def random_box():
xx = randrange(-55,54)
yy = randrange(-55,54)
zz = randrange(-55,54)
x = randrange(0,21)
y = randrange(0,21)
z = randrange(0,21)
red = random()
green = random()
blue = random()
box (pos = (xx,yy,zz), length=x, height=y, width=z,
color=(red,green,blue))
def random_box():
xx = randrange(-55, 54)
yy = randrange(-55, 54)
zz = randrange(-55, 54)
x = randrange(0, 21)
y = randrange(0, 21)
z = randrange(0, 21)
red = random()
green = random()
blue = random()
box(pos=(xx, yy, zz),
length=x,
height=y,
width=z,
color=(red, green, blue))
def init_scene(self):
# init wind field object, mayavi
self.func_wind_field_obj_init()
# init odor source pos object, visual
visual.set_viewer(
self.scene) # tell visual to use this scene as the viewer
op = Config.get_odor_source_pos() # get init odor source pos
self.odor_source = visual.box(pos=(op[0], op[1], op[2]/2.0), length = 0.1, \
height = 0.1, width = op[2], color = (0x05/255.0, 0x5f/255.0,0x58/255.0), )
# init robot drawing obj, visual
rp = Config.get_robot_init_pos()
self.func_init_robot_shape(rp)
# init wind vane obj, visual, indicating mean wind vector
self.func_init_wind_vane()
# axes and outlines
self.func_init_axes_outline()
# camera view
self.scene.mlab.view(*Config.get_camera_view())
# check if TCP/IP address/port is successfully bind
if self.objs_comm_process['sim_state'][1] == 1:
if self.enum_comm_mode == 'local':
self.textbox_sim_state_display = 'Listenting to localhost:60000'
elif self.enum_comm_mode == 'distributed':
self.textbox_sim_state_display = 'Listenting to ' \
+ self.text_comm_address + ':' + self.text_comm_port
else:
self.textbox_sim_state_display = "Listenting to what? I don't know"
elif self.objs_comm_process['sim_state'][1] == -1:
if self.enum_comm_mode == 'local':
self.textbox_sim_state_display = 'Error: Cannot bind localhost:60000'
elif self.enum_comm_mode == 'distributed':
self.textbox_sim_state_display = 'Error: Cannot bind ' \
+ self.text_comm_address + ':' + self.text_comm_port
else:
self.textbox_sim_state_display = "Error: Can't bind what? I forgot"
def create_unicycle(self):
visual.set_viewer(self.scene)
self.wheel_top = visual.box(color = (0.2, 0.5, 0.5), pos = (0, 1.0, 0), length = 1.6, width = 1.6, height = 0.04)
self.spring = visual.helix(coils = 8, axis = (0.0, 1.0, 0.0), color = (0.8, 0.2, 0.8), pos = (0.14, 1.0, 0), radius = 0.1, length = 0.5)
self.car = visual.box(color = (0.2, 0.2, 0.8), pos = (0.0, 1.7, 0.0), length = 0.6, height = 0.4, width = 0.6)
self.dash_top = visual.cylinder(axis = (0.0, -1.0, 0.0), color = (0.8, 0.8, 0.2), pos = (-0.14, 1.7, 0.0), radius = 0.1, length = 0.3)
self.dash_bottom = visual.cylinder(axis = (0.0, 1.0, 0.0), color = (0.8, 0.8, 0.2), pos = (-0.14, 1.0, 0.0), radius = 0.05, length = 0.6)
self.scene.camera.azimuth(45)
self.scene.camera.elevation(20)
self.recompute_char_eq()
self.update_chq_data()
self.tdata = self.state_buf[:,0]
self.ydata = self.state_buf[:,1]
self._run_fired()
def main():
# Creating parameters for box size
side = 4.0
thk = 0.3
s2 = 2 * side - thk
s3 = 2 * side + thk
# Creating the 6 walls
wallR = box(pos=(side, 0, 0), size=(thk, s3, s2), color=(1, 0, 0))
wallL = box(pos=(-side, 0, 0), size=(thk, s3, s2), color=(1, 0, 0))
wallB = box(pos=(0, -side, 0), size=(s3, thk, s3), color=(0, 0, 1))
wallT = box(pos=(0, side, 0), size=(s3, thk, s3), color=(0, 0, 1))
wallBK = box(pos=(0, 0, -side), size=(s2, s2, thk), color=(0.7, 0.7, 0.7))
# Creating the ball
ball = sphere(radius=0.4, color=(0, 1, 0))
ball.vector = vector(-0.15, -0.23, 0.27)
side = side - thk * 0.5 - ball.radius
ball.t = 0.0
ball.dt = 0.5
def anim():
#Creating the animation function which will be called at
#uniform timeperiod through the iterate function
ball.t = ball.t + ball.dt
ball.pos = ball.pos + ball.vector * ball.dt
if not (side > ball.x > -side):
ball.vector.x = -ball.vector.x
if not (side > ball.y > -side):
ball.vector.y = -ball.vector.y
if not (side > ball.z > -side):
ball.vector.z = -ball.vector.z
a = iterate(20, anim)
show()
return a
def main():
# Creating parameters for box size
side = 4.0
thk = 0.3
s2 = 2*side - thk
s3 = 2*side + thk
# Creating the 6 walls
wallR = box( pos = (side, 0, 0), size = (thk, s3, s2), color = (1, 0, 0))
wallL = box( pos = (-side, 0, 0), size = (thk, s3, s2), color = (1, 0, 0))
wallB = box( pos = (0, -side, 0), size = (s3, thk, s3), color = (0, 0, 1))
wallT = box( pos = (0, side, 0), size = (s3, thk, s3), color = (0, 0, 1))
wallBK = box( pos = (0, 0, -side), size = (s2, s2, thk), color = (0.7,0.7,0.7))
# Creating the ball
ball = sphere(radius = 0.4, color = (0, 1, 0))
ball.vector = vector(-0.15, -0.23, 0.27)
side = side -thk*0.5 - ball.radius
ball.t = 0.0
ball.dt = 0.5
def anim():
#Creating the animation function which will be called at
#uniform timeperiod through the iterate function
ball.t = ball.t + ball.dt
ball.pos = ball.pos + ball.vector*ball.dt
if not (side > ball.x > -side):
ball.vector.x = -ball.vector.x
if not (side > ball.y > -side):
ball.vector.y = -ball.vector.y
if not (side > ball.z > -side):
ball.vector.z = -ball.vector.z
a = iterate(20, anim)
show()
return a
def _plot_mayavi(self, viewer=None):
from tvtk.tools import visual
visual.set_viewer(viewer)
trans, rot, zoom, shear = decompose44(self.pos4d)
# turn into valid color tuple
self.display['color'] = get_color(self.display)
# setting color here is more global than in the next line
# because this automatically changes the diffuse, ambient, etc. color, too.
b = visual.box(pos=trans, size=tuple(np.abs(zoom) * 2), axis=np.dot([1.,0.,0.], rot),
color=self.display['color'], viewer=viewer)
