TDW includes a "ProcGen Room" scene for procedurally generating interior environments. We've been utilizing this every time we call TDWUtils.create_empty_room(12, 12). However, TDW is capable of generating arbitrary indoor environments, with the caveat that each "section" of wall is always 1 meter long and walls must always be at 90 degree angles.
It can be useful to define a random number generator with a fixed seed so that you can re-create the exact same scene as needed:
from typing import List
import numpy as np
from tdw.controller import Controller
class ProcGenRoom(Controller):
def __init__(self, port: int = 1071, launch_build: bool = True, seed: int = 0):
super().__init__(port=port, launch_build=launch_build)
self.rng: np.random.RandomState = np.random.RandomState(seed)This tutorial will define an L-shaped scene with interior walls.
To start, we'll define the bounds of the room with a randomly-sized numpy array, where 0 = no walls, 1 = exterior walls, and 2 = interior walls:
from typing import List
import numpy as np
from tdw.controller import Controller
class ProcGenRoom(Controller):
def __init__(self, port: int = 1071, launch_build: bool = True, seed: int = 0):
super().__init__(port=port, launch_build=launch_build)
self.rng: np.random.RandomState = np.random.RandomState(seed)
def create_scene(self) -> List[dict]:
width: int = self.rng.randint(12, 18)
length: int = self.rng.randint(14, 20)
room_arr: np.array = np.zeros(shape=(width, length), dtype=int)Define a position to start turning south and generate "walls" up to that point:
from typing import List
import numpy as np
from tdw.controller import Controller
class ProcGenRoom(Controller):
def __init__(self, port: int = 1071, launch_build: bool = True, seed: int = 0):
super().__init__(port=port, launch_build=launch_build)
self.rng: np.random.RandomState = np.random.RandomState(seed)
def create_scene(self) -> List[dict]:
width: int = self.rng.randint(12, 18)
length: int = self.rng.randint(14, 20)
room_arr: np.array = np.zeros(shape=(width, length), dtype=int)
# Define the uppermost width-wise wall.
turn_south_at = int(length * 0.75) + self.rng.randint(1, 3)
for i in range(turn_south_at + 1):
room_arr[0, i] = 1
print(room_arr)Using similar logic, we'll define the rest of the L-shape:
from typing import List
import numpy as np
from tdw.controller import Controller
class ProcGenRoom(Controller):
def __init__(self, port: int = 1071, launch_build: bool = True, seed: int = 0):
super().__init__(port=port, launch_build=launch_build)
self.rng: np.random.RandomState = np.random.RandomState(seed)
def create_scene(self) -> List[dict]:
width: int = self.rng.randint(12, 18)
length: int = self.rng.randint(14, 20)
room_arr: np.array = np.zeros(shape=(width, length), dtype=int)
# Define the uppermost width-wise wall.
turn_south_at = int(length * 0.75) + self.rng.randint(1, 3)
for i in range(turn_south_at + 1):
room_arr[0, i] = 1
turn_west_at = int(width * 0.75) + self.rng.randint(0, 2)
for i in range(turn_west_at + 1):
room_arr[i, turn_south_at] = 1
turn_north_at = turn_south_at - self.rng.randint(4, 6)
for i in range(turn_north_at, turn_south_at):
room_arr[turn_west_at, i] = 1
turn_west_at_2 = self.rng.randint(4, 6)
for i in range(turn_west_at_2, turn_west_at):
room_arr[i, turn_north_at] = 1
for i in range(turn_north_at):
room_arr[turn_west_at_2, i] = 1
for i in range(turn_west_at_2):
room_arr[i, 0] = 1
print(room_arr)Next, add interior walls at the corner of the L, leaving some space for an entryway:
from typing import List
import numpy as np
from tdw.controller import Controller
class ProcGenRoom(Controller):
def __init__(self, port: int = 1071, launch_build: bool = True, seed: int = 0):
super().__init__(port=port, launch_build=launch_build)
self.rng: np.random.RandomState = np.random.RandomState(seed)
def create_scene(self) -> List[dict]:
width: int = self.rng.randint(12, 18)
length: int = self.rng.randint(14, 20)
room_arr: np.array = np.zeros(shape=(width, length), dtype=int)
# Define the uppermost width-wise wall.
turn_south_at = int(length * 0.75) + self.rng.randint(1, 3)
for i in range(turn_south_at + 1):
room_arr[0, i] = 1
turn_west_at = int(width * 0.75) + self.rng.randint(0, 2)
for i in range(turn_west_at + 1):
room_arr[i, turn_south_at] = 1
turn_north_at = turn_south_at - self.rng.randint(4, 6)
for i in range(turn_north_at, turn_south_at):
room_arr[turn_west_at, i] = 1
turn_west_at_2 = self.rng.randint(4, 6)
for i in range(turn_west_at_2, turn_west_at):
room_arr[i, turn_north_at] = 1
for i in range(turn_north_at):
room_arr[turn_west_at_2, i] = 1
for i in range(turn_west_at_2):
room_arr[i, 0] = 1
# Create interior walls.
if self.rng.random() < 0.5:
interior_wall_0 = range(turn_north_at + 1, turn_south_at - 1)
interior_wall_1 = range(1, turn_west_at_2 - 1)
else:
interior_wall_0 = range(turn_north_at + 2, turn_south_at)
interior_wall_1 = range(2, turn_west_at_2)
for i in interior_wall_0:
room_arr[turn_west_at_2, i] = 2
for i in interior_wall_1:
room_arr[i, turn_north_at] = 2
print(room_arr)We now have completed the interior and exterior walls. We will convert the array into commands, add an avatar, and send the commands:
from typing import List
import numpy as np
from tdw.controller import Controller
from tdw.add_ons.image_capture import ImageCapture
from tdw.add_ons.third_person_camera import ThirdPersonCamera
from tdw.backend.paths import EXAMPLE_CONTROLLER_OUTPUT_PATH
class ProcGenRoom(Controller):
def __init__(self, port: int = 1071, launch_build: bool = True, seed: int = 0):
super().__init__(port=port, launch_build=launch_build)
self.rng: np.random.RandomState = np.random.RandomState(seed)
def create_scene(self) -> List[dict]:
width: int = self.rng.randint(12, 18)
length: int = self.rng.randint(14, 20)
room_arr: np.array = np.zeros(shape=(width, length), dtype=int)
# Define the uppermost width-wise wall.
turn_south_at = int(length * 0.75) + self.rng.randint(1, 3)
for i in range(turn_south_at + 1):
room_arr[0, i] = 1
turn_west_at = int(width * 0.75) + self.rng.randint(0, 2)
for i in range(turn_west_at + 1):
room_arr[i, turn_south_at] = 1
turn_north_at = turn_south_at - self.rng.randint(4, 6)
for i in range(turn_north_at, turn_south_at):
room_arr[turn_west_at, i] = 1
turn_west_at_2 = self.rng.randint(4, 6)
for i in range(turn_west_at_2, turn_west_at):
room_arr[i, turn_north_at] = 1
for i in range(turn_north_at):
room_arr[turn_west_at_2, i] = 1
for i in range(turn_west_at_2):
room_arr[i, 0] = 1
# Create interior walls.
if self.rng.random() < 0.5:
interior_wall_0 = range(turn_north_at + 1, turn_south_at - 1)
interior_wall_1 = range(1, turn_west_at_2 - 1)
else:
interior_wall_0 = range(turn_north_at + 2, turn_south_at)
interior_wall_1 = range(2, turn_west_at_2)
for i in interior_wall_0:
room_arr[turn_west_at_2, i] = 2
for i in interior_wall_1:
room_arr[i, turn_north_at] = 2
# Convert the array to commands.
exterior_walls: List[dict] = list()
interior_walls: List[dict] = list()
for ix, iy in np.ndindex(room_arr.shape):
if room_arr[ix, iy] == 1:
exterior_walls.append({"x": ix, "y": iy})
elif room_arr[ix, iy] == 2:
interior_walls.append({"x": ix, "y": iy})
# load_scene typically gets sent in the controller constructor.
return [{"$type": "load_scene",
"scene_name": "ProcGenScene"},
{"$type": "create_exterior_walls",
"walls": exterior_walls},
{"$type": "create_interior_walls",
"walls": interior_walls}]
def run(self) -> None:
path = EXAMPLE_CONTROLLER_OUTPUT_PATH.joinpath("proc_gen_room")
print(f"Images will be saved to {path}")
camera = ThirdPersonCamera(avatar_id="a", position={"x": 0, "y": 20, "z": 0}, look_at={"x": 0, "y": 0, "z": 0})
capture = ImageCapture(avatar_ids=["a"], pass_masks=["_img"], path=path)
self.add_ons.extend([camera, capture])
self.communicate(self.create_scene())
self.communicate({"$type": "terminate"})
if __name__ == "__main__":
c = ProcGenRoom()
c.run()Result:
Add a ceiling with create_proc_gen_ceiling. Remove it with destroy_proc_gen_ceiling.
The ceiling is subdivided into 1x1 meter "tiles". You can selectively add or destroy ceiling tiles with create_proc_gen_ceiling_tiles and destroy_proc_gen_ceiling_tiles, respectively.
It is possible to set the visual materials and colors of the floor, walls, and ceiling of a proc-gen room. In each case, make sure you first send add_material or c.get_add_material(material_name) to load the material asset bundle into memory (just like you would with an object).
| Set visual material | Set texture scale | Set color | |
|---|---|---|---|
| Floor | set_floor_material |
set_floor_texture_scale |
set_floor_color |
| Walls | set_proc_gen_walls_material |
set_proc_gen_walls_texture_scale |
set_proc_gen_walls_color |
| Ceiling | set_proc_gen_ceiling_material |
set_proc_gen_ceiling_texture_scale |
set_proc_gen_ceiling_color |
from typing import List
import numpy as np
from tdw.controller import Controller
from tdw.add_ons.image_capture import ImageCapture
from tdw.add_ons.third_person_camera import ThirdPersonCamera
from tdw.backend.paths import EXAMPLE_CONTROLLER_OUTPUT_PATH
class ProcGenRoom(Controller):
"""
Procedurally create an interior scene.
"""
def __init__(self, port: int = 1071, launch_build: bool = True, seed: int = 0):
super().__init__(port=port, launch_build=launch_build)
self.rng: np.random.RandomState = np.random.RandomState(seed)
def create_scene(self) -> List[dict]:
width: int = self.rng.randint(12, 18)
length: int = self.rng.randint(14, 20)
room_arr: np.array = np.zeros(shape=(width, length), dtype=int)
# Define the uppermost width-wise wall.
turn_south_at = int(length * 0.75) + self.rng.randint(1, 3)
for i in range(turn_south_at + 1):
room_arr[0, i] = 1
turn_west_at = int(width * 0.75) + self.rng.randint(0, 2)
for i in range(turn_west_at + 1):
room_arr[i, turn_south_at] = 1
turn_north_at = turn_south_at - self.rng.randint(4, 6)
for i in range(turn_north_at, turn_south_at):
room_arr[turn_west_at, i] = 1
turn_west_at_2 = self.rng.randint(4, 6)
for i in range(turn_west_at_2, turn_west_at):
room_arr[i, turn_north_at] = 1
for i in range(turn_north_at):
room_arr[turn_west_at_2, i] = 1
for i in range(turn_west_at_2):
room_arr[i, 0] = 1
# Create interior walls.
if self.rng.random() < 0.5:
interior_wall_0 = range(turn_north_at + 1, turn_south_at - 1)
interior_wall_1 = range(1, turn_west_at_2 - 1)
else:
interior_wall_0 = range(turn_north_at + 2, turn_south_at)
interior_wall_1 = range(2, turn_west_at_2)
for i in interior_wall_0:
room_arr[turn_west_at_2, i] = 2
for i in interior_wall_1:
room_arr[i, turn_north_at] = 2
# Convert the array to commands.
exterior_walls: List[dict] = list()
interior_walls: List[dict] = list()
for ix, iy in np.ndindex(room_arr.shape):
if room_arr[ix, iy] == 1:
exterior_walls.append({"x": ix, "y": iy})
elif room_arr[ix, iy] == 2:
interior_walls.append({"x": ix, "y": iy})
# load_scene typically gets sent by calling c.start()
return [{"$type": "load_scene",
"scene_name": "ProcGenScene"},
{"$type": "create_exterior_walls",
"walls": exterior_walls},
{"$type": "create_interior_walls",
"walls": interior_walls}]
def set_floor(self) -> List[dict]:
materials = ["parquet_wood_mahogany", "parquet_long_horizontal_clean", "parquet_wood_red_cedar"]
material_name = materials[self.rng.randint(0, len(materials))]
texture_scale: float = float(self.rng.uniform(4, 4.5))
return [self.get_add_material(material_name=material_name),
{"$type": "set_floor_material",
"name": material_name},
{"$type": "set_floor_texture_scale",
"scale": {"x": texture_scale, "y": texture_scale}},
{"$type": "set_floor_color",
"color": {"r": float(self.rng.uniform(0.7, 1)),
"g": float(self.rng.uniform(0.7, 1)),
"b": float(self.rng.uniform(0.7, 1)),
"a": 1.0}}]
def set_walls(self) -> List[dict]:
materials = ["cinderblock_wall", "concrete_tiles_linear_grey", "old_limestone_wall_reinforced"]
material_name = materials[self.rng.randint(0, len(materials))]
texture_scale: float = float(self.rng.uniform(0.2, 0.3))
return [self.get_add_material(material_name=material_name),
{"$type": "set_proc_gen_walls_material",
"name": material_name},
{"$type": "set_proc_gen_walls_texture_scale",
"scale": {"x": texture_scale, "y": texture_scale}},
{"$type": "set_proc_gen_walls_color",
"color": {"r": float(self.rng.uniform(0.7, 1)),
"g": float(self.rng.uniform(0.7, 1)),
"b": float(self.rng.uniform(0.7, 1)),
"a": 1.0}}]
def set_ceiling(self) -> List[dict]:
materials = ["bricks_red_regular", "bricks_chatham_gray_used", "bricks_salem_matt_used"]
material_name = materials[self.rng.randint(0, len(materials))]
texture_scale: float = float(self.rng.uniform(0.1, 0.2))
return [{"$type": "create_proc_gen_ceiling"},
self.get_add_material(material_name=material_name),
{"$type": "set_proc_gen_ceiling_material",
"name": material_name},
{"$type": "set_proc_gen_ceiling_texture_scale",
"scale": {"x": texture_scale, "y": texture_scale}},
{"$type": "set_proc_gen_ceiling_color",
"color": {"r": float(self.rng.uniform(0.7, 1)),
"g": float(self.rng.uniform(0.7, 1)),
"b": float(self.rng.uniform(0.7, 1)),
"a": 1.0}}]
def run(self) -> None:
path = EXAMPLE_CONTROLLER_OUTPUT_PATH.joinpath("proc_gen_room")
print(f"Images will be saved to {path}")
camera = ThirdPersonCamera(avatar_id="a", position={"x": 0, "y": 20, "z": 0}, look_at={"x": 0, "y": 0, "z": 0})
capture = ImageCapture(avatar_ids=["a"], pass_masks=["_img"], path=path)
self.add_ons.extend([camera, capture])
# Create the scene.
self.communicate(self.create_scene())
# Set the floor.
self.communicate(self.set_floor())
# Set the walls.
self.communicate(self.set_walls())
# Set the ceiling.
self.communicate(self.set_ceiling())
# End the simulation.
self.communicate({"$type": "terminate"})
if __name__ == "__main__":
c = ProcGenRoom()
c.run()Result:
This is the last document in the "Scene Setup (Low-Level APIs)" tutorial.
Example controllers:
- proc_gen_room.py Procedurally create an interior scene.
- proc_gen_room_from_image.py Generate a room from a .png file.
Python API:
Command API:
- General:
- Floor:
- Walls:
- Ceiling: