def _reset(self):
if self.eps_count % self.switch_frequency == 0:
# kill the scene
p.resetSimulation()
self.r_camera_mul.terminate()
self.r_camera_rgb._close()
print("Garbage collection", gc.collect())
snapshot = tracemalloc.take_snapshot()
if self.old_snapshot is not None:
top_stats = snapshot.compare_to(self.old_snapshot, 'lineno')
print("[ Top 20 ]")
for stat in top_stats[:20]:
print(stat)
self.old_snapshot = snapshot
# select new scene
self.switch_model(self.model_selection)
self.scene = None
self._robot_introduced = False
self._scene_introduced = False
self.robot_introduce(Husky(self.config, env=self))
self.scene_introduce()
return HuskyCoordinateNavigateEnv._reset(self)
def __init__(self, config, gpu_count=0):
self.config = self.parse_config(config)
print(self.config["envname"])
assert (self.config["envname"] == self.__class__.__name__
or self.config["envname"] == "TestEnv")
CameraRobotEnv.__init__(self,
self.config,
gpu_count,
scene_type="building",
tracking_camera=tracking_camera)
self.robot_introduce(Husky(self.config, env=self))
self.scene_introduce()
self.total_reward = 0
self.total_frame = 0
self.flag_timeout = 1
self.visualid = -1
self.lastid = None
self.gui = self.config["mode"] == "gui"
if self.gui:
self.visualid = p.createVisualShape(
p.GEOM_MESH,
fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'),
meshScale=[0.2, 0.2, 0.2],
rgbaColor=[1, 0, 0, 0.7])
self.colisionid = p.createCollisionShape(
p.GEOM_MESH,
fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'),
meshScale=[0.2, 0.2, 0.2])
self.lastid = None
self.obstacle_dist = 100
def __init__(self, config, is_discrete=False, gpu_count=0):
self.config = self.parse_config(config)
self.gui = self.config["mode"] == "gui"
self.model_id = self.config["model_id"]
self.timestep = self.config["speed"]["timestep"]
self.frame_skip = self.config["speed"]["frameskip"]
self.resolution = self.config["resolution"]
self.tracking_camera = tracking_camera
target_orn, target_pos = self.config["target_orn"], self.config[
"target_pos"]
initial_orn, initial_pos = self.config["initial_orn"], self.config[
"initial_pos"]
self.total_reward = 0
self.total_frame = 0
CameraRobotEnv.__init__(self,
config,
gpu_count,
scene_type="building",
use_filler=self.config["use_filler"])
self.robot_introduce(
Husky(
#HuskyHighCamera(
is_discrete=is_discrete,
initial_pos=initial_pos,
initial_orn=initial_orn,
target_pos=target_pos,
resolution=self.resolution,
env=self))
self.scene_introduce()
assert (self.config["envname"] == self.__class__.__name__
or self.config["envname"] == "TestEnv")
def __init__(self, config, gpu_idx=0):
self.config = self.parse_config(config)
assert (self.config["envname"] == self.__class__.__name__
or self.config["envname"] == "TestEnv")
CameraRobotEnv.__init__(self,
self.config,
gpu_idx,
scene_type="stadium" if self.config["model_id"]
== "stadium" else "building",
tracking_camera=tracking_camera)
self.robot_introduce(Husky(self.config, env=self))
#WARNING:Robot tanımının yapıldığı yer devam etmeli, aksi taktirde 'Bad inertia hatası'
self.scene_introduce()
self.total_reward = 0
self.total_frame = 0
self.eps_so_far = 0
self.hold_rew = 0
self.success = 0
self.SR = 0
self.SPL = 0
self.position = []
self.old_pos = []
self.shortest_path = 0
self.actual_path = 0
def __init__(self, config, gpu_idx=0):
self.config = self.parse_config(config)
assert (self.config["envname"] == self.__class__.__name__
or self.config["envname"] == "TestEnv")
CameraRobotEnv.__init__(self,
self.config,
gpu_idx,
scene_type="stadium" if self.config["model_id"]
== "stadium" else "building",
tracking_camera=tracking_camera)
