def plotting(id_vehicle, vehicle): # @UnusedVariable
id_world = 'SBox2_10a'
world = get_conftools_worlds().instance(id_world)
simulation = VehicleSimulation(vehicle, world)
simulation.new_episode()
simulation.compute_observations()
sim_state = simulation.to_yaml()
plot_params = dict(grid=2,
zoom=vehicle.radius * 1.5,
width=400,
height=400,
show_sensor_data=True)
f = tempfile.NamedTemporaryFile(suffix='.png', delete=True)
vehicles_cairo_display_png(filename=f.name,
sim_state=sim_state,
**plot_params)
f = tempfile.NamedTemporaryFile(suffix='.pdf', delete=True)
vehicles_cairo_display_pdf(filename=f.name,
sim_state=sim_state,
**plot_params)
f = tempfile.NamedTemporaryFile(suffix='.svg', delete=True)
vehicles_cairo_display_svg(filename=f.name,
sim_state=sim_state,
**plot_params)
def main():
from vehicles_cairo import (cairo_ref_frame, cairo_rototranslate,
vehicles_cairo_display_png)
# Instance robot object
id_robot = 'r_cam_A'
filename = 'test.png'
resolution = 0.5
config = get_boot_config()
cd1 = '/Users/andrea/scm/boot11_env/src/vehicles/src/vehicles/configs'
cd2 = '/Users/andrea/scm/boot11_env/src/bvapps/bo_app1/config'
GlobalConfig.global_load_dir('default')
GlobalConfig.global_load_dir(cd1)
GlobalConfig.global_load_dir(cd2)
robot = config.robots.instance(id_robot) # @UndefinedVariable
robot.new_episode()
locations = get_grid(robot=robot, debug=True,
world=robot.world,
vehicle=robot.vehicle, resolution=resolution)
poses = [f['pose'] for f in locations]
# poses = elastic(poses, alpha=0.1, num_iterations=20)
print('Converting to yaml...')
robot.vehicle.set_pose(poses[0])
state = robot.to_yaml()
pprint(state)
print(yaml_dump(state))
def extra_draw_world(cr):
for pose in poses:
with cairo_rototranslate(cr, SE2_from_SE3(pose)):
cairo_ref_frame(cr, l=0.5,
x_color=[0, 0, 0], y_color=[0, 0, 0])
plotting_params = {}
plotting_params['extra_draw_world'] = extra_draw_world
print('Writing to: %r' % filename)
vehicles_cairo_display_png(filename, width=800, height=800,
sim_state=state,
**plotting_params)
print('... done')
def plotting(id_vehicle, vehicle): # @UnusedVariable
id_world = 'SBox2_10a'
world = get_conftools_worlds().instance(id_world)
simulation = VehicleSimulation(vehicle, world)
simulation.new_episode()
simulation.compute_observations()
sim_state = simulation.to_yaml()
plot_params = dict(grid=2,
zoom=vehicle.radius * 1.5,
width=400, height=400,
show_sensor_data=True)
f = tempfile.NamedTemporaryFile(suffix='.png', delete=True)
vehicles_cairo_display_png(filename=f.name, sim_state=sim_state,
**plot_params)
f = tempfile.NamedTemporaryFile(suffix='.pdf', delete=True)
vehicles_cairo_display_pdf(filename=f.name, sim_state=sim_state,
**plot_params)
f = tempfile.NamedTemporaryFile(suffix='.svg', delete=True)
vehicles_cairo_display_svg(filename=f.name, sim_state=sim_state,
**plot_params)
def main():
if not vehicles_has_cairo:
logger.error('This program cannot be run if Cairo is not installed.')
return
from vehicles_cairo import (vehicles_cairo_display_pdf,
vehicles_cairo_display_png,
vehicles_cairo_display_svg)
parser = OptionParser(usage=usage)
parser.disable_interspersed_args()
parser.add_option("--vehicle",
default='d_SE2_rb_v-rf360',
help="ID vehicle [%default].")
parser.add_option("--world",
default='stochastic_box_10',
help="ID world [%default].")
parser.add_option("-n",
default=1,
type='int',
help="number of simulations [%default].")
