def main(arglist):
start_time = time.time()
input_file = arglist[0]
spec = ProblemSpec(input_file)
obstacles = __get_lenient_obstacles(spec)
solution=[]
solution += create_state_graph(spec, obstacles, 0)
print("time:" + str(time.time()-start_time))
write_robot_config_list_to_file("filename", solution)
def main(arglist):
if len(arglist) == 0 or len(arglist) > 2:
print("Running this file launches a graphical program for visualising maps and solutions.")
print("Usage: visualiser.py [input_file] [solution_file(optional)]")
return
spec = ProblemSpec(arglist[0])
if len(arglist) == 2:
soln = load_output(arglist[1])
else:
soln = []
print(spec)
vis = Visualiser(spec, soln)
def main(arglist):
start_time = time.time()
input_file = arglist[0]
spec = ProblemSpec(input_file)
obstacles = __get_lenient_obstacles(spec)
solution = []
if spec.num_grapple_points == 1:
solution += create_state_graph(spec, obstacles, 0)
else:
for stage in range(spec.num_grapple_points):
if stage == 0:
sub_goals = generate_sub_goals(spec, stage, obstacles)
list1 = create_state_graph(spec,
obstacles,
stage,
sub_goals=sub_goals)
if list1 is None:
print("step1 no solution")
else:
solution += list1
elif 0 < stage < spec.num_grapple_points - 1:
sub_goals = generate_sub_goals(spec, stage, obstacles)
list2 = create_state_graph(spec,
obstacles,
stage,
sub_init=solution[-1],
sub_goals=sub_goals)
if list2 is None:
print("step2 no solution")
else:
solution += list2
else:
list3 = create_state_graph(spec,
obstacles,
stage,
sub_init=solution[-1])
if list3 is None:
print("step3 no solution")
else:
solution += list3
print("time:" + str(time.time() - start_time))
write_robot_config_list_to_file("filename", solution)
def main(arglist):
input_file = arglist[0]
soln_file = arglist[1]
spec = ProblemSpec(input_file)
robot_configs = load_output(soln_file)
lenient_obstacles = __get_lenient_obstacles(spec)
violations = 0
# run validity tests for each config
if not test_config_equality(robot_configs[0], spec.initial, spec):
violations += 1
if violations <= 10:
print("!!! The first robot configuration does not match the initial position from the problem spec !!!")
for i in range(len(robot_configs)):
if not test_environment_bounds(robot_configs[i]):
violations += 1
if violations <= 10:
print("!!! Robot goes outside the bounds of the environment at step number " +
str(i) + " !!!")
if not test_angle_constraints(robot_configs[i], spec):
violations += 1
if violations <= 10:
print("!!! One or more of the angles between robot segments is tighter than allowed at step number " +
str(i) + " !!!")
if not test_length_constraints(robot_configs[i], spec):
violations += 1
if violations <= 10:
print("!!! One or more of the robot segments is shorter or longer than allowed at step number " +
str(i) + " !!!")
if not test_grapple_point_constraint(robot_configs[i], spec):
violations += 1
if violations <= 10:
print("!!! Robot is not connected to at least 1 grapple point (or a grapple point is occupied by " +
"more than one end effector) at step number " + str(i) + " !!!")
if not test_self_collision(robot_configs[i], spec):
violations += 1
if violations <= 10:
print("!!! Robot is in collision with itself at step number " + str(i) + " !!!")
if not test_obstacle_collision(robot_configs[i], spec, lenient_obstacles):
violations += 1
if violations <= 10:
print("!!! Robot is in collision with an obstacle at step number " + str(i) + " !!!")
if i + 1 < len(robot_configs) and not test_config_distance(robot_configs[i], robot_configs[i+1], spec):
violations += 1
if violations <= 10:
print("!!! Step size is greater than primitive step limit between step number " + str(i) + " and " +
str(i + 1) + " !!!")
if not test_config_equality(robot_configs[-1], spec.goal, spec):
violations += 1
if violations <= 10:
print("!!! The last robot configuration does not match the goal position from the problem spec !!!")
# print summary
if violations > 10:
print("!!! " + str(violations - 10) + " other rule violation(s) !!!")
if violations == 0:
print("Testcase solved successfully!")
return 0
else:
print("Invalid solution file - " + str(violations) + " violations encountered.")
return 1
def main(arglist):
input_file = arglist[0]
spec = ProblemSpec(input_file)
obstacles = __get_lenient_obstacles(spec)
s = create_state_graph(spec, obstacles)
write_robot_config_list_to_file("filename", s)
def main(arguments):
start_time = time.time()
# Creating problemspec and (initial,goal nodes) from given file
space = ProblemSpec(arguments[0])
spec = space
initial_config = space.initial
goal_config = space.goal
g_count=len(space.grapple_points)
a_count=len(space.min_lengths)
if len(spec.grapple_points) == 1:
path_final = path_between_points(initial_config, goal_config, spec, 10,a_count)
grapple_points=spec.grapple_points
if len(spec.grapple_points)==2:
random_configs=[]
if a_count==3:
while random_configs==[]:
random_configs=config3Points(spec,grapple_points[0],grapple_points[1], spec.min_lengths, spec.max_lengths)
elif a_count==4:
while random_configs == []:
random_configs =config4Points(spec, grapple_points[0], grapple_points[1],spec.min_lengths, spec.max_lengths)
else:
print("Configured for 3 and 4 arms only")
for config in random_configs:
path_1 = path_between_points(initial_config, config, spec,10,a_count)
config.ee2_grappled=True
config.ee1_grappled = False
path_2 = path_between_points( config,goal_config, spec,20,a_count)
if path_1 != None and path_2!= None:
path_final=path_1+path_2
break
if len(grapple_points) == 3:
bridge_1=[]
if a_count == 3:
while bridge_1 == []:
bridge_1 = config3Points(spec, grapple_points[0], grapple_points[1],spec.min_lengths, spec.max_lengths)
if bridge_1!=[]:
bridge_1 = bridge_1[0]
elif a_count == 4:
while bridge_1 == []:
bridge_1 = config4Points(spec, grapple_points[0], grapple_points[1],spec.min_lengths, spec.max_lengths)
print(bridge_1)
path_1 = path_between_points(initial_config, bridge_1, spec, 10,a_count)
print("found path_1")
write_robot_config_list_to_file("test_output.txt", path_1)
copy_bridge_1 = copy.deepcopy(bridge_1)
copy_bridge_1.ee1_grappled = False
copy_bridge_1.ee2_grappled = True
bridge_2 = []
if a_count == 3:
while bridge_2 == []:
bridge_2 = config3Points(spec, grapple_points[2], grapple_points[1],spec.min_lengths, spec.max_lengths)
if bridge_2 != []:
bridge_2=bridge_2[0]
elif a_count == 4:
while bridge_2 == []:
bridge_2 = config4Points(spec, grapple_points[2], grapple_points[1],spec.min_lengths, spec.max_lengths)
bridge_2.ee1_grappled = False
bridge_2.ee2_grappled = True
print("bridge 1", copy_bridge_1)
print("bridge 2", bridge_2)
path_2 = path_between_points(copy_bridge_1, bridge_2, spec, 10,a_count)
print("found path_2")
copy_bridge_2 = copy.deepcopy(bridge_2)
copy_bridge_2.ee1_grappled = True
copy_bridge_2.ee2_grappled = False
path_3 = path_between_points(copy_bridge_2, goal_config, spec, 10,a_count)
print("found path_3")
path_final = path_1 + path_2 + path_3
#dummy = randomsample([GraphNode(spec, dummy_config)], 100, spec, [])
write_robot_config_list_to_file(arguments[1], path_final)
end_time = time.time()
time_rec = end_time - start_time
print(time_rec)
def main(args):
spec = ProblemSpec(args[0])
solve(spec, args[1])