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draw_2d.py
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draw_2d.py
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# pyright: reportMissingImports=false
import typing as T
import numpy as np
import numpy.typing as npt
from test import (
make_some_simple_transparent_tests,
make_simple_obstacle_swap_two,
make_simple_transparent_gcs_test,
make_simple_obstacle_swap_two_in_out,
)
try:
from tkinter import Tk, Canvas, Toplevel
except ImportError:
from Tkinter import Tk, Canvas, Toplevel
import time
BLOCK_COLORS = ["#E3B5A4", "#E8D6CB", "#C3DFE0", "#F6E4F6", "#F4F4F4"]
# BLOCK_COLORS = ["#843B62", "#E3B5A4", "#843B62", "#F6E4F6", "#F4F4F4"]
ARM_COLOR = "#843B62"
ARM_NOT_EMPTY_COLOR = "#5E3886" # 5E3886 621940
TEXT_COLOR = "#0B032D"
BLACK = "#0B032D"
BACKGROUND = "#F5E9E2"
CELL_WIDTH = 50
CELL_WIDTH = 90
class Draw2DSolution:
def __init__(
self,
num_modes: int,
ub: npt.NDArray,
mode_solution: T.List[str],
vertex_solution: T.List[T.List],
goal,
fast: bool = True,
no_arm=False,
no_padding=False,
):
self.no_arm = no_arm
self.num_modes = num_modes
self.ub = ub
self.cell_scaling = CELL_WIDTH
self.block_size = CELL_WIDTH
self.arm_size = CELL_WIDTH
self.padding = self.block_size / 2
if no_padding:
self.padding = 0
self.border = 20
self.mode = mode_solution
self.vertex = vertex_solution
if fast:
self.speed = 8 # units/s
self.grasp_dt = 0.1 # s
else:
self.speed = 3 # units/s
self.grasp_dt = 0.1 # s
self.move_dt = 0.025 # s
self.grasping = False
self.width = self.cell_scaling * self.ub + self.padding * 2 + self.border * 2
self.goal = goal
# tkinter initialization
self.tk = Tk()
self.tk.withdraw()
top = Toplevel(self.tk)
top.wm_title("Moving Blocks")
top.protocol("WM_DELETE_WINDOW", top.destroy)
self.canvas = Canvas(
top, width=self.width[0], height=self.width[1], background=BACKGROUND
)
self.canvas.pack()
self.cells = {}
self.environment = []
def get_pixel_location(self, loc):
return (
loc[0] * self.cell_scaling + self.padding + self.border,
loc[1] * self.cell_scaling + self.padding + self.border,
)
def draw_solution_no_arm(self):
vertex = self.vertex
state_now = vertex[0, :] # type: ignore
# draw initial state
self.draw_state(state_now)
time.sleep(2.0)
for i in range(1, len(vertex)):
state_next = vertex[i, :] # type: ignore
self.move_from_to(state_now, state_next)
state_now = state_next
time.sleep(2.0)
def draw_solution(self):
vertex = self.vertex
mode = self.mode
state_now = vertex[0, :] # type: ignore
mode_now = mode[1]
if mode_now == "0":
self.grasping = False
# draw initial state
self.draw_state(state_now)
time.sleep(1.0)
for i in range(1, len(vertex)):
state_next = vertex[i, :] # type: ignore
mode_next = mode[i]
self.move_from_to(state_now, state_next)
if mode_now != mode_next:
if mode_next == "target":
self.draw_state(state_next)
time.sleep(2.0)
elif mode_next != "0":
self.grasping = True
else:
self.grasping = False
self.grasp(state_next)
mode_now = mode_next
state_now = state_next
time.sleep(1.0)
def move_from_to(self, state_now, state_next):
delta = state_next - state_now
distance = np.linalg.norm(delta[0:2])
if self.no_arm:
distance = np.linalg.norm(delta)
distance_per_dt = self.speed * self.move_dt
num_steps = int(max(float(distance / distance_per_dt), 1.0))
for i in range(1, num_steps + 1):
self.draw_state(state_now + delta * i / num_steps)