parser.add_option("--outdir",
"-o",
default='display_demo',
help="output directory [%default]")
parser.add_option("--figsize",
default=10,
type='float',
help="figsize (inches) [%default]")
parser.add_option("-z",
"--zoom",
default=0,
type='float',
help="zoom in meters; 0 for full view [%default]")
parser.add_option("-g",
"--grid",
default=1,
type='float',
help="grid size in meters; 0 for no grid [%default]")
parser.add_option("--cairo", default=False, action='store_true')
parser.add_option("--seed", default=None, type='int')
(options, args) = parser.parse_args()
if args:
raise Exception()
id_vehicle = options.vehicle
id_world = options.world
logger.info('id_vehicle: %s' % id_vehicle)
logger.info(' id_world: %s' % id_world)
if options.seed is None:
options.seed = np.random.randint(1000000)
np.random.seed(seed=options.seed)
logger.info('Using seed %s (your lucky number is %s)' %
(options.seed, np.random.randint(1000)))
vehicle = VehiclesConfig.vehicles.instance(
id_vehicle) # @UndefinedVariable
world = VehiclesConfig.worlds.instance(id_world) # @UndefinedVariable
simulation = VehicleSimulation(vehicle, world)
from reprep import Report, MIME_PDF
basename = 'display-%s-%s' % (id_vehicle, id_world)
r = Report(basename)
r.text('seed', 'Seed = %s' % options.seed)
for i in range(options.n):
sec = r.node('simulation%d' % i)
f = sec.figure()
simulation.new_episode()
simulation.compute_observations()
sim_state = simulation.to_yaml()
plot_params = dict(grid=options.grid,
zoom=options.zoom,
show_sensor_data=True)
# with f.plot('start', figsize=(options.figsize,
# options.figsize)) as pylab:
# display_all(pylab, sim_state, **plot_params)
with f.data_file('start_cairo_png', MIME_PNG) as filename:
vehicles_cairo_display_png(filename,
width=800,
height=800,
sim_state=sim_state,
**plot_params)
with f.data_file('start_cairo_pdf', MIME_PDF) as filename:
vehicles_cairo_display_pdf(filename,
width=800,
height=800,
sim_state=sim_state,
**plot_params)
with f.data_file('start_cairo_svg', MIME_SVG) as filename:
vehicles_cairo_display_svg(filename,
width=800,
height=800,
sim_state=sim_state,
**plot_params)
filename = os.path.join(options.outdir, 'index.html')
logger.info('Writing to %r.' % filename)
r.to_html(filename)
def main():
if not vehicles_has_cairo:
logger.error('This program cannot be run if Cairo is not installed.')
return
from vehicles_cairo import (vehicles_cairo_display_pdf,
vehicles_cairo_display_png,
vehicles_cairo_display_svg)
parser = OptionParser(usage=usage)
parser.disable_interspersed_args()
parser.add_option("--vehicle", default='d_SE2_rb_v-rf360',
help="ID vehicle [%default].")
parser.add_option("--world", default='stochastic_box_10',
help="ID world [%default].")
parser.add_option("-n", default=1, type='int',
help="number of simulations [%default].")
parser.add_option("--outdir", "-o", default='display_demo',
help="output directory [%default]")
parser.add_option("--figsize", default=10, type='float',
help="figsize (inches) [%default]")
parser.add_option("-z", "--zoom", default=0, type='float',
help="zoom in meters; 0 for full view [%default]")
parser.add_option("-g", "--grid", default=1, type='float',
help="grid size in meters; 0 for no grid [%default]")
parser.add_option("--cairo", default=False, action='store_true')
parser.add_option("--seed", default=None, type='int')
(options, args) = parser.parse_args()
if args:
raise Exception()
id_vehicle = options.vehicle
id_world = options.world
logger.info('id_vehicle: %s' % id_vehicle)
logger.info(' id_world: %s' % id_world)
if options.seed is None:
options.seed = np.random.randint(1000000)
np.random.seed(seed=options.seed)
logger.info('Using seed %s (your lucky number is %s)' %
(options.seed, np.random.randint(1000)))
vehicle = VehiclesConfig.vehicles.instance(id_vehicle) # @UndefinedVariable
world = VehiclesConfig.worlds.instance(id_world) # @UndefinedVariable
simulation = VehicleSimulation(vehicle, world)
from reprep import Report, MIME_PDF
basename = 'display-%s-%s' % (id_vehicle, id_world)
r = Report(basename)
r.text('seed', 'Seed = %s' % options.seed)
for i in range(options.n):
sec = r.node('simulation%d' % i)
f = sec.figure()
simulation.new_episode()
simulation.compute_observations()
sim_state = simulation.to_yaml()
plot_params = dict(grid=options.grid,
zoom=options.zoom, show_sensor_data=True)
# with f.plot('start', figsize=(options.figsize,
# options.figsize)) as pylab:
# display_all(pylab, sim_state, **plot_params)
with f.data_file('start_cairo_png', MIME_PNG) as filename:
vehicles_cairo_display_png(filename, width=800, height=800,
sim_state=sim_state, **plot_params)
with f.data_file('start_cairo_pdf', MIME_PDF) as filename:
vehicles_cairo_display_pdf(filename, width=800, height=800,
sim_state=sim_state, **plot_params)
with f.data_file('start_cairo_svg', MIME_SVG) as filename:
vehicles_cairo_display_svg(filename, width=800, height=800,
sim_state=sim_state, **plot_params)
filename = os.path.join(options.outdir, 'index.html')
logger.info('Writing to %r.' % filename)
r.to_html(filename)
def main():
from vehicles_cairo import vehicles_has_cairo
if not vehicles_has_cairo:
logger.error('This program cannot be run if Cairo is not installed.')
