/
world.py
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/
world.py
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import director.vtkAll as vtk
from director import ioUtils
from director import filterUtils
import director.visualization as vis
from director.debugVis import DebugData
import numpy as np
from PythonQt import QtCore, QtGui
class World(object):
def __init__(self, worldType='simple'):
if worldType == 'simple':
print "initializing world object"
@staticmethod
def buildSimpleWorld():
d = DebugData()
d.addLine((2,-1,0), (2,1,0), radius=0.1)
d.addLine((2,-1,0), (1,-2,0), radius=0.1)
obj = vis.showPolyData(d.getPolyData(), 'world')
return obj
@staticmethod
def buildBoundaries(d, scale=1.0, boundaryType="Warehouse"):
if boundaryType == "Warehouse":
worldXmin = -20
worldXmax = 100
worldYmin = -10
worldYmax = 10
if boundaryType == "Square":
worldXmin = -50*scale
worldXmax = 50*scale
worldYmin = -50*scale
worldYmax = 10*scale
# draw boundaries for the world
NW = (worldXmax, worldYmax, 0)
NE = (worldXmax, worldYmin, 0)
SE = (worldXmin, worldYmin, 0)
SW = (worldXmin, worldYmax, 0)
NW = (worldXmax, worldYmax, 0)
listOfCorners = [NW, NE, SE, SW, NW]
for idx, value in enumerate(listOfCorners[:-1]):
firstEndpt = value
secondEndpt = listOfCorners[idx+1]
d.addLine(firstEndpt, secondEndpt, radius=1.0)
return worldXmin, worldXmax, worldYmin, worldYmax
@staticmethod
def buildStickWorld(percentObsDensity):
print "building stick world"
d = DebugData()
worldXmin, worldXmax, worldYmin, worldYmax = World.buildBoundaries(d)
print "boundaries done"
worldArea = (worldXmax-worldXmin)*(worldYmax-worldYmin)
print worldArea
obsScalingFactor = 1.0/12.0
maxNumObstacles = obsScalingFactor * worldArea
numObstacles = int(percentObsDensity/100.0 * maxNumObstacles)
print numObstacles
# draw random stick obstacles
obsLength = 2.0
for i in xrange(numObstacles):
firstX = worldXmin + np.random.rand()*(worldXmax-worldXmin)
firstY = worldYmin + np.random.rand()*(worldYmax-worldYmin)
firstEndpt = (firstX,firstY,0)
randTheta = np.random.rand() * 2.0*np.pi
secondEndpt = (firstX+obsLength*np.cos(randTheta), firstY+obsLength*np.sin(randTheta), 0)
d.addLine(firstEndpt, secondEndpt, radius=0.2)
obj = vis.showPolyData(d.getPolyData(), 'world')
world = World()
world.visObj = obj
world.Xmax = worldXmax
world.Xmin = worldXmin
world.Ymax = worldYmax
world.Ymin = worldYmin
world.numObstacles = numObstacles
world.percentObsDensity = percentObsDensity
return world
@staticmethod
def buildCircleWorld(percentObsDensity, nonRandom=False, circleRadius=3, scale=None, randomSeed=5,
obstaclesInnerFraction=1.0):
#print "building circle world"
if nonRandom:
np.random.seed(randomSeed)
d = DebugData()
worldXmin, worldXmax, worldYmin, worldYmax = World.buildBoundaries(d, scale=scale, boundaryType="Square")
#print "boundaries done"
worldArea = (worldXmax-worldXmin)*(worldYmax-worldYmin)
#print worldArea
obsScalingFactor = 1.0/12.0
maxNumObstacles = obsScalingFactor * worldArea
numObstacles = int(obstaclesInnerFraction**2 * percentObsDensity/100.0 * maxNumObstacles)
#print numObstacles
# draw random stick obstacles
obsLength = 2.0
obsXmin = worldXmin + (1-obstaclesInnerFraction)/2.0*(worldXmax - worldXmin)
obsXmax = worldXmax - (1-obstaclesInnerFraction)/2.0*(worldXmax - worldXmin)
obsYmin = worldYmin + (1-obstaclesInnerFraction)/2.0*(worldYmax - worldYmin)
obsYmax = worldYmax - (1-obstaclesInnerFraction)/2.0*(worldYmax - worldYmin)
for i in xrange(numObstacles):
firstX = obsXmin + np.random.rand()*(obsXmax-obsXmin)
firstY = obsYmin + np.random.rand()*(obsYmax-obsYmin)
firstEndpt = (firstX,firstY,+0.2)
secondEndpt = (firstX,firstY,-0.2)
#d.addLine(firstEndpt, secondEndpt, radius=2*np.random.randn())
d.addLine(firstEndpt, secondEndpt, radius=circleRadius)
obj = vis.showPolyData(d.getPolyData(), 'world')
world = World()
world.visObj = obj
world.Xmax = worldXmax
world.Xmin = worldXmin
world.Ymax = worldYmax
world.Ymin = worldYmin
world.numObstacles = numObstacles
world.percentObsDensity = percentObsDensity
return world
@staticmethod
def buildWarehouseWorld(percentObsDensity, nonRandom=False, circleRadius=0.1, scale=None, randomSeed=5,
obstaclesInnerFraction=1.0):
if nonRandom:
np.random.seed(randomSeed)
d = DebugData()