# No safety net here like for color converting to a tuple.
# If the advnaced properties are set you are on your own.
for n in b.property.trait_names():
if n in self.display:
setattr(b.property, n, self.display[n])
def test_box(self):
# When
pos = np.array((1.0, 2.0, 3.0))
sz = pos.copy()
b = visual.box(size=tuple(sz), pos=pos)
# Then
bounds = get_bounds(pos, sz)
assert_allclose(b.polydata.bounds, bounds)
# Given
b = visual.box()
orig_bounds = (-0.5, 0.5, -0.5, 0.5, -0.5, 0.5)
assert_allclose(b.polydata.bounds, orig_bounds)
# When
b.axis = 1,1,0
# Then
x = np.sqrt(2)
bounds = get_bounds((0.,0,0), (x, x, 1.0))
assert_allclose(b.polydata.bounds, bounds)
# When
b.axis = 1,0,0
assert_allclose(b.polydata.bounds, orig_bounds)
def test_box(self):
# When
pos = np.array((1.0, 2.0, 3.0))
sz = pos.copy()
b = visual.box(size=tuple(sz), pos=pos)
# Then
bounds = get_bounds(pos, sz)
assert_allclose(b.polydata.bounds, bounds)
# Given
b = visual.box()
orig_bounds = (-0.5, 0.5, -0.5, 0.5, -0.5, 0.5)
assert_allclose(b.polydata.bounds, orig_bounds)
# When
b.axis = 1,1,0
# Then
x = np.sqrt(2)
bounds = get_bounds((0.,0,0), (x, x, 1.0))
assert_allclose(b.polydata.bounds, bounds)
# When
b.axis = 1,0,0
assert_allclose(b.polydata.bounds, orig_bounds)
def _plot_mayavi(self, viewer=None):
from tvtk.tools import visual
visual.set_viewer(viewer)
trans, rot, zoom, shear = decompose44(self.pos4d)
# turn into valid color tuple
self.display['color'] = get_color(self.display)
# setting color here is more global than in the next line
# because this automatically changes the diffuse, ambient, etc. color, too.
b = visual.box(pos=trans,
size=tuple(np.abs(zoom) * 2),
axis=np.dot([1., 0., 0.], rot),
color=self.display['color'],
viewer=viewer)
# No safety net here like for color converting to a tuple.
# If the advnaced properties are set you are on your own.
for n in b.property.trait_names():
if n in self.display:
setattr(b.property, n, self.display[n])
blue = random()
box (pos = (xx,yy,zz), length=x, height=y, width=z,
color=(red,green,blue))
def wirecube(s):
c = curve(color = (1,1,1), radius=1)
pts = [(-s, -s, -s),(-s, -s, s), (-s, s, s),
(-s, s, -s), (-s, -s, -s), (s, -s, -s),
(s, s, -s), (-s, s, -s), (s, s, -s),
(s, s, s), (-s, s, s), (s, s, s),
(s, -s, s), (-s, -s, s), (s, -s, s),(s, -s, -s)]
for pt in pts:
c.append(pt)
side = 150.0
cube = box(size = (side,side,side), representation = 'w' )
i = 0
while i < 100:
random_box()
i = i + 1
arrow(axis=(0,12,0), radius_shaft=3.5, color = (1,0,0))
ball = sphere(pos=(-side/2.,-side/2.,-side/2.),color=(1,1,0),radius=3)
disk = cylinder(pos=(side/2.,side/2.,-side/2.),color=(.3,.3,1),axis=(1,1,0),radius=5)
xx = arange(0,4*pi,pi/10.)
spring=curve(color=(1,.7,.1), radius=0.4)
for y in xx:
spring.append([20+cos(2*y), y/2.-30, -20+sin(2*y)+30])
show()
from tvtk.tools import visual
from tvtk.api import colors
print("Start")
# Create a figure
f = mlab.figure(size=(500,500))
# Tell visual to use this as the viewer.
visual.set_viewer(f)
print("Before test_plot3D")
# A silly visualization.
mlab.test_plot3d()
print("Before box")
# Even sillier animation.
b1 = visual.box()
b2 = visual.box(x=4., color=colors.red)
b3 = visual.box(x=-4, color=colors.red)
b1.v = 5.0
@mlab.show
@mlab.animate(delay=250)
def anim():
"""Animate the b1 box."""
print("Start animate")
while 1:
b1.x = b1.x + b1.v*0.1
if b1.x > 2.5 or b1.x < -2.5:
b1.v = -b1.v
yield
#!/usr/bin/env python
# Author: Raashid Baig <*****@*****.**>
# License: BSD Style.
from tvtk.tools.visual import curve, box, vector, show
from numpy import arange, array
lorenz = curve( color = (1,1,1), radius=0.3 )
# Draw grid
for x in xrange(0,51,10):
curve(points = [[x,0,-25],[x,0,25]], color = (0,0.5,0), radius = 0.3 )
box(pos=(x,0,0), axis=(0,0,50), height=0.4, width=0.4, length = 50)
for z in xrange(-25,26,10):
curve(points = [[0,0,z], [50,0,z]] , color = (0,0.5,0), radius = 0.3 )
box(pos=(25,0,z), axis=(50,0,0), height=0.4, width=0.4, length = 50)
dt = 0.01
y = vector(35.0, -10.0, -7.0)
pts = []
for i in xrange(2000):
# Integrate a funny differential equation
dydt = vector( -8.0/3*y[0] + y[1]*y[2],
- 10*y[1] + 10*y[2],
- y[1]*y[0] + 28*y[1] - y[2])
y = y + dydt * dt
pts.append(y)
wbase = 3.*wpedestal # width of base
g = 9.8
Fgrav = vector(0,-M*g,0)
top = vector(0,0,0) # top of pedestal
theta = pi/3. # initial polar angle of shaft (from vertical)
thetadot = 0 # initial rate of change of polar angle
alpha = 0 # initial spin angle
alphadot = 15 # initial rate of change of spin angle (spin ang. velocity)
phi = -pi/2. # initial azimuthal angle
phidot = 0 # initial rate of change of azimuthal angle
# Comment in following line to get pure precession
##phidot = (-alphadot+sqrt(alphadot**2+2*M*g*r*cos(theta)/I))/cos(theta)
pedestal = box(pos=top-vector(0,hpedestal/2.,0),
height=hpedestal, length=wpedestal, width=wpedestal,
color=(0.4,0.4,0.5))
base = box(pos=top-vector(0,hpedestal+tbase/2.,0),
height=tbase, length=wbase, width=wbase,
color=pedestal.color)
shaft = cylinder(axis=(Lshaft,0,0), length = Lshaft,
radius=Rshaft, color=(0,1,0))
rotor = cylinder(pos=(Lshaft/2 - Drotor/2, 0, 0),
axis=(Drotor, 0, 0), length = Drotor,
radius=Rrotor, color=(1,0,0))
gyro = frame(shaft, rotor)
gyro.axis = (sin(theta)*sin(phi),cos(theta),sin(theta)*cos(phi))
trail = curve(radius=Rshaft/8., color=(1,1,0))
def __init__(self,random_minerals=True,random_location=True, mineral_location= Location.CENTER,
reward = Reward.RELATIVE, grayscale = False, flat = False,
mineral_scale = 1.5, start_shift = 0, camera_height = 4,
actions = [Action.LEFT,Action.RIGHT,Action.FORWARDS,Action.BACKWARDS,Action.CW,Action.CCW],
decorations = False, camera_tilt = 0,start_pos=-23.5,
width = 900, height = (500-46),resize_scale=15,
x_collision_scale = 1,y_collision_scale = 1,k=5,silver=(.5,.5,.7), random_colors = False,random_lighting=False):
self.random_minerals = random_minerals
self.random_location = random_location
self.mineral_location = mineral_location
self.reward = reward
self.grayscale = grayscale
self.flat = flat
self.actions = actions.copy()
self.actions_index_dict = self.get_action_index_dictionary()
self.camera_height = camera_height
self.decorations = decorations
self.camera_tilt = camera_tilt
self.start_pos = start_pos
self.resize_scale = resize_scale
mlab.close(all=True)
self.width = width
self.height = height + 46
self.f = mlab.figure(size=(self.width,self.height),bgcolor = (1,1,1))
self.f.scene._lift()
self.square_width = 23.5
self.start_shift = start_shift
self.x_collision_scale = x_collision_scale
self.y_collision_scale = y_collision_scale
self.k = k
self.k_max_iterations = 10
self.silver = silver
self.random_colors = random_colors
self.random_lighting = random_lighting
visual.set_viewer(self.f)
a_side = 34.5
tape_height = .2
#distance between minerals
self.d = 14.5 / np.sqrt(2)
#color for silver
#silver = (.8,.8,.8)
floor_color = (.4,.4,.4)
#reate field
self.floor_3_3 = visual.box(x=0,y=0,z=-1, length = 23.5*3,height = 23.5*3,width = 2,color = floor_color)
#get mineral location
locations = self.get_mineral_locations()
#self.gold_mineral = visual.box(x=locations[0][0],y=locations[0][1],z=1, length=4,height=4,width=4, color = (1,1,0))
mineral_radius = 2.75 * mineral_scale
self.gold_mineral = visual.sphere(x=locations[0][0],y=locations[0][1],z=mineral_radius,radius =mineral_radius,color = (1,1,0) )
self.silver_mineral_1 = visual.sphere(x=locations[1][0],y=locations[1][1],z=mineral_radius,radius =mineral_radius,color = self.silver)
self.silver_mineral_2 = visual.sphere(x=locations[2][0],y=locations[2][1],z=mineral_radius,radius =mineral_radius,color = self.silver)
#randomly pick the red or blue side
r = np.round(np.random.random(1)[0])
b = 1 - r
tape_color = (r,0,b)
#23.5 is the diameter of a square
#place the crater tape
self.vertical_lander_tape = visual.box(x=-self.square_width*3/2 + 1,y=a_side/2 - self.square_width*3/2,z=tape_height,length = 2, height = a_side, width = tape_height,color=tape_color)
self.h_lander_tape = visual.box(x=-self.square_width*3/2 + a_side/2,y=-a_side/2,z=tape_height,length = 2, height = a_side * np.sqrt(2), width = tape_height,color=tape_color)
self.h_lander_tape.rotate(45,axis = [0,0,1],origin = [self.h_lander_tape.x,self.h_lander_tape.y,self.h_lander_tape.z])
self.marker_left = visual.box(x=self.square_width/2 + 1, y =self.square_width,z=tape_height,length=2,height = self.square_width,width=tape_height,color=tape_color)
self.marker_right = visual.box(x=3*self.square_width/2 -1, y =self.square_width,z=tape_height,length=2,height = self.square_width,width=tape_height,color=tape_color)
self.marker_bottom = visual.box(x=self.square_width,y=self.square_width/2 + 1, z = tape_height,length=self.square_width,height=2,width=tape_height,color=tape_color)
self.marker_top = visual.box(x=self.square_width,y=3*self.square_width/2 - 1, z = tape_height,length=self.square_width,height=2,width=tape_height,color=tape_color)
#add bars
if self.decorations:
bar_width = 1.5
bar_height = 1
middle_height = 12 - bar_height*2
middle_color = floor_color
bar_length = self.square_width * 3
bar_color = (0,0,0)
self.bar1 = visual.box(x=self.square_width*1.5-bar_width/2,y=0,z=tape_height, width= bar_width, height=bar_height,length=bar_length, color = bar_color)
self.bar1.rotate(90,axis=[0,0,1],origin=self.bar1.pos)
self.bar1m = visual.box(x=self.square_width*1.5-bar_width/2,y=0,z=bar_height+middle_height/2, width= middle_height, height=bar_width,length=bar_length, color = middle_color)
self.bar1m.rotate(90,axis=[0,0,1],origin=self.bar1m.pos)
self.bar1t = visual.box(x=self.square_width*1.5-bar_width/2,y=0,z=bar_height+middle_height, width= bar_height, height=bar_width,length=bar_length, color = bar_color)
self.bar1t.rotate(90,axis=[0,0,1],origin=self.bar1t.pos)
self.bar2 = visual.box(x=-self.square_width*1.5+bar_width/2,y=0,z=tape_height, width= bar_width, height=bar_height,length=bar_length, color = bar_color)
self.bar2.rotate(90,axis=[0,0,1],origin=self.bar2.pos)
self.bar2m = visual.box(x=-self.square_width*1.5+bar_width/2,y=0,z=bar_height+middle_height/2, width= middle_height, height=bar_width,length=bar_length, color = middle_color)
self.bar2m.rotate(90,axis=[0,0,1],origin=self.bar2m.pos)
self.bar2t = visual.box(x=-self.square_width*1.5+bar_width/2,y=0,z=bar_height+middle_height, width= bar_height, height=bar_width,length=bar_length, color = bar_color)
self.bar2t.rotate(90,axis=[0,0,1],origin=self.bar2t.pos)
self.bar3 = visual.box(x=0,y=self.square_width*1.5-bar_width/2,z=tape_height, width= bar_width, height=bar_height,length=bar_length, color = bar_color)
self.bar3m = visual.box(x=0,y=self.square_width*1.5-bar_width/2,z=bar_height+middle_height/2, width= middle_height, height=bar_width,length=bar_length, color = middle_color)
self.bar3t = visual.box(x=0,y=self.square_width*1.5-bar_width/2,z=bar_height+middle_height, width= bar_height, height=bar_width,length=bar_length, color = bar_color)
self.bar4 = visual.box(x=0,y=-self.square_width*1.5+bar_width/2,z=tape_height, width= bar_width, height=bar_height,length=bar_length, color = bar_color)
self.bar4m = visual.box(x=0,y=-self.square_width*1.5+bar_width/2,z=bar_height+middle_height/2, width= middle_height, height=bar_width,length=bar_length, color = middle_color)
self.bar4t = visual.box(x=0,y=-self.square_width*1.5+bar_width/2,z=bar_height+middle_height, width= bar_height, height=bar_width,length=bar_length, color = bar_color)
if self.random_colors:
height_scale = 40
new_height = bar_height * height_scale
self.bar1t.width= new_height
self.bar1t.rotate(90,axis=[0,0,1],origin=self.bar1t.pos)
self.bar2t.width= new_height
self.bar2t.rotate(90,axis=[0,0,1],origin=self.bar2t.pos)
self.bar3t.width = new_height
self.bar4t.width = new_height
self.randomize_colors()
self.x, self.y, self.pos_angle = self.get_start_position()
self.init_position()
if self.random_lighting:
self.randomize_lighting()
self.move_distance = 2
self.turn_angle = 5
def __init__(self,
model,
building_layout,
building_size,
building_spacing,
fig=None):
self.model = model
self.building_layout = np.array(building_layout)
self.building_size = building_size
self.building_spacing = np.float64(building_spacing)
if fig is None:
self.fig = mlab.figure(size=(500, 500), bgcolor=(0.1, 0.1, 0.1))
else:
self.fig = fig
# Set figure for visual objects
visual.set_viewer(self.fig)
# Convenient local aliases
nx, ny = self.building_layout.shape
n = nx * ny
# Beautiful colors
self.building_colors = map(
tuple,
np.array((np.linspace(0.0, 0.0, n), np.linspace(0.8, 0.3, n),
np.linspace(0.3, 0.8, n))).T)
# For storing buildings and their locations
self.buildings = []
self.building_centers = np.zeros((n, 2))
# Generate buildings
for i, x in enumerate(
np.linspace(0, (nx - 1) *
(self.building_size[0] + self.building_spacing),
nx)):
for j, y in enumerate(
np.linspace(
0, (ny - 1) *
(self.building_size[1] + self.building_spacing), ny)):
if not self.building_layout[i, j]: continue
idx = int(ny * i + j)
self.building_centers[idx] = (x, y)
self.buildings.append(
visual.box(x=x,
y=y,
z=self.building_size[2] / 2,
size=self.building_size,
color=self.building_colors[idx]))
# Generate ground plane
if self.buildings:
ground_xx, ground_yy = map(
np.transpose,
np.meshgrid(
np.linspace(np.min(self.building_centers[:, 0] - 10),
np.max(self.building_centers[:, 0] + 10), 2),
np.linspace(np.min(self.building_centers[:, 1] - 10),
np.max(self.building_centers[:, 1] + 10), 2)))
self.ground = mlab.surf(ground_xx,
ground_yy,
np.zeros_like(ground_xx),
color=(0, 0.2, 0.2),
warp_scale=1)
else:
self.ground = None
# Generate multicopter
self.copter_radius = 1.1 * npl.norm(
self.model.thruster_positions[0, :2])
self.copter_sticks = np.vstack(([
(0, 0, 0), (self.copter_radius, 0, 0)
], self.model.thruster_positions, (self.copter_radius, 0, 0))).T
self.copter_sticks_plot = mlab.plot3d(self.copter_sticks[0, :],
self.copter_sticks[1, :],
self.copter_sticks[2, :],
line_width=5,
color=(1, 0, 1))
self.copter_nodes = np.vstack(([0, 0,
0], self.model.thruster_positions)).T
self.copter_nodes_plot = mlab.points3d(self.copter_nodes[0, :],
self.copter_nodes[1, :],
self.copter_nodes[2, :],
scale_factor=0.15)
self.copter_nodes_plot.glyph.scale_mode = "scale_by_vector"
self.copter_nodes_plot.mlab_source.dataset.point_data.scalars = [
0, 1, 0.7, 0.7, 0.7, 0.7, 1, 0
] # hack to individually color points
self.copter_vecs = [
np.vstack((thr.position, thr.position + 1e-5 * thr.direction)).T
for thr in self.model.thruster_list
]
self.copter_vecs_plots = [
mlab.plot3d(vec[0, :], vec[1, :], vec[2, :], color=(1, 1, 1))
for vec in self.copter_vecs
]
# Aliases for Mayavi animate decorator and show function
self.animate = mlab.animate
self.show = mlab.show
#!/usr/bin/env python
# Author: Raashid Baig <*****@*****.**>
# License: BSD Style.
from tvtk.tools.visual import curve, box, vector, show
from numpy import arange, array
lorenz = curve(color=(1, 1, 1), radius=0.3)
# Draw grid
for x in xrange(0, 51, 10):
curve(points=[[x, 0, -25], [x, 0, 25]], color=(0, 0.5, 0), radius=0.3)
box(pos=(x, 0, 0), axis=(0, 0, 50), height=0.4, width=0.4, length=50)
for z in xrange(-25, 26, 10):
curve(points=[[0, 0, z], [50, 0, z]], color=(0, 0.5, 0), radius=0.3)
box(pos=(25, 0, z), axis=(50, 0, 0), height=0.4, width=0.4, length=50)
dt = 0.01
y = vector(35.0, -10.0, -7.0)
pts = []
for i in xrange(2000):
# Integrate a funny differential equation
dydt = vector(-8.0 / 3 * y[0] + y[1] * y[2], -10 * y[1] + 10 * y[2],
-y[1] * y[0] + 28 * y[1] - y[2])
y = y + dydt * dt
pts.append(y)
if len(pts) > 20:
def plot_trajectory(td, trial_index, state_indices):
probjs = td['trials'][trial_index]['problem_instance']
prob = integrator_chains.Problem.loadJSONdict(probjs)
state_dim = prob.output_dim * prob.number_integrators
try:
traj = np.array(td['trials'][trial_index]['trajectory'])
except KeyError:
print('Trial ' + str(trial_index) +
' does not have an associated trajectory.')
sys.exit(-1)
if state_indices.strip() == '':
state_indices = []
else:
state_index_bounds = (2 + prob.output_dim,
2 + prob.output_dim + state_dim - 1)
state_indices = _get_index_list(state_indices, state_index_bounds)
if state_indices is None:
print('One of the requested state indices is out of bounds, '
'[0, ' + str(state_index_bounds[1] - state_index_bounds[0]) +
']')
sys.exit(-1)
if len(state_indices) == 0:
print('Try `--state` option to select indices for plotting.')
sys.exit(0)
probjsCorrected = json.dumps(probjs)
probPlot = integrator_chains.Problem.loadJSON(probjsCorrected)
x = traj[:, state_indices]
# 1D
if len(state_indices) == 1:
plt.plot(x.T[0], 'r.-')
plt.plot(x.T[0][0], 'r*')
plt.show()
# 2D
elif len(state_indices) == 2:
ax = plt.axes()
probPlot.Y.plot(ax, color=(1, 1, 1))
ax.hold(True)
for lpoly in probPlot.goals + probPlot.obstacles:
lpoly.plot(ax, alpha=0.6)
xc = np.mean(lpoly.getVrep(), axis=0)
ax.text(xc[0], xc[1], lpoly.label)
ax.plot(probPlot.Xinit[0], probPlot.Xinit[1], 'o')
plt.plot(x.T[0], x.T[1], 'r.-')
plt.plot(x.T[0][0], x.T[1][0], 'r*')
plt.show()
# 3D
elif len(state_indices) == 3:
import os
os.environ["ETS_TOOLKIT"] = "qt4"
from mayavi import mlab
from tvtk.tools import visual
from tvtk.api import tvtk
from tvtk.common import configure_input_data
f = mlab.figure(size=(500, 500))
# Tell visual to use this as the viewer.
visual.set_viewer(f)
# mlab.plot3d() of Mayavi fails if there are repetitions of rows,
# so we first manually delete any.
y = np.zeros((x.shape[0], 3))
y[0] = x[0]
i = 1
for j in range(1, x.shape[0]):
if (x[j] != x[j - 1]).any():
y[i] = x[j]
i += 1
y = y[:(i + 1), :]
y = y[0:(len(y) - 1)]
mlab.plot3d(y.T[0], y.T[1], y.T[2], color=(1.0, 0.0, 0.0))
mlab.points3d(y.T[0][0],
y.T[1][0],
y.T[2][0],
color=(1.0, 0.0, 0.0),
mode='sphere',
opacity=1.0,
scale_factor=0.5)
for lpoly in probPlot.obstacles:
xc = np.mean(lpoly.getVrep(), axis=0)
bbox = lpoly.get_bbox()
aObs = visual.box(x=xc[0],
y=xc[1],
z=xc[2],
length=(bbox[1] - bbox[0]),
height=(bbox[3] - bbox[2]),
width=(bbox[5] - bbox[4]),
color=(1.0, 0.5, 0.5))
aObs.actor.property.opacity = 0.6
for lpoly in probPlot.goals:
xc = np.mean(lpoly.getVrep(), axis=0)
bbox = lpoly.get_bbox()
aGoal = visual.box(x=xc[0],
y=xc[1],
z=xc[2],
length=(bbox[1] - bbox[0]),
height=(bbox[3] - bbox[2]),
width=(bbox[5] - bbox[4]),
color=(0.0, 1.0, 0.0))
aGoal.actor.property.opacity = 0.2
mlab.show()
else:
print('Plotting of trajectories requires selection of 2 or 3 indices.'
'\nTry `--state` option to select indices for plotting.'
