diff --git a/navipy/resources/configs/BlenderOnGridRender.yaml b/navipy/resources/configs/BlenderOnGridRender.yaml
index 4a91dec7884bf84b6f2728bb649bf47ec68f844a..db29daf4f31be644c214b0e12fd9476702730bc1 100644
--- a/navipy/resources/configs/BlenderOnGridRender.yaml
+++ b/navipy/resources/configs/BlenderOnGridRender.yaml
@@ -28,7 +28,7 @@ OnGrid:
x: [-0.5,0.5,5]
y: [-0.5,0.5,5]
z: [3,3,1]
- alpha_0: [1.570796 , 1.570796 ,1]
+ alpha_0: [0 , 0 ,1]
alpha_1: [0 , 0 ,1]
alpha_2: [0 , 0 ,1]
# The orientation convention is defined as:
diff --git a/navipy/resources/database.db b/navipy/resources/database.db
index 7fd82a0e02adad748ceec1126ae10d0f9744d128..1613e98f2dcb18043a195ca0f260d2c60252ed54 100644
Binary files a/navipy/resources/database.db and b/navipy/resources/database.db differ
diff --git a/navipy/scripts/blend_ongrid.py b/navipy/scripts/blend_ongrid.py
index 19477dd2fc199ae67f5eb19e5e94666fcc5b21c2..8d96a81a49585515994f1b654505f1ce6f8277bb 100644
--- a/navipy/scripts/blend_ongrid.py
+++ b/navipy/scripts/blend_ongrid.py
@@ -29,7 +29,7 @@ def parser_blend_ongrid():
'navipy', 'resources/twocylinders_world.blend')
defaultconfig = pkg_resources.resource_filename(
'navipy', 'resources/configs/BlenderOnGridRender.yaml')
- defaultoutput = tempfile.NamedTemporaryFile().name
+ defaultoutput = tempfile.NamedTemporaryFile().name+'.db'
parser.add_argument('--blender-world',
type=str,
default=defaultworld,
@@ -161,7 +161,8 @@ def main():
tfile.write(' sys.exit(1)\n'.encode(encoding))
tfile.seek(0)
- command = 'blendnavipy --blender-world {} --python-script {}'
+ command = 'blendnavipy --background '
+ command += '--blender-world {} --python-script {}'
command = command.format(args.blender_world, tfile.name)
if args.blender_command is not None:
command += ' --blender-command {}'.format(args.blender_command)
diff --git a/navipy/sensors/blendtest_renderer.py b/navipy/sensors/blendtest_renderer.py
index 3872ca3c7b34154ce2cdf6ca89f30ea007e59cd4..45167ec66a68e87cefc89f9ab01793825b4fc8d3 100644
--- a/navipy/sensors/blendtest_renderer.py
+++ b/navipy/sensors/blendtest_renderer.py
@@ -78,13 +78,13 @@ class TestBlenderRender_renderer(unittest.TestCase):
x = np.linspace(-0.5, 0.5, 5)
y = np.linspace(-0.5, 0.5, 5)
z = [3]
- alpha_0 = [np.pi/2]
+ alpha_0 = [0]
rotconv = 'rzyx'
db_reffilename = pkg_resources.resource_filename(
'navipy', 'resources/database.db')
db_ref = DataBaseLoad(db_reffilename)
tfile = tempfile.NamedTemporaryFile()
- outputfile = tfile.name
+ outputfile = tfile.name+'.db'
self.renderer.render_ongrid(outputfile,
x, y, z, alpha_0,
rotconv=rotconv)
diff --git a/navipy/sensors/blendtraj.py b/navipy/sensors/blendtraj.py
deleted file mode 100644
index b8cb6c9c67fdb8afb35c2a0edd93352422d2bc29..0000000000000000000000000000000000000000
--- a/navipy/sensors/blendtraj.py
+++ /dev/null
@@ -1,100 +0,0 @@
-"""
-"""
-import os
-import sys
-import argparse
-import inspect
-import pandas as pd
-
-
-def parser_blendtraj():
- """
- Parse argument for function blendtraj
- """
- # Create command line options
- parser = argparse.ArgumentParser()
- arghelp = 'Path to the environment (.blend) in which your agent lives'
- defaultworld = pkg_resources.resource_filename(
- 'navipy', 'resources/twocylinders_world.blend')
- parser.add_argument('--blender-world',
- type=str,
- default=defaultworld,
- help=arghelp)
- arghelp = 'Command to run blender\n'
- arghelp += 'If not provided, the script will try to find the command'
- arghelp += " by using: shutil.which('blender')"
- parser.add_argument('--blender-command',
