def main():
config = gs.ConfigParser('simple_config.yml')
print(config.get('name'))
grid_width = config.get('grid_width')
num_robots = config.get('num_robots')
# You can specify a default value in case a parameter isn't in the
# configuration file
num_steps = config.get('num_steps', default=100)
# Create a few robots to place in your world
robots = []
# Configuration values can also be lists, not just single values.
x_pos = config.get('robot_x_pos')
for n in range(num_robots):
robots.append(RandomRobot(x_pos[n], grid_width / 2 - n * 2))
# Create a 50 x 50 World with the Robots
world = gs.World(grid_width, grid_width, robots=robots)
# Run the simulation
for n in range(num_steps):
# Execute a simulation step
world.step()
# To make sure it works, print the tick (world time)
print('Time:', world.get_time())
print('SIMULATION FINISHED')
def main():
grid_width = 50 # Number of cells for the width & height of the world
num_robots = 5
num_steps = 100 # simulation steps to run
# Create a few robots to place in your world
robots = []
for n in range(num_robots):
robots.append(RandomRobot(grid_width/2 - n*2,
grid_width/2 - n*2))
# Create a 50 x 50 World with the Robots
world = gs.World(grid_width, grid_width,
robots=robots,
environment="ex_env.png")
# Create a Viewer to display the World
viewer = gs.Viewer(world)
# Run the simulation
for n in range(num_steps):
# Execute a simulation step
world.step()
# Draw the world
viewer.draw()
# To make sure it works, print the tick (world time)
print('Time:', world.get_time())
print('SIMULATION FINISHED')
def main(config_file: str):
# Import configuration
config = gs.ConfigParser(config_file)
print('STARTING', config.get('name'))
# Number of cells in the width/height of the square grid
grid_w = config.get('grid_width')
num_robots = config.get('num_robots')
# Use a default communication range if one is not in the configuration
comm_range = config.get('comm_range', default=6)
overwrite_trials = config.get('overwrite_trials', default=False)
start_trial = config.get('start_trial', default=1)
end_trial = config.get('end_trial')
for trial in range(start_trial, end_trial + 1):
robots = []
for n in range(num_robots):
robots.append(
RandomRobot(randint(0, grid_w - 1),
randint(0, grid_w - 1),
comm_range=comm_range))
# Create the World, with the robots in it
world = gs.World(grid_w, grid_w, robots=robots)
# Add the image to the World
world.add_environment(config.get('environment_img'))
# Create the viewer
viewer = gs.Viewer(world,
display_rate=10,
show_grid=False,
window_width=1000)
# Logger
log_filename = config.get('log_filename')
logger = gs.Logger(world,
log_filename,
trial_num=trial,
overwrite_trials=overwrite_trials)
logger.add_aggregator('green', green_agg)
logger.log_config(config)
num_steps = config.get('num_steps')
# Run the simulation
for n in range(num_steps):
# Run a single step of the
world.step()
# Draw the updated world state
viewer.draw()
# Save the state of the World using the aggregators
logger.log_state()
print(f'TRIAL {trial} FINISHED')
print('SIMULATION FINISHED')
def main():
config = gs.ConfigParser('simple_config.yml')
print(config.get('name'))
grid_width = config.get('grid_width')
num_robots = config.get('num_robots')
# You can specify a default value in case a parameter isn't in the
# configuration file
num_steps = config.get('num_steps', default=100)
# Create a few robots to place in your world
robots = []
# Configuration values can also be lists, not just single values.
x_pos = config.get('robot_x_pos')
for n in range(num_robots):
robots.append(RandomRobot(x_pos[n], grid_width / 2 - n * 2))
# Create a 50 x 50 World with the Robots
world = gs.World(grid_width, grid_width, robots=robots)
# Logger
trial_num = config.get('trial_num', default=1)
# Create a logger for this world that saves to the `test.h5` file
logger = gs.Logger(world,
'test.h5',
trial_num=trial_num,
overwrite_trials=True)
# Tell the logger to run the `green_agg` function every time that
# `log_state` is called
logger.add_aggregator('green', green_agg)
# Save the contents of the configuration, but leave out the 'name' parameter
logger.log_config(config, exclude='name')
# Save the date/time that the simulation was run
logger.log_param('date', str(datetime.now()))
# Run the simulation
for n in range(num_steps):
# Execute a simulation step
world.step()
# Log the state every step
logger.log_state()
# To make sure it works, print the tick (world time)
print('Time:', world.get_time())
print('SIMULATION FINISHED')