self.robot_introduce(Husky(self.config, env=self))
self.scene_introduce()
self.total_reward = 0
self.total_frame = 0
quat_orientation = p.getQuaternionFromEuler([0, 0, 3.14 / 2])
base_position = [-14.3, 5, 1.2]
base_position = [1, 1, 3.2]
obj_file_name = 'TeaCup.urdf'
self._ballUniqueId = p.loadURDF(
obj_file_name,
basePosition=base_position,
baseOrientation=quat_orientation,
#flags=p.URDF_USE_MATERIAL_COLORS_FROM_MTL,
globalScaling=0.25)
def introduce_custom_robot(self):
if self.config["robot"] == 'Husky':
self.robot_introduce(Husky(self.config, env=self))
print("Robot camera pos", self.robot.eyes.get_position())
elif self.config["robot"] == 'Turtlebot':
self.robot_introduce(Turtlebot(self.config, env=self))
print("Robot camera pos", self.robot.eyes.get_position())
def __init__(self, config, gpu_count=0):
#assert(self.config["envname"] == self.__class__.__name__ or self.config["envname"] == "TestEnv")
self.config = self.parse_config(config)
SemanticRobotEnv.__init__(self, self.config, gpu_count,
scene_type="building",
tracking_camera=tracking_camera)
self.robot_introduce(Husky(self.config, env=self))
self.scene_introduce()
self.total_reward = 0
self.total_frame = 0
self.flag_timeout = 1
self.visualid = -1
self.lastid = None
self.gui = self.config["mode"] == "gui"
if self.gui:
self.visualid = p.createVisualShape(p.GEOM_MESH, fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'), meshScale=[0.2, 0.2, 0.2], rgbaColor=[1, 0, 0, 0.7])
self.colisionid = p.createCollisionShape(p.GEOM_MESH, fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'), meshScale=[0.2, 0.2, 0.2])
self.lastid = None
self.obstacle_dist = 100
self.semantic_flagIds = []
debug_semantic = 1
if debug_semantic:
for i in range(self.semantic_pos.shape[0]):
pos = self.semantic_pos[i]
pos[2] += 0.2 # make flag slight above object
visualId = p.createVisualShape(p.GEOM_MESH, fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'), meshScale=[0.1, 0.1, 0.1], rgbaColor=[1, 0, 0, 0.7])
flagId = p.createMultiBody(baseVisualShapeIndex=visualId, baseCollisionShapeIndex=-1, basePosition=pos)
self.semantic_flagIds.append(flagId)
def __init__(self, config, gpu_count=0):
self.config = self.parse_config(config)
assert (self.config["envname"] == self.__class__.__name__
or self.config["envname"] == "TestEnv")
CameraRobotEnv.__init__(self,
self.config,
gpu_count,
scene_type="building",
tracking_camera=tracking_camera)
self.robot_introduce(Husky(self.config, env=self))
self.scenarios = self.get_scenarios(self.config["scenarios"])
self.n_scenarios = len(self.scenarios)
def __init__(self,
config,
is_discrete=False,
gpu_count=0,
scene_type="building"):
self.config = self.parse_config(config)
target_orn, target_pos = self.config["target_orn"], self.config[
"target_pos"]
initial_orn, initial_pos = self.config["initial_orn"], self.config[
"initial_pos"]
self.gui = self.config["mode"] == "gui"
self.timestep = self.config["speed"]["timestep"]
self.frame_skip = self.config["speed"]["frameskip"]
self.model_id = self.config["model_id"]
## Mode initialized with mode=SENSOR
self.tracking_camera = tracking_camera
self.flag_timeout = 1
self.visualid = -1
self.lastid = None
self.resolution = self.config["resolution"]
CameraRobotEnv.__init__(
self,
config,
gpu_count,
scene_type="building",
use_filler=self.config["use_filler"],
)
self.robot_introduce(
Husky(is_discrete,
initial_pos=initial_pos,
initial_orn=initial_orn,
target_pos=target_pos,
resolution=self.resolution,
env=self))
self.scene_introduce()
if self.gui:
self.visualid = p.createVisualShape(
p.GEOM_MESH,
fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'),
meshScale=[0.2, 0.2, 0.2],
rgbaColor=[1, 0, 0, 0.7])
self.colisionid = p.createCollisionShape(
p.GEOM_MESH,
fileName=os.path.join(pybullet_data.getDataPath(), 'cube.obj'),
meshScale=[0.2, 0.2, 0.2])
self.lastid = None
self.obstacle_dist = 100
assert (self.config["envname"] == self.__class__.__name__
or self.config["envname"] == "TestEnv")
def __init__(self, config, gpu_count=0):
self.config = self.parse_config(config)
assert(self.config["envname"] == self.__class__.__name__ or self.config["envname"] == "TestEnv")
CameraRobotEnv.__init__(self, self.config, gpu_count,
scene_type="building",
tracking_camera=tracking_camera)
self.robot_introduce(Husky(self.config, env=self))
self.scene_introduce()
self.total_reward = 0
self.total_frame = 0
def __init__(self, config, gpu_count=0, render_map=False, fixed_endpoints=False, switch_frequency=None):
tracemalloc.start()
self.old_snapshot = None
self.config = self.parse_config(config)
CameraRobotEnv.__init__(self, self.config, gpu_count, scene_type='building', tracking_camera=tracking_camera)
self.fixed_endpoints = fixed_endpoints
self.target_radius = 0.5
self.render_map = render_map
self.render_resolution = 256
if switch_frequency is not None:
self.switch_frequency = switch_frequency
else:
self.switch_frequency = self.config["switch_frequency"]
# configure environment
self.model_selection = self.config["model_selection"]
assert self.model_selection in ['in_order', 'random']
self.target_mu = self.config["target_distance_mu"]
self.target_sigma = self.config["target_distance_sigma"]
self.model_ids = self.config["model_ids"]
self.z_coordinates = {}
for model_id, z in zip(self.model_ids, self.config["z_coordinates"]):
self.z_coordinates[model_id] = z
self.all_locations = self.get_valid_locations()
self.model_index = -1
if not self.fixed_endpoints:
self.switch_model(self.model_selection)
else:
self.model_id = self.config["model_id"]
self.default_z = self.config["initial_pos"][2]
self.start_location = self.select_agent_location()
self.config["initial_pos"] = [self.start_location[0], self.start_location[1], self.default_z]
self.target_location = self.select_target()
# introduce robot and scene
self.robot_introduce(Husky(self.config, env=self))
self.scene_introduce()
self.eps_count = 1
if render_map:
mesh_file = os.path.join(get_model_path(self.model_id), "mesh_z_up.obj")
self.map_renderer = NavigationMapRenderer(mesh_file, self.default_z, 0.1, render_resolution=self.render_resolution)
def __init__(self, config, gpu_count=0):
self.config = self.parse_config(config)
assert(self.config["envname"] == self.__class__.__name__ or self.config["envname"] == "TestEnv")
CameraRobotEnv.__init__(self, self.config, gpu_count,
scene_type="stadium" if self.config["model_id"]=="stadium" else "building",
tracking_camera=tracking_camera)
if "robot" in self.config.keys():
self.introduce_custom_robot()
else:
self.robot_introduce(Husky(self.config, env=self))
self.scene_introduce()
self.total_reward = 0
self.total_frame = 0
if self.config["ideal_position_control"]:
for _ in range(100):
self.scene.global_step()
def __init__(self, config, gpu_idx=0):
self.config = self.parse_config(config)
assert (self.config["envname"] == self.__class__.__name__
or self.config["envname"] == "TestEnv")
CameraRobotEnv.__init__(self,
self.config,
gpu_idx,
scene_type="stadium" if self.config["model_id"]
== "stadium" else "building",
tracking_camera=tracking_camera)
self.robot_introduce(Husky(self.config, env=self))
self.scene_introduce()
self.total_reward = 0
self.total_frame = 0
#self.flag_timeout = 1
#self.visualid = -1
#self.lastid = None
self.gui = self.config["mode"] == "gui"
'''if self.gui: