def figure_4(figure="a", save_dir="figures"):
print("Creating figure 4{} ...".format(figure))
save_path = save_dir + "/Figure_4" + figure
if figure == "a":
goal_filepath = "figures/goals_laby/*.pkl"
elif figure == "b":
goal_filepath = "figures/goals_laby_hgg/*.pkl"
else:
raise Exception("Only Figures 4a-b!")
goal_list = []
for filepath in sorted(glob.glob(goal_filepath)):
print(filepath)
file = open(filepath, "rb")
goal = pickle.load(file)
goal_list.append(goal)
color_list = ["red", "orange", "yellow", "green"]
adapt_dict = dict()
adapt_dict["field"] = [1.3, 0.75, 0.5, 0.25, 0.35, 0.1]
adapt_dict["obstacles"] = [[1.3 - 0.1, 0.75, 0.6 - 0.1, 0.11, 0.02, 0.1],
[1.3 - 0.23, 0.75, 0.6 - 0.1, 0.02, 0.35, 0.1],
[1.3 + 0.03, 0.75, 0.6 - 0.1, 0.02, 0.2, 0.1]]
num_vertices = [31, 31, 11]
graph = DistanceGraph(None,
field=adapt_dict["field"],
num_vertices=num_vertices,
obstacles=adapt_dict["obstacles"])
graph.plot_goals(goals=goal_list,
colors=color_list,
azim=-56,
elev=28,
save_path=save_path)
print("... saved to: {}.pdf".format(save_path))
def figure_6(figure="a", save_dir="figures"):
print("Creating figure {} ...".format(figure))
save_path = save_dir + "/Figure_6" + figure
if figure == 'a':
goal_filepath = "figures/goals_pushNew/*.pkl"
else:
goal_filepath = "figures/goals_pushNew_hgg/*.pkl"
goal_list = []
for filepath in sorted(glob.glob(goal_filepath)):
print(filepath)
file = open(filepath, "rb")
goal = pickle.load(file)
goal_list.append(goal)
color_list = ["red", "orange", "yellow", "green"]
adapt_dict = dict()
adapt_dict["field"] = [1.3, 0.75, 0.5, 0.25, 0.35, 0.1]
adapt_dict["obstacles"] = [[1.3-0.07, 0.75, 0.6-0.1, 0.18, 0.04, 0.1]]
num_vertices = [31, 31, 11]
graph = DistanceGraph(None, field=adapt_dict["field"], num_vertices=num_vertices, obstacles=adapt_dict["obstacles"])
graph.plot_goals(goals=goal_list, colors=color_list, azim=-56, elev=28, save_path=save_path, extra=1)
print("... saved to: {}.pdf".format(save_path))
def create_graph_distance(env, args):
obstacles = list()
field = env.env.env.adapt_dict["field"]
obstacles = env.env.env.adapt_dict["obstacles"]
num_vertices = args.num_vertices
graph = DistanceGraph(args=args, field=field, num_vertices=num_vertices, obstacles=obstacles)
graph.compute_cs_graph()
graph.compute_dist_matrix()
return graph
def create_graph_distance(self):
obstacles = list()
field = self.env.env.env.adapt_dict["field"]
obstacles = self.env.env.env.adapt_dict["obstacles"]
num_vertices = self.args.num_vertices
graph = DistanceGraph(args=self.args, field=field, num_vertices=num_vertices, obstacles=obstacles)
graph.compute_cs_graph()
graph.compute_dist_matrix()
self.graph = graph
def figure_1(figure="a", save_dir="figures"):
print("Creating figure 1{} ...".format(figure))
save_path = save_dir + "/Figure_1" + figure
adapt_dict = dict()
# FetchPushObstacle modified!
adapt_dict["field"] = [1.3, 0.75, 0.6, 0.25, 0.35, 0.2]
adapt_dict["obstacles"] = [[1.3, 0.75, 0.6 - 0.1, 0.25, 0.05, 0.1]]
num_vertices = [21, 21, 11] # [20, 20, 10]
goal_1a = [1.5, 0.645, 0.44]
goal_1b = [1.5, 0.75, 0.68]
goal_2 = [1.5, 0.855, 0.44]
graph = DistanceGraph(None,
field=adapt_dict["field"],
num_vertices=num_vertices,
obstacles=adapt_dict["obstacles"])
graph.compute_cs_graph()
graph.compute_dist_matrix(compute_predecessors=True)
if figure == "a":
dist, path = graph.get_dist(goal_1a, goal_2, return_path=True)
goals = [goal_1a, goal_2]
print("Dist: {}".format(dist))
graph.plot_graph(goals=goals,
obstacle_vertices=False,
graph=False,
path=path,
save_path=save_path)
elif figure == "b":
dist, path = graph.get_dist(goal_1b, goal_2, return_path=True)
goals = [goal_1b, goal_2]
print("Dist: {}".format(dist))
graph.plot_graph(goals=goals,
obstacle_vertices=False,
graph=False,
path=path,
save_path=save_path)
elif figure == "c":
goals = [goal_1a, goal_2]
graph.plot_graph(goals=goals,
obstacle_vertices=False,
graph=False,
path=goals,
save_path=save_path)
elif figure == "d":
goals = [goal_1b, goal_2]
graph.plot_graph(goals=goals,
obstacle_vertices=False,
graph=False,
path=goals,
save_path=save_path)
else:
raise Exception("Only Figures 1a-d!")
print("... saved to: {}.pdf".format(save_path))
def figure_2(figure="a", save_dir="figures"):
print("Creating figure 2{} ...".format(figure))
save_path = save_dir + "/Figure_2" + figure
adapt_dict = dict()
# FetchPushObstacle modified!
adapt_dict["field"] = [1.3, 0.75, 0.6, 0.25, 0.35, 0.2]
adapt_dict["obstacles"] = [[1.3, 0.75, 0.6 - 0.1, 0.25, 0.2, 0.1]]
num_vertices = [4, 4, 4]
graph = DistanceGraph(None,
field=adapt_dict["field"],
num_vertices=num_vertices,
obstacles=adapt_dict["obstacles"])
graph.compute_cs_graph()
graph.compute_dist_matrix(compute_predecessors=True)
if figure == "a":
print("HI")
graph.plot_graph(obstacle_vertices=True,
graph=False,
azim=10,
elev=16,
save_path=save_path)
elif figure == "b":
graph.plot_graph(obstacle_vertices=True,
graph=True,
azim=10,
elev=16,
save_path=save_path)
elif figure == "c":
goal_1 = [1.5, 0.45, 0.405]
goal_2 = [1.4, 1.05, 0.405]
goals = [goal_1, goal_2]
dist, path = graph.get_dist(goal_1, goal_2, return_path=True)
print("Dist: {}".format(dist))
print("Path: {}".format(path))
graph.plot_graph(obstacle_vertices=True,
graph=True,
goals=goals,
path=path,
azim=10,
elev=16,
save_path=save_path)
elif figure == "d":
goal_1 = [1.5, 0.65, 0.78]
goal_2 = [1.4, 1.05, 0.405]
goals = [goal_1, goal_2]
dist, path = graph.get_dist(goal_1, goal_2, return_path=True)
print("Dist: {}".format(dist))
graph.plot_graph(obstacle_vertices=True,
graph=True,
goals=goals,
path=path,
azim=10,
elev=16,
save_path=save_path)
elif figure == "e":
goal_1 = [1.5, 0.75, 0.405]
goal_2 = [1.4, 1.05, 0.405]
goals = [goal_1, goal_2]
dist, path = graph.get_dist(goal_1, goal_2, return_path=True)
print("Dist: {}".format(dist))
graph.plot_graph(obstacle_vertices=True,
graph=True,
goals=goals,
path=path,
azim=10,
elev=16,
save_path=save_path)
elif figure == "f":
goal_1 = [1.5, 0.35, 0.405]
goal_2 = [1.4, 1.05, 0.405]
goals = [goal_1, goal_2]
dist, path = graph.get_dist(goal_1, goal_2, return_path=True)
print("Dist: {}".format(dist))
graph.plot_graph(obstacle_vertices=True,
graph=True,
goals=goals,
path=path,
azim=10,
elev=16,
save_path=save_path)
else:
raise Exception("Only Figures 2a-f!")
print("... saved to: {}.pdf".format(save_path))
def figure_7(figure="a", save_dir="figures"):
print("Creating figure 7{} ...".format(figure))
save_path = save_dir + "/Figure_7" + figure
adapt_dict = dict()
# FetchPushObstacle modified!
adapt_dict["field"] = [1.3, 0.75, 0.6, 0.25, 0.35, 0.2]
adapt_dict["obstacles"] = [[1.3 - 0.05, 0.75, 0.6 - 0.1, 0.20, 0.04, 0.1]]
num_vertices = [20, 41, 10] # [20, 20, 10]
goal_1 = [1.3, 0.6, 0.4]
goal_2 = [1.3, 0.9, 0.4]
graph = DistanceGraph(None, field=adapt_dict["field"], num_vertices=num_vertices, obstacles=adapt_dict["obstacles"])
graph.compute_cs_graph()
goals = [goal_1, goal_2]
graph.compute_dist_matrix(compute_predecessors=True)
if figure == "a":
dist, path = graph.get_dist(goal_1, goal_2, return_path=True)
goals = [goal_1, goal_2]
print("Dist: {}".format(dist))
graph.plot_graph(goals=goals, obstacle_vertices=False, graph=False, azim=10, elev=16, path=path, save_path=save_path, extra=1)
if figure == "b":
graph.plot_graph(goals=goals, obstacle_vertices=False, graph=False, azim=10, elev=16, path=goals,
save_path=save_path, extra=1)
print("... saved to: {}.pdf".format(save_path))