'\nNow changed to work for 1D too!')
sys.exit(0)
g = 9.8
Fgrav = vector(0, -M * g, 0)
top = vector(0, 0, 0) # top of pedestal
theta = pi / 3. # initial polar angle of shaft (from vertical)
thetadot = 0 # initial rate of change of polar angle
alpha = 0 # initial spin angle
alphadot = 15 # initial rate of change of spin angle (spin ang. velocity)
phi = -pi / 2. # initial azimuthal angle
phidot = 0 # initial rate of change of azimuthal angle
# Comment in following line to get pure precession
##phidot = (-alphadot+sqrt(alphadot**2+2*M*g*r*cos(theta)/I))/cos(theta)
pedestal = box(pos=top - vector(0, hpedestal / 2., 0),
height=hpedestal,
length=wpedestal,
width=wpedestal,
color=(0.4, 0.4, 0.5))
base = box(pos=top - vector(0, hpedestal + tbase / 2., 0),
height=tbase,
length=wbase,
width=wbase,
color=pedestal.color)
shaft = cylinder(axis=(Lshaft, 0, 0),
length=Lshaft,
radius=Rshaft,
color=(0, 1, 0))
rotor = cylinder(pos=(Lshaft / 2 - Drotor / 2, 0, 0),
axis=(Drotor, 0, 0),
length=Drotor,
# Author: Prabhu Ramachandran <prabhu [at] aero.iitb.ac.in>
# Copyright (c) 2009, Enthought, Inc.
# License: BSD Style.
from mayavi import mlab
from tvtk.tools import visual
# Create a figure
f = mlab.figure(size=(500, 500))
# Tell visual to use this as the viewer.
visual.set_viewer(f)
# A silly visualization.
mlab.test_plot3d()
# Even sillier animation.
b1 = visual.box()
b2 = visual.box(x=4., color=visual.color.red)
b3 = visual.box(x=-4, color=visual.color.red)
b1.v = 5.0
@mlab.show
@mlab.animate(delay=250)
def anim():
"""Animate the b1 box."""
while 1:
b1.x = b1.x + b1.v * 0.1
if b1.x > 2.5 or b1.x < -2.5:
b1.v = -b1.v
yield
width=z,
color=(red, green, blue))
def wirecube(s):
c = curve(color=(1, 1, 1), radius=1)
pts = [(-s, -s, -s), (-s, -s, s), (-s, s, s), (-s, s, -s), (-s, -s, -s),
(s, -s, -s), (s, s, -s), (-s, s, -s), (s, s, -s), (s, s, s),
(-s, s, s), (s, s, s), (s, -s, s), (-s, -s, s), (s, -s, s),
(s, -s, -s)]
for pt in pts:
c.append(pt)
side = 150.0
cube = box(size=(side, side, side), representation='w')
i = 0
while i < 100:
random_box()
i = i + 1
arrow(axis=(0, 12, 0), radius_shaft=3.5, color=(1, 0, 0))
ball = sphere(pos=(-side / 2., -side / 2., -side / 2.),
color=(1, 1, 0),
radius=3)
disk = cylinder(pos=(side / 2., side / 2., -side / 2.),
color=(.3, .3, 1),
axis=(1, 1, 0),
radius=5)
xx = arange(0, 4 * pi, pi / 10.)
F = g * L2 * M2 / 2.
hpedestal = 1.3 * (L1 + L2) # height of pedestal
wpedestal = 0.1 # width of pedestal
tbase = 0.05 # thickness of base
wbase = 8. * gap # width of base
offset = 2. * gap # from center of pedestal to center of U-shaped upper assembly
top = vector(0, 0, 0) # top of inner bar of U-shaped upper assembly
theta1 = 1.3 * pi / 2. # initial upper angle (from vertical)
theta1dot = 0 # initial rate of change of theta1
theta2 = 0 # initial lower angle (from vertical)
theta2dot = 0 # initial rate of change of theta2
pedestal = box(pos=(top - vector(0, hpedestal / 2.0, offset)),
size=(wpedestal, 1.1 * hpedestal, wpedestal),
color=(0.4, 0.4, 0.5))
base = box(pos=(top - vector(0, hpedestal + tbase / 2.0, offset)),
size=(wbase, tbase, wbase),
color=(0.4, 0.4, 0.5))
bar1 = box(pos=(L1display / 2.0 - d / 2.0, 0, -(gap + d) / 2.0),
size=(L1display, d, d),
color=(1, 0, 0))
bar1b = box(pos=(L1display / 2.0 - d / 2.0, 0, (gap + d) / 2.0),
size=(L1display, d, d),
color=(1, 0, 0))
frame1 = frame(bar1, bar1b)
frame1.pos = (0.0, 0.0, 0.0)
def __init__(self):
mlab.close(all=True)
self.width = 900
self.height = 500
self.f = mlab.figure(size=(self.width, self.height), bgcolor=(1, 1, 1))
self.f.scene._lift()
visual.set_viewer(self.f)
self.square_width = 23.5
a_side = 34.5
tape_height = .2
#distance between minerals
d = 14.5 / np.sqrt(2)
#color for silver
silver = (.8, .8, .8)
#reate field
self.floor_3_3 = visual.box(x=0,
y=0,
z=-1,
length=23.5 * 3,
height=23.5 * 3,
width=2,
color=(.4, .4, .4))
#randomize starting locations
locations = [[-d, d], [0, 0], [d, -d]]
#np.random.shuffle(locations)
#place minerals
#self.gold_mineral = visual.box(x=locations[0][0],y=locations[0][1],z=1, length=4,height=4,width=4, color = (1,1,0))
mineral_radius = 2.75 * 2
self.gold_mineral = visual.sphere(x=locations[0][0],
y=locations[0][1],
z=mineral_radius,
radius=mineral_radius,
color=(1, 1, 0))
self.silver_mineral_1 = visual.sphere(x=locations[1][0],
y=locations[1][1],
z=mineral_radius,
radius=mineral_radius,
color=silver)
self.silver_mineral_2 = visual.sphere(x=locations[2][0],
y=locations[2][1],
z=mineral_radius,
radius=mineral_radius,
color=silver)
#randomly pick the red or blue side
r = np.round(np.random.random(1)[0])
b = 1 - r
tape_color = (r, 0, b)
#23.5 is the diameter of a square
#place the crater tape
self.vertical_lander_tape = visual.box(
x=-self.square_width * 3 / 2 + 1,
y=a_side / 2 - self.square_width * 3 / 2,
z=tape_height,
length=2,
height=a_side,
width=tape_height,
color=tape_color)
self.h_lander_tape = visual.box(x=-self.square_width * 3 / 2 +
a_side / 2,
y=-a_side / 2,
z=tape_height,
length=2,
height=a_side * np.sqrt(2),
width=tape_height,
color=tape_color)
self.h_lander_tape.rotate(45,
axis=[0, 0, 1],
origin=[
self.h_lander_tape.x,
self.h_lander_tape.y,
self.h_lander_tape.z
])
self.marker_left = visual.box(x=self.square_width / 2 + 1,
y=self.square_width,
z=tape_height,
length=2,
height=self.square_width,
width=tape_height,
color=tape_color)
self.marker_right = visual.box(x=3 * self.square_width / 2 - 1,
y=self.square_width,
z=tape_height,
length=2,
height=self.square_width,
width=tape_height,
color=tape_color)
self.marker_bottom = visual.box(x=self.square_width,
y=self.square_width / 2 + 1,
z=tape_height,
length=self.square_width,
height=2,
width=tape_height,
color=tape_color)
self.marker_top = visual.box(x=self.square_width,
y=3 * self.square_width / 2 - 1,
z=tape_height,
length=self.square_width,
height=2,
width=tape_height,
color=tape_color)
#mlab.view(focalpoint=[d,d,0],distance=64, elevation=-80)
self.x = -(self.square_width - 5) * np.random.random() - 5
self.y = -(self.square_width - 5) * np.random.random() - 5
self.update_position()
self.move_distance = 2.5
E = (1./12.)*M2*L2**2+(1./4.)*M2*L2**2 F = g*L2*M2/2. hpedestal = 1.3*(L1+L2) # height of pedestal wpedestal = 0.1 # width of pedestal tbase = 0.05 # thickness of base wbase = 8.*gap # width of base offset = 2.*gap # from center of pedestal to center of U-shaped upper assembly top = vector(0,0,0) # top of inner bar of U-shaped upper assembly theta1 = 1.3*pi/2. # initial upper angle (from vertical) theta1dot = 0 # initial rate of change of theta1 theta2 = 0 # initial lower angle (from vertical) theta2dot = 0 # initial rate of change of theta2 pedestal = box(pos = (top - vector(0, hpedestal/2.0, offset)),size = (wpedestal, 1.1*hpedestal, wpedestal), color = (0.4,0.4,0.5)) base = box(pos = (top - vector(0,hpedestal + tbase/2.0, offset)),size=(wbase, tbase, wbase),color = (0.4,0.4,0.5)) bar1 = box(pos=(L1display/2.0 - d/2.0, 0, -(gap+d)/2.0), size=(L1display, d, d), color=(1,0,0)) bar1b = box(pos=(L1display/2.0 - d/2.0, 0, (gap+d)/2.0), size=(L1display, d, d), color=(1,0,0)) frame1 = frame(bar1, bar1b) frame1.pos = (0.0, 0.0, 0.0) frame1.axis = (0.0, -1.0, 0.0) frame1.rotate(axis=(0,0,1), angle = 180.0*theta1/pi) bar2 = box(pos = (L2display/2.0 - d/2.0, 0, 0), size = (L2display, d, d), color = (0,1,0)) frame2 = frame(bar2) frame2.pos = (0.0, -1.0*L1, 0.0)
# Author: Prabhu Ramachandran <prabhu [at] aero.iitb.ac.in>
# Copyright (c) 2009, Enthought, Inc.
# License: BSD Style.
from mayavi import mlab
from tvtk.tools import visual
# Create a figure
f = mlab.figure(size=(500, 500))
# Tell visual to use this as the viewer.
visual.set_viewer(f)
# A silly visualization.
mlab.test_plot3d()
# Even sillier animation.
b1 = visual.box()
b2 = visual.box(x=4.)
b3 = visual.box(x=-4)
b1.v = 5.0
@mlab.show
@mlab.animate(delay=250)
def anim():
"""Animate the b1 box."""
while 1:
b1.x = b1.x + b1.v * 0.1
if b1.x > 2.5 or b1.x < -2.5:
b1.v = -b1.v
yield
# Author: Prabhu Ramachandran <prabhu [at] aero.iitb.ac.in>
# Copyright (c) 2009, Enthought, Inc.
# License: BSD Style.
from mayavi import mlab
from tvtk.tools import visual
# Create a figure
f = mlab.figure(size=(500,500))
# Tell visual to use this as the viewer.
visual.set_viewer(f)
# A silly visualization.
mlab.test_plot3d()
# Even sillier animation.
b1 = visual.box()
b2 = visual.box(x=4., color=visual.color.red)
b3 = visual.box(x=-4, color=visual.color.red)
b1.v = 5.0
@mlab.show
@mlab.animate(delay=250)
def anim():
"""Animate the b1 box."""
while 1:
b1.x = b1.x + b1.v*0.1
if b1.x > 2.5 or b1.x < -2.5:
b1.v = -b1.v
yield
# Run the animation.
def __init__(self, surfaces):
self.building_layout = np.ones((5, 5))
self.building_size = (30, 30, 40) # m
self.building_spacing = np.float64(100) # m
self.fig = mlab.figure(size=(500, 500), bgcolor=(0.1, 0.1, 0.1))
# Set figure for visual objects
visual.set_viewer(self.fig)
# Convenient local aliases
nx, ny = self.building_layout.shape
n = nx * ny
# Beautiful colors
self.building_colors = map(
tuple,
np.array((np.linspace(0.0, 0.0, n), np.linspace(0.8, 0.3, n),
np.linspace(0.3, 0.8, n))).T)
# For storing buildings and their locations
self.buildings = []
self.building_centers = np.zeros((n, 2))
# Generate buildings
for i, x in enumerate(
np.linspace(0, (nx - 1) *
(self.building_size[0] + self.building_spacing),
nx)):
for j, y in enumerate(
np.linspace(
0, (ny - 1) *
(self.building_size[1] + self.building_spacing), ny)):
if not self.building_layout[i, j]: continue
idx = int(ny * i + j)
self.building_centers[idx] = (x, y)
self.buildings.append(
visual.box(x=x,
y=y,
z=self.building_size[2] / 2,
size=self.building_size,
color=self.building_colors[idx]))
# Generate ground plane
ground_xx, ground_yy = map(
np.transpose,
np.meshgrid(
np.linspace(np.min(self.building_centers[:, 0] - 50),
np.max(self.building_centers[:, 0] + 2500), 40),
np.linspace(np.min(self.building_centers[:, 1] - 50),
np.max(self.building_centers[:, 1] + 2500), 40)))
self.ground = mlab.surf(ground_xx,
ground_yy,
np.random.sample(np.shape(ground_xx)) - 0.8,
colormap="ocean",
warp_scale=1)
# Generate aircraft
self.headspan = 0.4 + 2
self.tailspan = 0.6 + 2
self.wingspan = 0.8 * (self.headspan + self.tailspan)
self.sweep = -0.2 * 0
self.rudheight = 0.2 * self.wingspan
self.aircraft_nodes = np.vstack(([(self.headspan, 0, 0),
(-self.tailspan, 0, 0)])).T
# [(0, 0, 0), (self.sweep, self.wingspan/2, 0)],
# [(0, 0, 0), (self.sweep, -self.wingspan/2, 0)],
# [(-self.tailspan, 0, 0), (-self.tailspan+self.sweep/5, 0, self.rudheight)],
# [(-self.tailspan+self.sweep/5, 0, self.rudheight), (-self.tailspan+self.sweep/5, self.wingspan/4, self.rudheight)],
# [(-self.tailspan+self.sweep/5, 0, self.rudheight), (-self.tailspan+self.sweep/5, -self.wingspan/4, self.rudheight)])).T
self.aircraft_fusel = np.vstack(([(self.headspan, 0, 0), (0, 0, 0)], [
(-self.tailspan, 0, 0),
(-self.tailspan + self.sweep / 5, 0, self.rudheight)
])).T
self.aircraft_wings = np.vstack(
([(self.sweep, self.wingspan / 2, 0),
(self.sweep, -self.wingspan / 2, 0)])).T
self.aircraft_tail = np.vstack(
([(-self.tailspan + self.sweep / 4, 0.25 * self.wingspan,
self.rudheight),
(-self.tailspan + self.sweep / 4, -0.25 * self.wingspan,
self.rudheight)])).T
self.aircraft_nodes_plot = mlab.points3d(self.aircraft_nodes[0, :],
self.aircraft_nodes[1, :],
self.aircraft_nodes[2, :],
scale_factor=0.2,
color=(0.5, 0.5, 0.5))
self.aircraft_fusel_plot = mlab.plot3d(self.aircraft_fusel[0, :],
self.aircraft_fusel[1, :],
self.aircraft_fusel[2, :],
tube_sides=10,
tube_radius=0.08,
color=(1, 0, 0))
self.aircraft_wings_plot = mlab.plot3d(self.aircraft_wings[0, :],
self.aircraft_wings[1, :],
self.aircraft_wings[2, :],
tube_sides=10,
tube_radius=0.08,
color=(1, 0, 1))
self.aircraft_tail_plot = mlab.plot3d(self.aircraft_tail[0, :],
self.aircraft_tail[1, :],
self.aircraft_tail[2, :],
tube_sides=10,
tube_radius=0.05,
color=(1, 1, 0))
self.aircraft_surface_plots = []
self.aircraft_surface_corners = np.array([[0.2, 1, 0], [-0.2, 1, 0],
[-0.2, -1, 0], [0.2, -1, 0]])
self.rudder_corners = np.array([[
0.2,
0,
0.7,
], [
-0.2,
0,
0.7,
], [
-0.2,
0,
0.05,
], [
0.2,
0,
0.05,
]])
# for surf in surfaces:
# surf_corners_body = []
# for corner in self.aircraft_surface_corners:
# surf_corners_body.append(surf.upoint + rotate_vector(surf.q, surf.pc+corner))
# surf_corners_body = np.array(surf_corners_body)
# xx, yy = np.meshgrid(surf_corners_body[:2, 0], surf_corners_body[1:3, 1])
# self.aircraft_surface_plots.append(mlab.mesh(xx, yy, surf_corners_body[:, 2].reshape(2, 2), colormap="autumn"))
# Aliases for Mayavi animate decorator and show function
self.animate = mlab.animate
self.show = mlab.show
bola1.dt = 1 #Creando bola 2 bola2 = visual.sphere(radius=r2, color=(1.0, 1.0, 1.0)) bola2.pos = [0., 0., 0.] bola2.t = 0 bola2.dt = 1 #Creando bola 1 bola3 = visual.sphere(radius=r3, color=(1.0, 1.0, 1.0)) bola3.pos = [0., 0., 0.] bola3.t = 0 bola3.dt = 1 #Creando mesa mesa = visual.box( pos=(ancho/2., largo/2., -grosor/2.), \ size=(ancho, largo, grosor), color=(0.0, 0.3, 0.0) ) muro_l = visual.box( pos=(-grosor/2., largo/2., 0.0), \ size=(grosor, largo + 2*grosor, grosor), \ color=(0.6, 0.3, 0.0) ) muro_r = visual.box( pos=(ancho+grosor/2., largo/2., 0.0), \ size=(grosor, largo + 2*grosor, grosor), \ color=(0.6, 0.3, 0.0) ) muro_d = visual.box( pos=(ancho/2., -grosor/2., 0.0), \ size=(ancho + 2*grosor, grosor, grosor), \ color=(0.6, 0.3, 0.0) ) muro_u = visual.box( pos=(ancho/2., largo+grosor/2., 0.0), \ size=(ancho + 2*grosor, grosor, grosor), \ color=(0.6, 0.3, 0.0) )
bola1.dt = 1 #Creando bola 2 bola2 = visual.sphere( radius=r2, color=(1.0, 1.0, 1.0) ) bola2.pos = [ 0., 0., 0. ] bola2.t = 0 bola2.dt = 1 #Creando bola 1 bola3 = visual.sphere( radius=r3, color=(1.0, 1.0, 1.0) ) bola3.pos = [ 0., 0., 0. ] bola3.t = 0 bola3.dt = 1 #Creando mesa mesa = visual.box( pos=(ancho/2., largo/2., -grosor/2.), \ size=(ancho, largo, grosor), color=(0.0, 0.3, 0.0) ) muro_l = visual.box( pos=(-grosor/2., largo/2., 0.0), \ size=(grosor, largo + 2*grosor, grosor), \ color=(0.6, 0.3, 0.0) ) muro_r = visual.box( pos=(ancho+grosor/2., largo/2., 0.0), \ size=(grosor, largo + 2*grosor, grosor), \ color=(0.6, 0.3, 0.0) ) muro_d = visual.box( pos=(ancho/2., -grosor/2., 0.0), \ size=(ancho + 2*grosor, grosor, grosor), \ color=(0.6, 0.3, 0.0) ) muro_u = visual.box( pos=(ancho/2., largo+grosor/2., 0.0), \ size=(ancho + 2*grosor, grosor, grosor), \ color=(0.6, 0.3, 0.0) )
