UPDATE: README and stability

README.md

@@ -1 +1,18 @@
 # Combinatorial-3D-Shape-Generation
+
+## Citation
+```
+@article{KimJ2020arxiv,
+    author={Kim, Jungtaek and Chung, Hyunsoo and Lee, Jinhwi and Cho, Minsu and Park, Jaesik},
+    title={Combinatorial {3D} Shape Generation via Sequential Assembly},
+    journal={{arXiv} preprint {arXiv}:2004.07414},
+    howpublished={\url{http://bayeso.org}},
+    year={2020}
+}
+```
+
+## Contact
+* Jungtaek Kim: [[email protected]](mailto:[email protected])
+
+## License
+[MIT License](LICENSE)

requirements.txt

@@ -1,2 +1,4 @@
 numpy
+open3d==0.9.0.0
 bayeso
+pybullet==2.8.2

src_generation/stability.py

@@ -0,0 +1,151 @@
+import numpy as np
+import pybullet
+import pybullet_data
+import time
+
+#import brick
+#import bricks
+#import utils
+
+
+def get_time_to_be_stable(bricks_):
+    unit_size = 0.10
+    num_iters = 10000
+    num_forces = 200
+
+    mass = 10
+    mass_link = 1
+    gravity = -20
+
+    epsilon = 1e-3
+
+    id_client = pybullet.connect(pybullet.GUI)
+    pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+    plane = pybullet.createCollisionShape(pybullet.GEOM_PLANE)
+    id_plane = pybullet.createMultiBody(0, plane)
+
+    useMaximalCoordinates = True
+
+    id_box = pybullet.createCollisionShape(
+        pybullet.GEOM_BOX,
+        halfExtents=[unit_size * 2.0, unit_size * 4.0, unit_size * 1.0]
+    )
+
+    list_bricks = bricks_.get_bricks()
+    len_bricks = bricks_.get_length()
+    print('Length: {}'.format(len_bricks))
+
+    force = 500.0 * len_bricks
+    brick_prev = list_bricks[0]
+
+    visualShapeId = -1
+    position_base = list(brick_prev.get_position())
+    direc_base = int(brick_prev.get_direction())
+    orientation_base = [0, 0, direc_base, 1]
+    anistropicFriction = [1, 1, 1]
+
+    link_masses = []
+    linkCollisionShapeIndices = []
+    linkVisualShapeIndices = []
+    linkPositions = []
+    linkOrientations = []
+    linkInertialFramePositions = []
+    linkInertialFrameOrientations = []
+    indices = []
+    jointTypes = []
+    axis = []
+
+    for ind_brick, brick_ in enumerate(list_bricks[1:]):
+        trans = brick_.get_position() - brick_prev.get_position()
+        trans = trans * unit_size * 2
+        print(brick_.get_position(), brick_prev.get_position())
+        print(trans)
+
+        direc = (brick_.get_direction() - brick_prev.get_direction())
+
+        if direc == -1:
+            trans = [trans[1], trans[0] * -1, trans[2]]
+        elif direc == 1:
+            trans = trans
+        else:
+            if brick_.get_direction() == 0:
+                trans = trans
+            else:
+                trans = [trans[1], trans[0] * -1, trans[2]]
+
+        link_masses.append(mass_link)
+        linkCollisionShapeIndices.append(id_box)
+        linkVisualShapeIndices.append(-1)
+        linkPositions.append(list(trans))
+        linkOrientations.append([0, 0, int(direc), 1])
+        linkInertialFramePositions.append([0, 0, 0])
+        linkInertialFrameOrientations.append([0, 0, 0, 1])
+        indices.append(ind_brick)
+        jointTypes.append(pybullet.JOINT_FIXED)
+        axis.append([0, 0, 1])
+
+        brick_prev = brick_
+
+    id_body = pybullet.createMultiBody(
+        mass,
+        id_box,
+        visualShapeId,
+        position_base,
+        orientation_base,
+        linkMasses=link_masses,
+        linkCollisionShapeIndices=linkCollisionShapeIndices,
+        linkVisualShapeIndices=linkVisualShapeIndices,
+        linkPositions=linkPositions,
+        linkOrientations=linkOrientations,
+        linkInertialFramePositions=linkInertialFramePositions,
+        linkInertialFrameOrientations=linkInertialFrameOrientations,
+        linkParentIndices=indices,
+        linkJointTypes=jointTypes,
+        linkJointAxis=axis,
+        useMaximalCoordinates=useMaximalCoordinates
+    )
+
+    pybullet.setGravity(0, 0, gravity)
+    pybullet.setRealTimeSimulation(0)
+
+    pybullet.changeDynamics(id_body, -1, lateralFriction=2, anisotropicFriction=anistropicFriction)
+    pybullet.getNumJoints(id_body)
+
+    for ind in range(0, pybullet.getNumJoints(id_body)):
+        pybullet.changeDynamics(id_body, ind, lateralFriction=2, anisotropicFriction=anistropicFriction)
+
+
+    for ind in range(0, num_iters):
+        pos, ori = pybullet.getBasePositionAndOrientation(id_body)
+
+        if ind < num_forces:
+            if ind % 8 == 0:
+                sign = [1.0, 1.0]
+            elif ind % 8 == 2:
+                sign = [1.0, -1.0]
+            elif ind % 8 == 4:
+                sign = [-1.0, -1.0]
+            elif ind % 8 == 6:
+                sign = [-1.0, 1.0]
+            else:
+                sign = [0.0, 0.0]
+
+            pybullet.applyExternalForce(
+                objectUniqueId=id_body,
+                linkIndex=-1,
+                forceObj=[force * sign[0], force * sign[1], 0.0],
+                posObj=[0, 0, 0],
+                flags=pybullet.WORLD_FRAME
+            )
+        else:
+            if np.linalg.norm(np.array(pos) - np.array(pos_prev), ord=2) < epsilon:
+                break
+
+        pos_prev = pos
+        pybullet.stepSimulation()
+        time.sleep(0.1 / num_iters)
+
+    pybullet.disconnect(id_client)
+
+    return ind