - door_center_prev_x) < 0.01 and abs(door_center_y - door_center_prev_y) < 0.01: + duplicate_door = True + break + + if duplicate_door: + continue + + door_center_list.append((door_center_x, door_center_y)) + + thickness_scale = 0.95 + size_scale = 0.95 + + # Create door frame mesh + door_width_original = door.width + door_thickness = wall.thickness * thickness_scale + + delta_s = 0.5 * (1 - size_scale) * door_width_original + delta_r_min = max(0, ((0.5 * door_thickness) ** 2 - delta_s ** 2) / (2 * delta_s)) + delta_r = delta_r_min * 1.1 + + door_size_offset_calculated = (size_scale - 1) * door_width_original + door_mesh = create_door_mesh(wall, door, size_scale=1.0, thickness_scale=thickness_scale, door_size_offset=door_size_offset_calculated) + door_frame_mesh = create_door_frame_mesh(wall, door, size_scale=1.0, thickness_scale=1.05, frame_width=0.05) + + + + # Calculate door position on wall + start = np.array([wall.start_point.x, wall.start_point.y, 0]) + end = np.array([wall.end_point.x, wall.end_point.y, 0]) + wall_vector = end - start + wall_vector_norm = wall_vector / np.linalg.norm(wall_vector) + + # Position along the wall + door_center_point = start + wall_vector * door.position_on_wall + door_start_point = door_center_point - wall_vector_norm * door.width / 2 + + door_rotate_axis_point_lower = door_start_point + wall_vector_norm * (delta_s + delta_r) + door_rotate_axis_point_lower[2] = 0. + door_rotate_axis_point_upper = door_start_point + wall_vector_norm * (delta_s + delta_r) + door_rotate_axis_point_upper[2] = door.height + + door_mesh_texture_map_path = f"{layout_dir}/materials/{door.door_material}_texture.png" + + door_mesh_tex_coords_save_path = f"{layout_dir}/materials/{door.door_material}_tex_coords.pkl" + with open(door_mesh_tex_coords_save_path, "rb") as f: + door_mesh_tex_coords = pickle.load(f) + + texture_info = { + "vts": door_mesh_tex_coords["vts"], + "fts": door_mesh_tex_coords["fts"], + "texture_map_path": door_mesh_texture_map_path + } + + + mesh_info_dict[f"{door.id}"] = { + "mesh": door_mesh, + "static": False, + "articulation": (door_rotate_axis_point_lower, door_rotate_axis_point_upper), + "texture": texture_info + } + + # Add door frame mesh to the dictionary + # Use door-specific frame texture based on door material + door_frame_texture_map_path = f"{layout_dir}/materials/{door.door_material}_frame_texture.png" + door_frame_tex_coords_save_path = f"{layout_dir}/materials/{door.door_material}_frame_tex_coords.pkl" + + # Check if door frame texture files exist, if not use door material as fallback + if not os.path.exists(door_frame_tex_coords_save_path): + door_frame_texture_map_path = door_mesh_texture_map_path + door_frame_tex_coords_save_path = door_mesh_tex_coords_save_path + + with open(door_frame_tex_coords_save_path, "rb") as f: + door_frame_tex_coords = pickle.load(f) + + door_frame_texture_info = { + "vts": door_frame_tex_coords["vts"], + "fts": door_frame_tex_coords["fts"], + "texture_map_path": door_frame_texture_map_path + } + + mesh_info_dict[f"{door.id}_frame"] = { + "mesh": door_frame_mesh, + "static": True, # Door frame is static, doesn't move with door + "texture": door_frame_texture_info + } + + + return mesh_info_dict + + +def export_layout_to_mesh_dict_list_no_object_transform_v2(layout: FloorPlan, layout_dir: str): + """ + Export a FloorPlan object to a mesh file using trimesh. + Creates gray boxes for walls/floors, red boxes for doors, blue boxes for windows, + and includes actual object meshes with their transforms. + Uses boolean operations to cut door/window openings in walls. + + Args: + layout: FloorPlan object to export + export_path: Path where the mesh file will be saved (supports .obj, .ply, .stl, etc.) + """ + import os + import pickle + + def get_object_mesh(source, source_id): + object_save_path = f"{layout_dir}/{source}/{source_id}.ply" + if os.path.exists(object_save_path): + return trimesh.load(object_save_path) + else: + return None + + def get_object_mesh_texture(source, source_id): + tex_coords_save_path = f"{layout_dir}/{source}/{source_id}_tex_coords.pkl" + texture_map_path = f"{layout_dir}/{source}/{source_id}_texture.png" + texture_pbr_params_path = f"{layout_dir}/{source}/{source_id}_pbr_parameters.json" + if os.path.exists(tex_coords_save_path): + with open(tex_coords_save_path, "rb") as f: + tex_coords = pickle.load(f) + tex_dict = { + "vts": tex_coords["vts"], + "fts": tex_coords["fts"], + "texture_map_path": texture_map_path + } + if os.path.exists(texture_pbr_params_path): + with open(texture_pbr_params_path, "r") as f: + pbr_parameters = json.load(f) + tex_dict["pbr_parameters"] = pbr_parameters + return tex_dict + else: + return None + + mesh_info_dict = {} + + # Track processed bidirectional doors/windows to avoid duplicates + processed_doors = set() + processed_windows = set() + + # Process each room + for room in layout.rooms: + # Create floor mesh + floor_mesh = create_floor_mesh(room) + floor_mesh_texture_map_path = f"{layout_dir}/materials/{room.floor_material}.png" + # TODO: generate tex coords for floor mesh + floor_mesh_tex_coords = create_floor_mesh_tex_coords(floor_mesh) + # floor_meshes.append(floor_mesh) + + mesh_info_dict[f"floor_{room.id}"] = { + "mesh": floor_mesh, + "static": True, + "texture": { + "vts": floor_mesh_tex_coords["vts"], + "fts": floor_mesh_tex_coords["fts"], + "texture_map_path": floor_mesh_texture_map_path + } + } + + # Create wall meshes with door/window cutouts + room_wall_meshes, room_door_meshes, room_window_meshes, room_wall_ids, room_door_ids, room_window_ids = create_room_meshes_with_openings( + room, processed_doors, processed_windows + ) + + # wall_meshes.extend(room_wall_meshes) + # door_meshes.extend(room_door_meshes) + # window_meshes.extend(room_window_meshes) + + wall_mesh_texture_map_path = f"{layout_dir}/materials/{room.walls[0].material}.png" + + for wall_id, wall_mesh in zip(room_wall_ids, room_wall_meshes): + # TODO: generate tex coords for wall mesh + wall_mesh_tex_coords = create_wall_mesh_tex_coords(wall_mesh) + mesh_info_dict[f"{wall_id}"] = { + "mesh": wall_mesh, + "static": True, + "texture": { + "vts": wall_mesh_tex_coords["vts"], + "fts": wall_mesh_tex_coords["fts"], + "texture_map_path": wall_mesh_texture_map_path + } + } + + ceiling_mesh = create_ceiling_mesh(room) + ceiling_mesh_texture_map_path = f"{layout_dir}/materials/{room.walls[0].material}.png" + # TODO: generate tex coords for floor mesh + ceiling_mesh_tex_coords = create_wall_mesh_tex_coords(ceiling_mesh) + + mesh_info_dict[f"floor_{room.id}_ceiling"] = { + "mesh": ceiling_mesh, + "static": True, + "texture": { + "vts": ceiling_mesh_tex_coords["vts"], + "fts": ceiling_mesh_tex_coords["fts"], + "texture_map_path": ceiling_mesh_texture_map_path + } + } + + for window_id, window_mesh in zip(room_window_ids, room_window_meshes): + # window_mesh_tex_coords = create_window_mesh_tex_coords(window_mesh) + + window_mesh_texture_map_path = f"{layout_dir}/materials/{window_id}_texture.png" + window_mesh_tex_coords_save_path = f"{layout_dir}/materials/{window_id}_tex_coords.pkl" + with open(window_mesh_tex_coords_save_path, "rb") as f: + window_mesh_tex_coords = pickle.load(f) + + mesh_info_dict[f"{window_id}"] = { + "mesh": window_mesh, + "static": True, + "texture": { + "vts": window_mesh_tex_coords["vts"], + "fts": window_mesh_tex_coords["fts"], + "texture_map_path": window_mesh_texture_map_path, + "pbr_parameters": { + "roughness": 0.05, + "metallic": 0.0 + } + } + } + + + # Process each room + for room in layout.rooms: + # Create object meshes with transforms + for obj in room.objects: + # obj_mesh = get_object_mesh(obj.source, obj.source_id) + # if obj_mesh is not None: + # # Apply transforms to the object mesh + # # transformed_mesh = apply_object_transform(obj_mesh, obj) + # texture_info = get_object_mesh_texture(obj.source, obj.source_id) + + # mesh_info_dict[obj.id] = { + # "mesh": obj_mesh, + # "static": False if obj.place_id != "wall" else True, + # "texture": texture_info, + # "mass": getattr(obj, 'mass', 