plot_cloth.py

# Lint as: python3
# pylint: disable=g-bad-file-header
# Copyright 2020 DeepMind Technologies Limited. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#    http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or  implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ============================================================================
"""Plots a cloth trajectory rollout."""

import pickle

from absl import app
from absl import flags

from matplotlib import animation
import matplotlib.pyplot as plt

FLAGS = flags.FLAGS
flags.DEFINE_string('rollout_path', None, 'Path to rollout pickle file')


def main(unused_argv):
  with open(FLAGS.rollout_path, 'rb') as fp:
    rollout_data = pickle.load(fp)

  fig = plt.figure(figsize=(8, 8))
  ax = fig.add_subplot(111, projection='3d')
  skip = 10
  num_steps = rollout_data[0]['gt_pos'].shape[0]
  num_frames = len(rollout_data) * num_steps // skip

  # compute bounds
  bounds = []
  for trajectory in rollout_data:
    bb_min = trajectory['gt_pos'].min(axis=(0, 1))
    bb_max = trajectory['gt_pos'].max(axis=(0, 1))
    bounds.append((bb_min, bb_max))

  def animate(num):
    step = (num*skip) % num_steps
    traj = (num*skip) // num_steps
    ax.cla()
    bound = bounds[traj]
    ax.set_xlim([bound[0][0], bound[1][0]])
    ax.set_ylim([bound[0][1], bound[1][1]])
    ax.set_zlim([bound[0][2], bound[1][2]])
    pos = rollout_data[traj]['pred_pos'][step]
    faces = rollout_data[traj]['faces'][step]
    ax.plot_trisurf(pos[:, 0], pos[:, 1], faces, pos[:, 2], shade=True)
    ax.set_title('Trajectory %d Step %d' % (traj, step))
    return fig,

  _ = animation.FuncAnimation(fig, animate, frames=num_frames, interval=100)
  plt.show(block=True)


if __name__ == '__main__':
  app.run(main)