def simulate_Stationary(policy_file, config_file, row_number, column_number):
policy = {}
with open(policy_file) as f:
csv_reader = csv.reader(f, delimiter=',')
for row in csv_reader:
policy[row[0]] = row[1]
sim = Simulation(config_file)
policy_modified = {}
for key in policy.keys():
row = row_number - 1 - int(np.floor(int(key) / column_number))
column = int(key) % column_number
if policy[key] == 'S':
policy_modified[(column, row)] = 'south'
elif policy[key] == 'E':
policy_modified[(column, row)] = 'east'
elif policy[key] == 'N':
policy_modified[(column, row)] = 'north'
elif policy[key] == 'W':
policy_modified[(column, row)] = 'west'
elif policy[key] == 'L':
policy_modified[(column, row)] = 'stay'
state = sim.get_state() #grab state
done = False
counter = 0
while not done:
action = policy_modified[state['agents'][0]]
print(action)
done, state = sim.move(action) #main call
if counter == 0:
sleep(5)
sleep(0.5)
counter = counter + 1
def main():
sim = Simulation("config.txt")
done = False
while not done:
done, state = sim.move(["south"]) #main call
def simulate_Markovian(policy_file, config_file, time_horizon, row_number,
column_number):
policy = {}
print(policy_file)
with open(policy_file, 'r') as f:
csv_reader = csv.reader(f, delimiter=',')
for k in csv_reader:
policy[k[0]] = k[1]
sim = Simulation(config_file)
num_of_states = row_number * column_number
policy_modified = [{} for i in range(int(time_horizon))]
for key in policy.keys():
time_step = int(int(key) / int(num_of_states))
row = int(row_number - 1 -
np.floor((int(key) % int(num_of_states)) / column_number))
column = (int(key) % int(num_of_states)) % column_number
if policy[key] == 'S':
policy_modified[time_step][(column, row)] = 'south'
elif policy[key] == 'E':
policy_modified[time_step][(column, row)] = 'east'
elif policy[key] == 'N':
policy_modified[time_step][(column, row)] = 'north'
elif policy[key] == 'W':
policy_modified[time_step][(column, row)] = 'west'
elif policy[key] == 'L':
policy_modified[time_step][(column, row)] = 'stay'
print(policy_modified)
state = sim.get_state() #grab state
done = False
counter = 0
while not done:
action = policy_modified[counter][state['agents'][0]]
print(action)
done, state = sim.move(action) #main call
if counter == 0:
sleep(5)
sleep(0.5)
counter = counter + 1
def main():
global pubs, time_steps, sim, num_error, trials, trial, pubs_clf
rospy.init_node('subs', anonymous=True)
steps = 200
trials = 20
subs = rospy.Subscriber('live_cmd', Action, callback)
pubs = rospy.Publisher('log', Sim, queue_size=10)
pubs_clf = rospy.Publisher('reset_clf', Bool, queue_size=10)
log = Sim()
state = sim.get_state()
log.state = state['agents'][0][0]
sleep(1)
dec = Bool()
dec.data = True
pubs.publish(log)
pubs_clf.publish(dec)
done = False
while not rospy.is_shutdown():
if time_steps == steps:
subs.unregister()
trial += 1
time_steps = 0
num_error = 0
sim = Simulation("/home/kasun/new_ws/src/openbci/src/config.txt"
) # absolute path is better
sleep(.2)
subs = rospy.Subscriber('cmd', Action, callback)
log = Sim()
state = sim.get_state()
log.state = state['agents'][0][0]
sleep(1)
dec = Bool()
dec.data = True
pubs.publish(log)
pubs_clf.publish(dec)
else:
pass
def main():
sim = Simulation("config.txt")
#sim.load_matrix_file("matrix.txt") --only include if a matrix file is used
sim.load_slip_file("slip.txt") #turns slipping to 'on'
state = sim.get_state() #grab state
done = False
while not done:
done, state = sim.move(["keyboard"]) #main call
print(sim.get_history(2)["agents"]) #get the history from 2 time steps back
# if step < len(action_stack):
return action_stack[step]
# else:
# return 0
#with open('simulation.json') as f:
# data = json.load(f)
with open('GOAPvsADLnE.json') as f:
data = json.load(f)
nodes = data['nodes']
sim = Simulation('simulation.config')
sim.draw()
cur_state = sim.get_state()
current_node = nodes['0']