return
from vehicles_cairo import (vehicles_cairo_display_pdf,
vehicles_cairo_display_png,
vehicles_cairo_display_svg,
cairo_plot_circle2)
parser = OptionParser(usage=usage)
parser.disable_interspersed_args()
parser.add_option("--vehicles", default='*',
help="ID vehicle [%default].")
parser.add_option("--world", default='SBox2_10a',
# default='empty_fixed',
help="ID world [%default].")
parser.add_option("--outdir", "-o",
default='vehicles_demo_display_vehicles',
help="output directory [%default]")
parser.add_option("--figsize", default=10, type='float',
help="figsize (inches) [%default]")
parser.add_option("-g", "--grid", default=1, type='float',
help="grid size in meters; 0 for no grid [%default]")
parser.add_option("-d", dest="config", default=".",
help="Config directory")
parser.add_option("--scale", default=False, action='store_true',
help="If given, displays the scale with a red circle")
(options, args) = parser.parse_args()
if args:
raise Exception() # XXX
id_world = options.world
logger.info(' id_world: %s' % id_world)
from reprep import Report, MIME_PDF
basename = 'vehicles_demo'
r = Report(basename)
logger.info('Loading configuration from %s' % options.config)
VehiclesConfig.load(options.config)
# TODO: selection
all_vehicles = VehiclesConfig.vehicles.keys()
if options.vehicles is None:
vehicles = all_vehicles
else:
vehicles = expand_string(options.vehicles, all_vehicles)
print('Plotting vehicles: %s' % vehicles)
f0 = r.figure(cols=6)
f0_data = r.figure(cols=6)
for id_vehicle in sorted(vehicles):
sec = r.node(id_vehicle)
f = sec.figure(cols=6)
world = VehiclesConfig.specs['worlds'].instance(id_world)
vehicle = VehiclesConfig.specs['vehicles'].instance(id_vehicle)
simulation = VehicleSimulation(vehicle, world)
simulation.new_episode()
simulation.compute_observations()
sim_state = simulation.to_yaml()
def draw_scale(cr):
if options.scale:
cairo_plot_circle2(cr, 0, 0,
vehicle.radius, fill_color=(1, .7, .7))
plot_params = dict(grid=options.grid,
zoom=1.5,
zoom_scale_radius=True,
width=500, height=500,
show_sensor_data=True,
show_sensor_data_compact=True,
extra_draw_world=draw_scale,
bgcolor=None,
show_world=False)
with f.data_file('png_with', MIME_PNG) as filename:
vehicles_cairo_display_png(filename,
sim_state=sim_state, **plot_params)
f0_data.sub(f.last(), caption=id_vehicle)
plot_params['show_sensor_data'] = False
with f.data_file('png_without', MIME_PNG) as filename:
vehicles_cairo_display_png(filename,
sim_state=sim_state, **plot_params)
f0.sub(f.last(), caption=id_vehicle)
with f.data_file('svg', MIME_SVG) as filename:
vehicles_cairo_display_svg(filename,
sim_state=sim_state, **plot_params)
plot_params['grid'] = 0
plot_params['extra_draw_world'] = None
with sec.data_file('pdf', MIME_PDF) as filename:
vehicles_cairo_display_pdf(filename,
sim_state=sim_state, **plot_params)
plot_params['show_robot_body'] = True
plot_params['show_robot_sensors'] = False
with f.data_file('png_only_body', MIME_PNG) as filename:
vehicles_cairo_display_png(filename,
sim_state=sim_state, **plot_params)
filename = os.path.join(options.outdir, 'index.html')
logger.info('Writing to %r.' % filename)
r.to_html(filename)