worldXmin, worldXmax, worldYmin, worldYmax = World.buildBoundaries(d, scale=scale, boundaryType="Warehouse")
numObstacles = 8
obsLength = 2.0
worldLength = worldXmax - worldXmin
print worldXmin
print worldXmax
obstacleZone = [worldXmin + 0.2 * worldLength, worldXmax - 0.2 * worldLength ]
print obstacleZone
obstacleLength = obstacleZone[1] - obstacleZone[0]
incrementSize = obstacleLength * 1.0 / numObstacles
print incrementSize
leftOrRight = -1.0
for i in xrange(numObstacles):
firstX = obstacleZone[0] + incrementSize * i
leftOrRight = leftOrRight * -1.0
firstEndpt = (firstX, leftOrRight * worldYmax,0.0)
secondEndpt = (firstX, 0.0, 0.0)
#d.addLine(firstEndpt, secondEndpt, radius=2*np.random.randn())
d.addLine(firstEndpt, secondEndpt, radius=circleRadius)
obj = vis.showPolyData(d.getPolyData(), 'world')
world = World()
world.visObj = obj
world.Xmax = worldXmax
world.Xmin = worldXmin
world.Ymax = worldYmax
world.Ymin = worldYmin
world.numObstacles = numObstacles
world.percentObsDensity = percentObsDensity
return world
@staticmethod
def buildCircleWarehouseWorld(percentObsDensity, nonRandom=False, circleRadius=3, scale=None, randomSeed=5,
obstaclesInnerFraction=1.0):
if nonRandom:
np.random.seed(randomSeed)
d = DebugData()
worldXmin, worldXmax, worldYmin, worldYmax = World.buildBoundaries(d, scale=scale, boundaryType="Warehouse")
worldArea = (worldXmax-worldXmin)*(worldYmax-worldYmin)
obsScalingFactor = 1.0/12.0
maxNumObstacles = obsScalingFactor * worldArea
numObstacles = int(obstaclesInnerFraction**2 * percentObsDensity/100.0 * maxNumObstacles)
#print numObstacles
# draw random stick obstacles
obsLength = 2.0
obsXmin = worldXmin + (1-obstaclesInnerFraction)/2.0*(worldXmax - worldXmin)
obsXmax = worldXmax - (1-obstaclesInnerFraction)/2.0*(worldXmax - worldXmin)
obsYmin = worldYmin + (1-obstaclesInnerFraction)/2.0*(worldYmax - worldYmin)
obsYmax = worldYmax - (1-obstaclesInnerFraction)/2.0*(worldYmax - worldYmin)
for i in xrange(numObstacles):
firstX = obsXmin + np.random.rand()*(obsXmax-obsXmin)
firstY = obsYmin + np.random.rand()*(obsYmax-obsYmin)
firstEndpt = (firstX,firstY,+0.2)
secondEndpt = (firstX,firstY,-0.2)
#d.addLine(firstEndpt, secondEndpt, radius=2*np.random.randn())
d.addLine(firstEndpt, secondEndpt, radius=circleRadius)
obj = vis.showPolyData(d.getPolyData(), 'world')
world = World()
world.visObj = obj
world.Xmax = worldXmax
world.Xmin = worldXmin
world.Ymax = worldYmax
world.Ymin = worldYmin
world.numObstacles = numObstacles
world.percentObsDensity = percentObsDensity
return world
@staticmethod
def buildFixedTriangleWorld(percentObsDensity):
print "building fixed triangle world"
d = DebugData()
worldXmin, worldXmax, worldYmin, worldYmax = World.buildBoundaries(d)
print "boundaries done"
worldArea = (worldXmax-worldXmin)*(worldYmax-worldYmin)
print worldArea
obsScalingFactor = 1.0/12.0
maxNumObstacles = obsScalingFactor * worldArea
numObstacles = int(percentObsDensity/100.0 * maxNumObstacles)
print numObstacles
# draw random stick obstacles
obsLength = 2.0
for i in xrange(numObstacles):
firstX = worldXmin + np.random.rand()*(worldXmax-worldXmin)
firstY = worldYmin + np.random.rand()*(worldYmax-worldYmin)
firstEndpt = (firstX,firstY,0)
randTheta = np.random.rand() * 2.0*np.pi
secondEndpt = (firstX+obsLength*np.cos(randTheta), firstY+obsLength*np.sin(randTheta), 0)
d.addLine(firstEndpt, secondEndpt, radius=0.1)
obj = vis.showPolyData(d.getPolyData(), 'world')
world = World()
world.visObj = obj
world.Xmax = worldXmax
world.Xmin = worldXmin
world.Ymax = worldYmax
world.Ymin = worldYmin
world.numObstacles = numObstacles
world.percentObsDensity = percentObsDensity
return world
@staticmethod
def buildRobot(x=0,y=0):
#print "building robot"
polyData = ioUtils.readPolyData('celica.obj')
scale = 0.04
t = vtk.vtkTransform()
t.RotateZ(90)
t.Scale(scale, scale, scale)
polyData = filterUtils.transformPolyData(polyData, t)
#d = DebugData()
#d.addCone((x,y,0), (1,0,0), height=0.2, radius=0.1)
#polyData = d.getPolyData()
obj = vis.showPolyData(polyData, 'robot')
robotFrame = vis.addChildFrame(obj)
return obj, robotFrame
@staticmethod
def buildCellLocator(polyData):
#print "buidling cell locator"
loc = vtk.vtkCellLocator()
loc.SetDataSet(polyData)
loc.BuildLocator()
return loc