1.0), + # "transform": { + # "position": { + # "x": obj.position.x, + # "y": obj.position.y, + # "z": obj.position.z + # }, + # "rotation": { + # "x": obj.rotation.x, + # "y": obj.rotation.y, + # "z": obj.rotation.z + # } + # } + # } + mesh_dict = load_ply_to_mesh_dict(f"{layout_dir}/objects/{obj.source_id}.ply") + texture_map_path = f"{layout_dir}/objects/{obj.source_id}_texture.png" + obj_mesh = trimesh.Trimesh(vertices=mesh_dict["vertices"], faces=mesh_dict["faces"], process=False) + # Apply transforms to the object mesh + transformed_mesh = apply_object_transform(obj_mesh, obj) + texture_info = { + "vts": mesh_dict["vts"], + "fts": mesh_dict["fts"], + "texture_map_path": texture_map_path, + "pbr_parameters": obj.pbr_parameters + } + + mesh_info_dict[obj.id] = { + "mesh": transformed_mesh, + "static": False if obj.place_id != "wall" else True, + "texture": texture_info, + "mass": getattr(obj, 'mass', 1.0), + "transform": { + "position": { + "x": obj.position.x, + "y": obj.position.y, + "z": obj.position.z + }, + "rotation": { + "x": obj.rotation.x, + "y": obj.rotation.y, + "z": obj.rotation.z + } + } + } + + + door_center_list = [] + + for room in layout.rooms: + wall_map = {wall.id: wall for wall in room.walls} + + # Add doors - position them at the inner room boundary + for door in room.doors: + + if door.opening: + continue + + # Get the wall this door is on + wall = wall_map.get(door.wall_id) + assert wall is not None, f"Wall {door.wall_id} not found" + + start_point = wall.start_point + end_point = wall.end_point + + position_on_wall = door.position_on_wall + door_center_x = start_point.x + (end_point.x - start_point.x) * position_on_wall + door_center_y = start_point.y + (end_point.y - start_point.y) * position_on_wall + + duplicate_door = False + for door_center_prev_x, door_center_prev_y in door_center_list: + if abs(door_center_x - door_center_prev_x) < 0.01 and abs(door_center_y - door_center_prev_y) < 0.01: + duplicate_door = True + break + + if duplicate_door: + continue + + door_center_list.append((door_center_x, door_center_y)) + + thickness_scale = 0.95 + size_scale = 0.95 + + # Create door frame mesh + door_width_original = door.width + door_thickness = wall.thickness * thickness_scale + + delta_s = 0.5 * (1 - size_scale) * door_width_original + delta_r_min = max(0, ((0.5 * door_thickness) ** 2 - delta_s ** 2) / (2 * delta_s)) + delta_r = delta_r_min * 1.1 + + door_size_offset_calculated = (size_scale - 1) * door_width_original + door_mesh = create_door_mesh(wall, door, size_scale=1.0, thickness_scale=thickness_scale, door_size_offset=door_size_offset_calculated) + door_frame_mesh = create_door_frame_mesh(wall, door, size_scale=1.0, thickness_scale=1.05, frame_width=0.05) + + + + # Calculate door position on wall + start = np.array([wall.start_point.x, wall.start_point.y, 0]) + end = np.array([wall.end_point.x, wall.end_point.y, 0]) + wall_vector = end - start + wall_vector_norm = wall_vector / np.linalg.norm(wall_vector) + + # Position along the wall + door_center_point = start + wall_vector * door.position_on_wall + door_start_point = door_center_point - wall_vector_norm * door.width / 2 + + door_rotate_axis_point_lower = door_start_point + wall_vector_norm * (delta_s + delta_r) + door_rotate_axis_point_lower[2] = 0. + door_rotate_axis_point_upper = door_start_point + wall_vector_norm * (delta_s + delta_r) + door_rotate_axis_point_upper[2] = door.height + + door_mesh_texture_map_path = f"{layout_dir}/materials/{door.door_material}_texture.png" + + door_mesh_tex_coords_save_path = f"{layout_dir}/materials/{door.door_material}_tex_coords.pkl" + with open(door_mesh_tex_coords_save_path, "rb") as f: + door_mesh_tex_coords = pickle.load(f) + + texture_info = { + "vts": door_mesh_tex_coords["vts"], + "fts": door_mesh_tex_coords["fts"], + "texture_map_path": door_mesh_texture_map_path + } + + + mesh_info_dict[f"{door.id}"] = { + "mesh": door_mesh, + "static": False, + "articulation": (door_rotate_axis_point_lower, door_rotate_axis_point_upper), + "texture": texture_info + } + + # Add door frame mesh to the dictionary + # Use door-specific frame texture based on door material + door_frame_texture_map_path = f"{layout_dir}/materials/{door.door_material}_frame_texture.png" + door_frame_tex_coords_save_path = f"{layout_dir}/materials/{door.door_material}_frame_tex_coords.pkl" + + # Check if door frame texture files exist, if not use door material as fallback + if not os.path.exists(door_frame_tex_coords_save_path): + door_frame_texture_map_path = door_mesh_texture_map_path + door_frame_tex_coords_save_path = door_mesh_tex_coords_save_path + + with open(door_frame_tex_coords_save_path, "rb") as f: + door_frame_tex_coords = pickle.load(f) + + door_frame_texture_info = { + "vts": door_frame_tex_coords["vts"], + "fts": door_frame_tex_coords["fts"], + "texture_map_path": door_frame_texture_map_path + } + + mesh_info_dict[f"{door.id}_frame"] = { + "mesh": door_frame_mesh, + "static": True, # Door frame is static, doesn't move with door + "texture": door_frame_texture_info + } + + + return mesh_info_dict + diff --git a/sage10k_raw/_dataset/kits/utils.py b/sage10k_raw/_dataset/kits/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..a5c06cc5edd174acf2e390477a525944aae8eda7 --- /dev/null +++ b/sage10k_raw/_dataset/kits/utils.py @@ -0,0 +1,286 @@ +from models import Point3D, Dimensions, Wall +import json +from models import FloorPlan, Room, Door, Window, Wall, Object, Euler + + +def dict_to_floor_plan(layout_data: dict) -> FloorPlan: + """ + Convert a dictionary (from JSON) back to a FloorPlan object. + + Args: + layout_data: Dictionary containing the floor plan data + + Returns: + FloorPlan object reconstructed from the dictionary + + Raises: + ValueError: If the data structure is invalid or incomplete + """ + try: + # Convert rooms + rooms = [] + for room_data in layout_data["rooms"]: + room = dict_to_room(room_data) + rooms.append(room) + + # Create FloorPlan object + floor_plan = FloorPlan( + id=layout_data["id"], + rooms=rooms, + total_area=layout_data["total_area"], + building_style=layout_data["building_style"], + description=layout_data["description"], + created_from_text=layout_data["created_from_text"], + policy_analysis=layout_data.get("policy_analysis", None) + ) + + return floor_plan + + except KeyError as e: + raise ValueError(f"Missing required field in layout data: {e}") + except Exception as e: + raise ValueError(f"Error converting layout data: {e}") + + +def dict_to_room(room_data: dict) -> Room: + """ + Convert a dictionary to a Room object. + + Args: + room_data: Dictionary containing room data + + Returns: + Room object reconstructed from the dictionary + """ + try: + # Convert position + position = Point3D( + x=room_data["position"]["x"], + y=room_data["position"]["y"], + z=room_data["position"]["z"] + ) + + # Convert dimensions + dimensions = Dimensions( + width=room_data["dimensions"]["width"], + length=room_data["dimensions"]["length"], + height=room_data["dimensions"]["height"] + ) + + # Convert walls + walls = [] + for wall_data in room_data["walls"]: + wall = dict_to_wall(wall_data) + walls.append(wall) + + # Convert doors + doors = [] + for door_data in room_data["doors"]: + door = dict_to_door(door_data) + doors.append(door) + + # Convert windows + windows = [] + for window_data in room_data["windows"]: + window = dict_to_window(window_data) + windows.append(window) + + # Convert objects + objects = [] + for object_data in room_data.get("objects", []): + obj = dict_to_object(object_data) + objects.append(obj) + + # Create Room object + room = Room( + id=room_data["id"], + room_type=room_data["room_type"], + position=position, + dimensions=dimensions, + walls=walls, + doors=doors, + objects=objects, + windows=windows, + floor_material=room_data.get("floor_material", "hardwood"), + ceiling_height=room_data.get("ceiling_height", 2.7) + ) + + return room + + except KeyError as e: + raise ValueError(f"Missing required field in room data: {e}") + except Exception as e: + raise ValueError(f"Error