def create_goal(self, goal):
## Goal
self.goal_transforms.append(
r3d.transform_and_color(np.eye(4), (0.85, 0.55, 0),
r3d.sphere(self.goal_diameter / 2, 18)))
goal_arr_len, goal_arr_r, goal_arr_sect = 1.5 * self.goal_diameter, 0.02 * self.goal_diameter, 10
self.goal_arrows_rot = []
self.goal_arrows_rot.append(
np.array([[0, 0, 1], [0, 1, 0], [-1, 0, 0]]))
self.goal_arrows_rot.append(
np.array([[1, 0, 0], [0, 0, 1], [0, -1, 0]]))
self.goal_arrows_rot.append(np.eye(3))
self.goal_arrows.append(
r3d.transform_and_color(
np.array([[0, 0, 1, 0], [0, 1, 0, 0], [-1, 0, 0, 0],
[0, 0, 0, 1]]), (1., 0., 0.),
r3d.arrow(goal_arr_r, goal_arr_len, goal_arr_sect)))
self.goal_arrows.append(
r3d.transform_and_color(
np.array([[1, 0, 0, 0], [0, 0, 1, 0], [0, -1, 0, 0],
[0, 0, 0, 1]]), (0., 1., 0.),
r3d.arrow(goal_arr_r, goal_arr_len, goal_arr_sect)))
self.goal_arrows.append(
r3d.transform_and_color(
np.eye(4), (0., 0., 1.),
r3d.arrow(goal_arr_r, goal_arr_len, goal_arr_sect)))
def _quadrotor_3dmodel(self, model):
# params["body"] = {"l": 0.03, "w": 0.03, "h": 0.004, "m": 0.005}
# params["payload"] = {"l": 0.035, "w": 0.02, "h": 0.008, "m": 0.01}
# params["arms"] = {"l": 0.022, "w":0.005, "h":0.005, "m":0.001}
# params["motors"] = {"h":0.02, "r":0.0035, "m":0.0015}
# params["propellers"] = {"h":0.002, "r":0.022, "m":0.00075}
# params["motor_pos"] = {"xyz": [0.065/2, 0.065/2, 0.]}
# params["arms_pos"] = {"angle": 45., "z": 0.}
# params["payload_pos"] = {"xy": [0., 0.], "z_sign": 1}
## PROPELLERS
# "X" propeller configuration, start fwd left, go clockwise
# IDs: https://wiki.bitcraze.io/projects:crazyflie2:userguide:assembly
link_colors = {
"body": (0.67843137, 1., 0.18431373),
"payload": (0., 0., 1.),
"prop_0": (1, 0, 0),
"prop_1": (0, 1, 0),
"prop_2": (0, 1, 0),
"prop_3": (1, 0, 0),
"motor_0": (0, 0, 0),
"motor_1": (0, 0, 0),
"motor_2": (0, 0, 0),
"motor_3": (0, 0, 0),
"arm_0": (0, 0, 1),
"arm_1": (0, 0, 1),
"arm_2": (0, 0, 1),
"arm_3": (0, 0, 1),
}
links = []
for i, link in enumerate(model.links):
xyz, R, color = model.poses[i].xyz, model.poses[i].R, link_colors[
link.name]
rot = np.eye(4)
rot[:3, :3] = R
# print("LINK: ", link.name, "R:", rot, end=" ")
if link.name[:4] == "prop":
prop_r = link.r
color = 0.5 * np.array(color) + 0.2
if link.type == "box":
# print("Type: Box")
link_transf = r3d.transform_and_color(
np.matmul(r3d.translate(xyz), rot), color,
r3d.box(link.l, link.w, link.h))
elif link.type == "cylinder":
# print("Type: Cylinder")
link_transf = r3d.transform_and_color(
r3d.translate(xyz), color,
r3d.cylinder(link.r, link.h, 32))
links.append(link_transf)
## ARROWS
arrow = r3d.Color((0.2, 0.3, 0.9),
r3d.arrow(0.12 * prop_r, 2.5 * prop_r, 16))
links.append(arrow)
self.have_state = False
return r3d.Transform(np.eye(4), links)
def _quadrotor_simple_3dmodel(self, diam):
r = diam / 2
prop_r = 0.3 * diam
prop_h = prop_r / 15.0
# "X" propeller configuration, start fwd left, go clockwise
rr = r * np.sqrt(2) / 2
deltas = ((rr, rr, 0), (rr, -rr, 0), (-rr, -rr, 0), (-rr, rr, 0))
colors = ((1, 0, 0), (1, 0, 0), (0, 1, 0), (0, 1, 0))
def disc(translation, color):
color = 0.5 * np.array(list(color)) + 0.2
disc = r3d.transform_and_color(r3d.translate(translation), color,
r3d.cylinder(prop_r, prop_h, 32))
return disc
props = [disc(d, c) for d, c in zip(deltas, colors)]
arm_thicc = diam / 20.0
arm_color = (0.6, 0.6, 0.6)
arms = r3d.transform_and_color(
np.matmul(r3d.translate((0, 0, -arm_thicc)), r3d.rotz(np.pi / 4)),
arm_color, [
r3d.box(diam / 10, diam, arm_thicc),
r3d.box(diam, diam / 10, arm_thicc)
])
arrow = r3d.Color((0.2, 0.3, 0.9),
r3d.arrow(0.12 * prop_r, 2.5 * prop_r, 16))
bodies = props + [arms, arrow]
self.have_state = False
return r3d.Transform(np.eye(4), bodies)
def _make_scene(self, create_goals=True):
# if target is None:
# self.window_target = r3d.WindowTarget(self.window_w, self.window_h, resizable=self.resizable)
# self.obs_target = r3d.FBOTarget(self.obs_hw[0], self.obs_hw[1])
# self.video_target = r3d.FBOTarget(self.window_h, self.window_h)
self.cam1p = r3d.Camera(fov=90.0)
self.cam3p = r3d.Camera(fov=45.0)
if self.model is not None:
self.quad_transform = self._quadrotor_3dmodel(self.model)
else:
self.quad_transform = self._quadrotor_simple_3dmodel(self.diameter)
self.shadow_transform = r3d.transform_and_color(
np.eye(4), (0, 0, 0, 0.4), r3d.circle(0.75 * self.diameter, 32))
# TODO make floor size or walls to indicate world_box
floor = r3d.ProceduralTexture(
r3d.random_textype(), (0.15, 0.25),
r3d.rect((1000, 1000), (0, 100), (0, 100)))
self.update_goal_diameter()
self.chase_cam.view_dist = self.diameter * 15
if create_goals:
self.goal_arrows = []
for _ in range(self.goal_count):
self.create_goal(goal=(0, 0, 0))
bodies = [
r3d.BackToFront([floor, self.shadow_transform])
] + self.goal_transforms + [self.quad_transform] + self.goal_arrows
if self.obstacles:
bodies += self.obstacles.bodies
world = r3d.World(bodies)
batch = r3d.Batch()
world.build(batch)
self.scene = r3d.Scene(batches=[batch], bgcolor=(0, 0, 0))
self.scene.initialize()
def disc(translation, color):
color = 0.5 * np.array(list(color)) + 0.2
disc = r3d.transform_and_color(r3d.translate(translation), color,
r3d.cylinder(prop_r, prop_h, 32))
return disc
