live: real-time browser viewer (AICC-client based), sensor-built top-down map shared module, run_live.sh one-command mode

testbed/room/mapview.py

@@ -0,0 +1,88 @@
+"""Top-down map drawing from sensor data.
+
+Shared by the demo's frame recorder and the live viewer. Only uses what an
+agent can observe: the world_query layout (room, obstacles, beacon) and
+proprioception (position, heading).
+"""
+
+from __future__ import annotations
+
+from typing import Any
+
+from PIL import Image, ImageDraw
+
+ROOM_SIZE = 16.0
+MAP_SIZE = 320
+SCALE = MAP_SIZE / ROOM_SIZE
+
+
+def draw_sensor_map(
+    layout: dict[str, Any] | None,
+    pos: tuple[float, float],
+    yaw: float,
+    path: list[tuple[float, float]] | None = None,
+    *,
+    step: int | None = None,
+    beacon_active: bool = False,
+) -> Image.Image:
+    """Draw the room from the agent's sensor view: floor grid, crates, the
+    beacon, the capsule's path and current position/heading."""
+    path = path or []
+
+    def xy(x: float, z: float) -> tuple[float, float]:
+        return (x * SCALE, MAP_SIZE - z * SCALE)
+
+    img = Image.new("RGB", (MAP_SIZE, MAP_SIZE), (52, 52, 58))
+    d = ImageDraw.Draw(img)
+    for i in range(int(ROOM_SIZE) + 1):
+        c = 60 if i % 2 == 0 else 54
+        d.line([xy(i, 0), xy(i, ROOM_SIZE)], fill=(c, c, c + 6), width=1)
+        d.line([xy(0, i), xy(ROOM_SIZE, i)], fill=(c, c, c + 6), width=1)
+
+    if layout:
+        for ob in layout.get("obstacles", []):
+            x0, z0 = xy(ob["x"] - ob["width"] / 2, ob["z"] - ob["depth"] / 2)
+            x1, z1 = xy(ob["x"] + ob["width"] / 2, ob["z"] + ob["depth"] / 2)
+            d.rectangle(
+                [min(x0, x1), min(z0, z1), max(x0, x1), max(z0, z1)],
+                fill=(150, 90, 60),
+                outline=(20, 20, 26),
+                width=2,
+            )
+        b = layout.get("beacon", {})
+        bx, bz = xy(b.get("x", 12.5), b.get("z", 12.5))
+        core = (255, 200, 90) if beacon_active else (120, 210, 235)
+        glow = (255, 240, 180) if beacon_active else (160, 235, 250)
+        d.ellipse([bx - 14, bz - 14, bx + 14, bz + 14], fill=glow)
+        d.ellipse(
+            [bx - 7, bz - 7, bx + 7, bz + 7], fill=core, outline=(20, 20, 26), width=2
+        )
+
+    if len(path) > 1:
+        pts = [xy(x, z) for x, z in path]
+        d.line(pts, fill=(255, 170, 60), width=3)
+
+    cx, cz = xy(*pos)
+    d.ellipse(
+        [cx - 7, cz - 7, cx + 7, cz + 7],
+        fill=(240, 240, 250),
+        outline=(20, 20, 26),
+        width=2,
+    )
+    fx, fz = _forward(yaw)
+    tip = xy(pos[0] + fx * 0.7, pos[1] + fz * 0.7)
+    d.line([(cx, cz), tip], fill=(30, 30, 40), width=3)
+    if step is not None:
+        d.text(
+            (8, 8),
+            f"step {step}  pos ({pos[0]:.1f}, {pos[1]:.1f}) yaw {yaw:.0f}",
+            fill=(230, 230, 230),
+        )
+    return img
+
+
+def _forward(yaw_deg: float) -> tuple[float, float]:
+    import math
+
+    rad = math.radians(yaw_deg)
+    return math.sin(rad), math.cos(rad)