a_state_pos = (cur_state['agents'][0])
o1_state_pos = (cur_state['moving_obstacles'][0])
o2_state = (cur_state['moving_obstacles'][1])
step = 0
while True:
trans = current_node['trans']
index = str(random.choice(trans))
current_node = nodes[index]
next_o1_state_pos = get_o1_state(current_node)
next_o2_state_pos = get_o2_state(current_node)
next_o3_state_pos = get_o3_state(current_node)
from environment import Simulation
import pygame
def make_move():
key_input = raw_input("What's your move? ")
done, state = sim.move([key_input]) #main call
def main():
done = False
while not done:
make_move()
if __name__ == '__main__':
sim = Simulation("config.txt") # absolute path is better
main()
subs.unregister()
trial += 1
time_steps = 0
num_error = 0
sim = Simulation("/home/kasun/new_ws/src/openbci/src/config.txt"
) # absolute path is better
sleep(.2)
subs = rospy.Subscriber('cmd', Action, callback)
log = Sim()
state = sim.get_state()
log.state = state['agents'][0][0]
sleep(1)
dec = Bool()
dec.data = True
pubs.publish(log)
pubs_clf.publish(dec)
else:
pass
if __name__ == '__main__':
time_steps = 0
num_error = 0
trial = 1
# sleep(20)
print 'first'
sim = Simulation("/home/kasun/new_ws/src/openbci/src/config.txt"
) # absolute path is better
# sleep(10)
main()
def __init__(self, configFile, matrixFile, staFile, traFile):
Simulation.__init__(self, configFile, matrixFile)
self.read_sta_file(staFile)
self.read_tra_file(traFile)
return "south"
elif next_pos[1] - cur_pos[1] == -1 and next_pos[0] - cur_pos[0] == 0:
return "north"
elif next_pos[1] - cur_pos[1] == 0 and next_pos[0] - cur_pos[0] == 0:
return "stay"
else:
raise ValueError('Invalid input: cur_pos ' + str(cur_pos) +
', next_pos ' + str(next_pos))
with open('ctrl.json') as f:
data = json.load(f)
nodes = data['nodes']
sim = Simulation('ex.config')
sim.draw()
cur_state = sim.get_state()
a_state = xy_to_state(cur_state['agents'][0])
o_state = xy_to_state(cur_state['moving_obstacles'][0])
current_node = nodes['130']
while True:
trans = current_node['trans']
index = str(random.choice(trans))
current_node = nodes[index]
next_o_state = get_o_state(current_node)
next_a_state = get_a_state(current_node)
a_state_pos = state_to_xy(a_state)
o_state_pos = state_to_xy(o_state)
next_a_state_pos = state_to_xy(next_a_state)
#!/usr/bin/env python
from environment import Simulation
from std_msgs.msg import String
import pygame
import rospy
# This will be your subscriber node.
# You will need to create a callback function.
# You will need to move sim.move(command) inside the callback function.
# command can only be one of the following "south", "north", "west", "east".
# Remember to initiate a ROS node and subscribe to the topic /cmd.
def callback(msg):
done, state = sim.move([msg.data])
def main():
rospy.init_node('subs', anonymous=True)
pub = rospy.Subscriber('cmd', String, callback)
done = False
while not done:
pass
if __name__ == '__main__':
sim = Simulation("/home/sahabi/catkin_ws/src/wiald/src/config.txt") # absolute path is better
main()
# return (time_step, spatial_step, collision, interrupt)
if (a_state_pos == (2, 1)):
f.close()
return (time_step, spatial_step, collision, interrupt)
collisions = 0
interrupts = 0
maximum_time_steps = 0
maximum_spatial_steps = 0
total_time_steps = 0
total_spatial_steps = 0
with open('GOAPvsADLnE.json') as f:
data = json.load(f)
nodes = data['nodes']
sim = Simulation('simulation.config')
for i in range(1, 11):
# collisions = collisions + simulate()
result = simulate(sim, data, nodes)
print i
print result
collisions = collisions + result[2]
interrupts = interrupts + result[3]
total_time_steps = total_time_steps + result[0]
total_spatial_steps = total_spatial_steps + result[1]
if (maximum_spatial_steps < result[1]):
maximum_spatial_steps = result[1]
if (maximum_time_steps < result[0]):
maximum_time_steps = result[0]