examples/object_follow_trajectory.ipynb

{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "> We will see a cube moving on the screen"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "%cd -q ..\n",
    "from objects.static.voxel import VoxelObject\n",
    "from objects.dynamic_object import MovableObjectFactory, DynamicObjectFactory, MovableBaseObject\n",
    "from objects.trajectory import WaypointLinearTrajectory\n",
    "MovableVoxel = MovableObjectFactory.create_movable_object_class(VoxelObject, MovableBaseObject)\n",
    "DynamicVoxel = DynamicObjectFactory.create_dynamic_object_class(MovableVoxel)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "orientations = np.random.uniform(size=(3, 4))\n",
    "orientations = orientations / np.linalg.norm(orientations, axis=-1, keepdims=True)\n",
    "waypoints = np.concatenate((np.random.uniform(size=(3, 3)), orientations), axis=-1)\n",
    "dynamic_voxel = DynamicVoxel(base_position=[1, 1, 1],\n",
    "                             base_orientation=[0, 0, 0, 1],\n",
    "                             half_extents=[0.2, 0.2, 0.2],\n",
    "                             move_mode='po',\n",
    "                             trajectory=WaypointLinearTrajectory(waypoints=waypoints))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "from time import sleep\n",
    "def create_traj(dynamic_object, distance):  \n",
    "    gifs = []    \n",
    "    p.resetSimulation()\n",
    "    p.setAdditionalSearchPath(pybullet_data.getDataPath())\n",
    "    plane = p.createCollisionShape(p.GEOM_PLANE)\n",
    "    p.createMultiBody(0, plane)    \n",
    "    p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0, lightPosition = [0, 0, 0.1])\n",
    "    p.resetDebugVisualizerCamera(\n",
    "        cameraDistance=distance,\n",
    "        cameraYaw=10,\n",
    "        cameraPitch=-45,\n",
    "        cameraTargetPosition=[0, 0, 0])    \n",
    "    dynamic_object.load()\n",
    "    for timestep in np.linspace(0, len(dynamic_object.trajectory.waypoints)-1, 100):\n",
    "        dynamic_object.set_config_at_time(timestep)\n",
    "        p.performCollisionDetection()\n",
    "        sleep(0.1)\n",
    "        gifs.append(p.getCameraImage(width=360, height=360, lightDirection=[1, 1, 1], shadow=1,\n",
    "                                         renderer=p.ER_BULLET_HARDWARE_OPENGL)[2]) \n",
    "    return gifs        "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "%matplotlib inline\n",
    "import matplotlib.pyplot as plt\n",
    "import pybullet as p\n",
    "import pybullet_data\n",
    "import numpy as np\n",
    "from utils.utils import save_gif\n",
    "p.connect(p.GUI)\n",
    "plt.clf()\n",
    "plt.close('all')\n",
    "gifs = create_traj(dynamic_voxel, 2)\n",
    "p.disconnect()    \n",
    "save_gif(gifs, 'data/visualization/moving_cube.gif')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
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/>"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "from IPython.display import HTML\n",
    "import base64\n",
    "b64 = base64.b64encode(open('data/visualization/moving_cube.gif','rb').read()).decode('ascii')\n",
    "display(HTML(f'<img src=\"data:image/gif;base64,{b64}\" />'))"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "pybullet",
   "language": "python",
   "name": "pybullet"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.3"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 4
}