def boot_spec_from_ros_message(msg):
''' Infers the boot spec from a ROS message. '''
# Previously, we used to write only the range as a string
# for example, '[[0,1],[0,1],[0,1]]'
# But now, we use the YAML spec directly.
spec_string = msg.commands_spec
if spec_string[0] == '[':
commands_spec = eval(spec_string) # XXX: not safe
sensels_shape = msg.sensel_shape # TODO: check coherence
nu = len(commands_spec)
spec = {
'observations': {
'shape': list(sensels_shape),
'range': [0, 1], # XXX: we need something else here
'format': 'C'
},
'commands': {
'shape': [nu],
'range': map(list, commands_spec),
'format': ['C'] * nu
}
}
return BootSpec.from_yaml(spec)
elif spec_string[0] == '{':
return BootSpec.from_yaml(yaml_load(spec_string))
else:
raise ValueError('Cannot interpret spec for msg:\n%s' % spec_string)
def __init__(self, boot_spec, value,
dt=Constants.DEFAULT_SIMULATION_DT):
self.timestamp = time.time()
self.dt = dt
self.value = value
self.spec = BootSpec.from_yaml(boot_spec)
self.commands = self.spec.get_commands().get_default_value()
self.commands_source = Constants.CMD_SOURCE_REST
def check_conversions(x):
spec = BootSpec.from_yaml(x)
assert isinstance(spec, BootSpec)
spec_struct = spec.to_yaml()
assert isinstance(spec_struct, dict)
spec_struct_yaml = yaml.dump(spec_struct)
spec_struct2 = yaml.load(spec_struct_yaml)
spec2 = spec.from_yaml(spec_struct2)
assert spec == spec2
def get_spec(self):
self._make_sure_inited()
ncmds = self.discdds.get_num_commands()
cmd = make_streamels_finite_commands(ncommands=ncmds, default=0)
cmd_spec = StreamSpec(id_stream=None, streamels=cmd, extra={})
obs_spec = StreamSpec(id_stream=None,
streamels=make_streamels_rgb_float(self.shape),
extra={})
return BootSpec(obs_spec, cmd_spec)
def spec_from_group(group):
data_table = group.boot_stream
if 'boot_spec' in data_table.attrs:
# Old version
specs = str(data_table.attrs['boot_spec'])
else:
specs = str(group.boot_spec[0])
spec = BootSpec.from_yaml(yaml_load(specs))
return spec
def __init__(self, boot_spec,
dt=Constants.DEFAULT_SIMULATION_DT, t0=None, y0=None):
if t0 is None:
t0 = time.time()
self.timestamp = t0
self.dt = dt
if not isinstance(boot_spec, BootSpec):
boot_spec = BootSpec.from_yaml(boot_spec)
self.spec = boot_spec
self.commands = self.spec.get_commands().get_default_value()
self.commands_source = Constants.CMD_SOURCE_REST
self.y0 = y0
def dummy_robot_from_spec(boot_spec_yaml):
boot_spec = BootSpec.from_yaml(boot_spec_yaml)
robot = DummyRobot(boot_spec)
return robot
def __init__(self,
world=None,
id_world=None,
vehicle=None,
id_vehicle=None,
dt=VehiclesConstants.DEFAULT_SIMULATION_DT,
**kwargs):
self.dt = dt
if not ((world is not None) ^ (id_world is not None)):
raise ValueError('Specify exactly one of "world" and "id_world".')
if not ((vehicle is not None) ^ (id_vehicle is not None)):
raise ValueError('Specify exactly one of "vehicle" '
'and "id_vehicle".')
vehicles = get_conftools_vehicles()
worlds = get_conftools_worlds()
# TODO: user shortcuts
if vehicle is not None:
id_vehicle = vehicle['id']
vehicle_spec = vehicle
# TODO: check well formed
vehicle = vehicles.instance_spec(vehicle)
else:
vehicle_spec = vehicles[id_vehicle]
vehicle = vehicles.instance(id_vehicle)
if world is not None:
id_world = world['id']
# TODO: check well formed
world_spec = world
world = worlds.instance_spec(world)
else:
world_spec = worlds[id_world]
world = worlds.instance(id_world)
VehicleSimulation.__init__(self, vehicle, world, **kwargs)
cmd_spec = StreamSpec.from_yaml(
self.vehicle.dynamics.get_commands_spec())
self.last_commands = cmd_spec.get_default_value()
if len(self.vehicle.sensors) == 0:
raise Exception('Vehicle %r has no sensors defined.' % id_vehicle)
obs_spec = create_obs_spec(self.vehicle)
self._boot_spec = BootSpec(obs_spec=obs_spec,
cmd_spec=cmd_spec,
id_robot=id_vehicle)
# XXX: id, desc, extra?
self.commands_source = BootOlympicsConstants.CMD_SOURCE_REST
self.boot_episode_started = False
# Save for later
self.id_world = id_world
self.id_vehicle = id_vehicle
self.world_spec = world_spec
self.vehicle_spec = vehicle_spec
def check_parsing(x):
BootSpec.from_yaml(x)