- type=str,
- default=None,
- help=arghelp)
- arghelp = 'To display some stuff \n'
- arghelp += ' * -v print command \n'
- arghelp += ' * -vv print also script'
- parser.add_argument('-v', '--verbose',
- action='count',
- default=0,
- help=arghelp)
- defaultfile = pkg_resources.resource_filename(
- 'navipy', 'resources/configs/BlenderRender.yaml')
- arghelp = 'BlenderRender configuration files \n'
- arghelp += 'by default: {}'.format(defaultfile)
- parser.add_argument('--config',
- type=str,
- default=defaultfile,
- help=arghelp)
- arghelp = 'Trajectory of the agent\n'
- arghelp += 'pandas dataframe saved in hdf'
- parser.add_argument('--trajectory',
- type=str,
- default=defaultfile,
- help=arghelp)
-
-
-
-def render_trajectory(traj_filename, output_path, imformat='.jpg'):
- # Get extension to check that file is hdf
- _, ext = os.path.splitext(traj_filename)
- if ext in ['h5', 'hdf']:
- trajdf = pd.read_hdf(traj_filename)
- else:
- raise IOError(
- 'File {} can not be read as a trajectory'.format(traj_filename))
-
-
-def main():
- """
- Render a trajectory in a blender environment
- """
- # encoding for temporary file
- encoding = 'utf-8'
-
- # Fetch arguments
- args = parser_blendtraj().parse_args()
-
- # Create tempfile with testing code and then call blendnavipy
- header = '# Generated by {}\n'.format(sys.argv[0])
- with tempfile.NamedTemporaryFile() as tfile:
- # Start of file
- tfile.write(header.encode(encoding))
- tfile.write('import unittest \n'.encode(encoding))
- for line in inspect.getsourcelines(run)[0]:
- tfile.write(line.encode(encoding))
- tfile.write('\n\n'.encode(encoding))
- tfile.write('try:\n'.encode(encoding))
- tfile.write(' run("{}")\n'.format(args.start_dir).encode(encoding))
- tfile.write(' sys.exit(0)\n'.encode(encoding))
- tfile.write('except Exception:\n'.encode(encoding))
- tfile.write(' sys.exit(1)\n'.encode(encoding))
- tfile.seek(0)
-
- command = 'blendnavipy --blender-world {} --python-script {}'
- command = command.format(args.blender_world, tfile.name)
- if args.blender_command is not None:
- command += ' --blender-command {}'.format(args.blender_command)
- for _ in range(args.verbose):
- command += ' -v'
- os.system(command)
-
-if __name__ == "__main__":
- # execute only if run as a script
- main()
diff --git a/navipy/sensors/renderer.py b/navipy/sensors/renderer.py
index f2229830e7e618ff897c6ef9e4cd2faa83893274..2302f7f5826507a604acfef89e0d54efb6704b1a 100644
--- a/navipy/sensors/renderer.py
+++ b/navipy/sensors/renderer.py
@@ -17,7 +17,7 @@ import pkg_resources
from navipy.maths.homogeneous_transformations import compose_matrix
from navipy.maths.quaternion import matrix as quatmatrix
import navipy.maths.constants as constants
-from navipy.tools.trajectory import Trajectory
+from navipy.trajectories import Trajectory
from PIL import Image
from navipy.scene import check_scene
from navipy.database import DataBaseSave
diff --git a/navipy/trajectories/test_trajectory.py b/navipy/trajectories/test_trajectory.py
index d1fd5923504c4d08c88bb2fa17cebe7c27074726..c13d508ea6b2e0d8e3c35b54c241e0474fd3ce95 100644
--- a/navipy/trajectories/test_trajectory.py
+++ b/navipy/trajectories/test_trajectory.py
@@ -36,7 +36,6 @@ class TestTrajectoryTransform(unittest.TestCase):
# Devide by two the second anle, because of gimbal lock
col = (trajectory.rotation_mode, 'alpha_1')
trajectory.loc[:, col] = trajectory.loc[:, col] / 2
- print(trajectory)
# forward
for euler_axes in list(htconst._AXES2TUPLE.keys()):
trajectory.rotation_mode = euler_axes