time.sleep(self.move_dt)
def grasp(self, state):
self.draw_state(state)
time.sleep(self.grasp_dt)
def draw_state(self, state):
self.clear()
self.draw_background()
self.draw_goal()
if self.no_arm:
for i in range(self.num_modes):
self.draw_block(state[2 * i : 2 * i + 2], i)
else:
for i in range(1, self.num_modes):
self.draw_block(state[2 * i : 2 * i + 2], i)
self.draw_arm(state[0:2])
self.tk.update()
def clear(self):
self.canvas.delete("all")
def draw_block(self, block_state, block_num):
x, y = self.get_pixel_location(block_state)
side = self.block_size / 2.0
self.cells[(x, y)] = [
self.canvas.create_rectangle(
x - side,
y - side,
x + side,
y + side,
fill=BLOCK_COLORS[(block_num - 1) % len(BLOCK_COLORS)],
outline="black",
width=2,
),
self.canvas.create_text(x, y, text=block_num, fill=TEXT_COLOR),
]
def draw_arm(self, arm_state):
x, y = self.get_pixel_location(arm_state)
side = self.arm_size / 2.0
if self.grasping:
arm_color = ARM_NOT_EMPTY_COLOR
else:
arm_color = ARM_COLOR
self.cells[(x, y)] = [
self.canvas.create_oval(
x - side,
y - side,
x + side,
y + side,
fill=arm_color,
outline="black",
width=2,
),
self.canvas.create_text(x, y, text="arm", fill=TEXT_COLOR),
]
def draw_shadow(self, state, name):
x, y = self.get_pixel_location(state)
side = self.block_size / 2.0
if name == "arm":
create_func = self.canvas.create_oval
else:
create_func = self.canvas.create_rectangle
self.cells[(x, y)] = [
create_func(
x - side,
y - side,
x + side,
y + side,
fill="#D3D3D3",
outline="grey",
width=2,
),
self.canvas.create_text(x, y, text=name, fill=TEXT_COLOR),
]
def draw_background(self):
self.environment.append(
[
self.canvas.create_rectangle(
0,
0,
self.border,
self.width[1],
fill="black",
outline="black",
width=0,
),
self.canvas.create_rectangle(
0,
0,
self.width[0],
self.border,
fill="black",
outline="black",
width=0,
),
self.canvas.create_rectangle(
0,
self.width[1] - self.border,
self.width[0],
self.width[1],
fill="black",
outline="black",
width=0,
),
self.canvas.create_rectangle(
self.width[0] - self.border,
0,
self.width[0],
self.width[1],
fill="black",
outline="black",
width=0,
),
]
)
def draw_goal(self):
if self.no_arm:
for i in range(self.num_modes):
self.draw_shadow(self.goal[2 * i : 2 * i + 2], i)
else:
# print("oi")
# print(self.goal[0:2])
# self.draw_shadow(self.goal[0:2], "arm")
for i in range(1, self.num_modes):
self.draw_shadow(self.goal[2 * i : 2 * i + 2], i)
if __name__ == "__main__":
gcs, ub, goal = make_simple_obstacle_swap_two()
ub = np.array([1, 1])
# gcs, ub, goal = make_simple_obstacle_swap_two_in_out()
# gcs, ub, goal = make_simple_transparent_gcs_test(2, 7, 18)
# gcs, ub, goal = make_simple_transparent_gcs_test(2,10,21, use_convex_relaxation=False, display_graph=False, max_rounded_paths=0, add_grasp_cost = False)
# nb = 2
# h = 7
# seed = 5
# gcs, ub, goal = make_simple_transparent_gcs_test(
# 2,
# nb,
# h,
# use_convex_relaxation=False,
# display_graph=False,
# max_rounded_paths=0,
# add_grasp_cost=False,
# randomize=False,
# seed=seed,
# )
assert gcs.solution.is_success(), "Solution was not found"
modes, vertices = gcs.get_solution_path()
for i in range(len(vertices)):
vertices[i] = ["%.1f" % v for v in vertices[i]]
print(modes)
print(vertices)
drawer = Draw2DSolution(gcs.opt.num_modes, ub, modes, vertices, goal, fast=False) # type: ignore
drawer.draw_solution()
# make_some_simple_transparent_tests()