converting room data: {e}") + + +def dict_to_wall(wall_data: dict) -> Wall: + """ + Convert a dictionary to a Wall object. + + Args: + wall_data: Dictionary containing wall data + + Returns: + Wall object reconstructed from the dictionary + """ + try: + start_point = Point3D( + x=wall_data["start_point"]["x"], + y=wall_data["start_point"]["y"], + z=wall_data["start_point"]["z"] + ) + + end_point = Point3D( + x=wall_data["end_point"]["x"], + y=wall_data["end_point"]["y"], + z=wall_data["end_point"]["z"] + ) + + wall = Wall( + id=wall_data["id"], + start_point=start_point, + end_point=end_point, + height=wall_data["height"], + thickness=wall_data.get("thickness", 0.1), + material=wall_data.get("material", "drywall") + ) + + return wall + + except KeyError as e: + raise ValueError(f"Missing required field in wall data: {e}") + except Exception as e: + raise ValueError(f"Error converting wall data: {e}") + + +def dict_to_door(door_data: dict) -> Door: + """ + Convert a dictionary to a Door object. + + Args: + door_data: Dictionary containing door data + + Returns: + Door object reconstructed from the dictionary + """ + try: + door = Door( + id=door_data["id"], + wall_id=door_data["wall_id"], + position_on_wall=door_data["position_on_wall"], + width=door_data["width"], + height=door_data["height"], + door_type=door_data.get("door_type", "standard"), + opens_inward=door_data.get("opens_inward", True), + opening=door_data.get("opening", False), # Handle opening property + door_material=door_data.get("door_material", "wood") + ) + + return door + + except KeyError as e: + raise ValueError(f"Missing required field in door data: {e}") + except Exception as e: + raise ValueError(f"Error converting door data: {e}") + + +def dict_to_window(window_data: dict) -> Window: + """ + Convert a dictionary to a Window object. + + Args: + window_data: Dictionary containing window data + + Returns: + Window object reconstructed from the dictionary + """ + try: + window = Window( + id=window_data["id"], + wall_id=window_data["wall_id"], + position_on_wall=window_data["position_on_wall"], + width=window_data["width"], + height=window_data["height"], + sill_height=window_data["sill_height"], + window_type=window_data.get("window_type", "standard"), + window_material=window_data.get("window_material", "standard") + ) + + return window + + except KeyError as e: + raise ValueError(f"Missing required field in window data: {e}") + except Exception as e: + raise ValueError(f"Error converting window data: {e}") + + +def dict_to_object(object_data: dict) -> Object: + """ + Convert a dictionary to an Object object. + + Args: + object_data: Dictionary containing object data + + Returns: + Object object reconstructed from the dictionary + """ + try: + # Convert position + position = Point3D( + x=object_data["position"]["x"], + y=object_data["position"]["y"], + z=object_data["position"]["z"] + ) + + # Convert rotation + rotation = Euler( + x=object_data["rotation"]["x"], + y=object_data["rotation"]["y"], + z=object_data["rotation"]["z"] + ) + + # Convert dimensions + dimensions = Dimensions( + width=object_data["dimensions"]["width"], + length=object_data["dimensions"]["length"], + height=object_data["dimensions"]["height"] + ) + + obj = Object( + id=object_data["id"], + room_id=object_data["room_id"], + type=object_data["type"], + description=object_data["description"], + position=position, + rotation=rotation, + dimensions=dimensions, + source=object_data["source"], + source_id=object_data["source_id"], + place_id=object_data["place_id"], + mass=object_data.get("mass", 1.0), + placement_constraints=object_data.get("placement_constraints", None) + ) + + return obj + + except KeyError as e: + raise ValueError(f"Missing required field in object data: {e}") + except Exception as e: + raise ValueError(f"Error converting object data: {e}") + + + """ + Load a room layout from JSON data and set it as the current layout. + """ + global current_layout + + # 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