def plan_one_path(obs_i, obs, obc, start_state, goal_state,
goal_inform_state, max_iteration, out_queue):
if args.env_type == 'pendulum':
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1: bvp_solver.solve(x0, x1, 200, num_steps,
1, 20, step_sz)
elif args.env_type == 'cartpole_obs':
#system = standard_cpp_systems.RectangleObs(obs[i], 4.0, 'cartpole')
system = _sst_module.CartPole()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 200, num_steps, step_sz * 1, step_sz * 50, x_init,
u_init, t_init)
goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type in [
'acrobot_obs', 'acrobot_obs_2', 'acrobot_obs_3',
'acrobot_obs_4', 'acrobot_obs_8'
]:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
psopt_system = _sst_module.PSOPTAcrobot()
propagate_system = standard_cpp_systems.RectangleObs(
obs, 6., 'acrobot')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
step_sz = 0.02
num_steps = 21
goal_radius = 2.0
random_seed = 0
delta_near = .1
delta_drain = 0.05
#print('creating planner...')
planner = vis_planners.DeepSMPWrapper(mlp_path, encoder_path,
cost_mlp_path, cost_encoder_path,
args.bvp_iter, num_steps,
step_sz, propagate_system, 3)
# generate a path by using SST to plan for some maximal iterations
time0 = time.time()
#print('obc:')
#print(obc.shape)
#print(delta_near)
#print(delta_drain)
#print('start_state:')
#print(start_state)
#print('goal_state:')
#print(goal_state)
res_x, res_u, res_t = planner.plan("sst", args.plan_type, propagate_system, psopt_system, obc.flatten(), start_state, goal_inform_state, goal_inform_state, \
goal_radius, max_iteration, distance_computer, \
args.delta_near, args.delta_drain)
#res_x, res_u, res_t = planner.plan("sst", propagate_system, psopt_system, obc.flatten(), start_state, goal_state, goal_inform_state, \
# goal_radius, max_iteration, propagate_system.distance_computer(), \
# delta_near, delta_drain)
plan_time = time.time() - time0
"""
# visualization
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
#ax.set_autoscale_on(True)
ax.set_xlim(-np.pi, np.pi)
ax.set_ylim(-np.pi, np.pi)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
hl_for, = ax.plot([], [], 'g')
hl_back, = ax.plot([], [], 'r')
hl_for_mpnet, = ax.plot([], [], 'lightgreen')
hl_back_mpnet, = ax.plot([], [], 'salmon')
print(obs)
def update_line(h, ax, new_data):
new_data = wrap_angle(new_data, propagate_system)
h.set_data(np.append(h.get_xdata(), new_data[0]), np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def remove_last_k(h, ax, k):
h.set_data(h.get_xdata()[:-k], h.get_ydata()[:-k])
def draw_update_line(ax):
#ax.relim()
#ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
#plt.show()
def wrap_angle(x, system):
circular = system.is_circular_topology()
res = np.array(x)
for i in range(len(x)):
if circular[i]:
# use our previously saved version
res[i] = x[i] - np.floor(x[i] / (2*np.pi))*(2*np.pi)
if res[i] > np.pi:
res[i] = res[i] - 2*np.pi
return res
dtheta = 0.1
feasible_points = []
infeasible_points = []
imin = 0
imax = int(2*np.pi/dtheta)
for i in range(imin, imax):
for j in range(imin, imax):
x = np.array([dtheta*i-np.pi, dtheta*j-np.pi, 0., 0.])
if IsInCollision(x, obs_i):
infeasible_points.append(x)
else:
feasible_points.append(x)
feasible_points = np.array(feasible_points)
infeasible_points = np.array(infeasible_points)
print('feasible points')
print(feasible_points)
print('infeasible points')
print(infeasible_points)
ax.scatter(feasible_points[:,0], feasible_points[:,1], c='yellow')
ax.scatter(infeasible_points[:,0], infeasible_points[:,1], c='pink')
if len(res_x) != 0:
xs_to_plot = np.array(res_x)
for i in range(len(xs_to_plot)):
xs_to_plot[i] = wrap_angle(xs_to_plot[i], propagate_system)
ax.scatter(xs_to_plot[:,0], xs_to_plot[:,1], c='orange')
print('solution: x')
print(res_x)
print('solution: u')
print(res_u)
print('solution: t')
print(res_t)
# draw start and goal
ax.scatter(start_state[0], goal_state[0], marker='X')
draw_update_line(ax)
plt.waitforbuttonpress()
#im = planner.visualize_nodes(propagate_system)
#sec = input('Let us wait for user input')
#show_image_opencv(im, "planning_tree", wait=True)
"""
print('plan time: %fs' % (plan_time))
if len(res_x) == 0:
print('failed.')
out_queue.put(-1)
else:
print('path succeeded.')
out_queue.put(plan_time)
def plan_one_path(obs_i, obs, obc, start_state, goal_state, goal_inform_state, max_iteration, data, out_queue):
if args.env_type == 'pendulum':
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1: bvp_solver.solve(x0, x1, 200, num_steps, 1, 20, step_sz)
elif args.env_type == 'cartpole_obs':
#system = standard_cpp_systems.RectangleObs(obs[i], 4.0, 'cartpole')
system = _sst_module.CartPole()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1, x_init, u_init, t_init: bvp_solver.solve(x0, x1, 200, num_steps, step_sz*1, step_sz*50, x_init, u_init, t_init)
goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type in ['acrobot_obs','acrobot_obs_2', 'acrobot_obs_3', 'acrobot_obs_4', 'acrobot_obs_8']:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
psopt_system = _sst_module.PSOPTAcrobot()
propagate_system = standard_cpp_systems.RectangleObs(obs, 6., 'acrobot')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
bvp_wrapper = _sst_module.PSOPTBVPWrapper(psopt_system, 4, 1, 0)
step_sz = 0.02
num_steps = 20
psopt_num_steps = 20
psopt_step_sz = 0.02
goal_radius=2
random_seed=0
#delta_near=1.0
#delta_drain=0.5
delta_near=0.1
delta_drain=0.05
#print('creating planner...')
planner = vis_planners.DeepSMPWrapper(mlp_path, encoder_path,
cost_mlp_path, cost_encoder_path,
20, psopt_num_steps+1, psopt_step_sz, step_sz, propagate_system, args.device)
# generate a path by using SST to plan for some maximal iterations
time0 = time.time()
#print('obc:')
#print(obc.shape)
#print(delta_near)
#print(delta_drain)
#print('start_state:')
#print(start_state)
#print('goal_state:')
#print(goal_state)
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
#ax.set_autoscale_on(True)
ax.set_xlim(-np.pi, np.pi)
ax.set_ylim(-np.pi, np.pi)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
hl_for, = ax.plot([], [], 'g')
hl_back, = ax.plot([], [], 'r')
hl_for_mpnet, = ax.plot([], [], 'lightgreen')
hl_back_mpnet, = ax.plot([], [], 'salmon')
#print(obs)
def update_line(h, ax, new_data):
new_data = wrap_angle(new_data, propagate_system)
h.set_data(np.append(h.get_xdata(), new_data[0]), np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def remove_last_k(h, ax, k):
h.set_data(h.get_xdata()[:-k], h.get_ydata()[:-k])
def draw_update_line(ax):
#ax.relim()
#ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
#plt.show()
def wrap_angle(x, system):
circular = system.is_circular_topology()
res = np.array(x)
for i in range(len(x)):
if circular[i]:
# use our previously saved version
res[i] = x[i] - np.floor(x[i] / (2*np.pi))*(2*np.pi)
if res[i] > np.pi:
res[i] = res[i] - 2*np.pi
return res
dtheta = 0.1
feasible_points = []
infeasible_points = []
imin = 0
imax = int(2*np.pi/dtheta)
circular = psopt_system.is_circular_topology()
for i in range(imin, imax):
for j in range(imin, imax):
x = np.array([dtheta*i-np.pi, dtheta*j-np.pi, 0., 0.])
if IsInCollision(x, obs_i):
infeasible_points.append(x)
else:
feasible_points.append(x)
feasible_points = np.array(feasible_points)
infeasible_points = np.array(infeasible_points)
print('feasible points')
print(feasible_points)
print('infeasible points')
print(infeasible_points)
ax.scatter(feasible_points[:,0], feasible_points[:,1], c='yellow')
ax.scatter(infeasible_points[:,0], infeasible_points[:,1], c='pink')
#for i in range(len(data)):
# update_line(hl, ax, data[i])
data = np.array(data)
ax.scatter(data[:,0], data[:,1], c='lightblue', s=10)
ax.scatter(data[-1,0], data[-1,1], c='red', s=10, marker='*')
draw_update_line(ax)
state_t = start_state
state_t = data[0]
for data_i in range(0,len(data),num_steps):
print('iteration: %d' % (data_i))
print('state_t:')
print(state_t)
min_dis_to_goal = 100000.
min_xs_to_plot = []
for trials in range(10):
x_init, u_init, t_init = init_informer(propagate_system, state_t, data[data_i], psopt_num_steps+1, psopt_step_sz)
print('x_init:')
print(x_init)
bvp_x, bvp_u, bvp_t = bvp_wrapper.solve(state_t, x_init[-1], 20, psopt_num_steps+1, 0.8*psopt_step_sz*psopt_num_steps, 2*psopt_step_sz*psopt_num_steps, \
x_init, u_init, t_init)
print('bvp_x:')
print(bvp_x)
print('bvp_u:')
print(bvp_u)
print('bvp_t:')
print(bvp_t)
if len(bvp_u) != 0:# and bvp_t[0] > 0.01: # turn bvp_t off if want to use step_bvp
# propagate data
#p_start = bvp_x[0]
p_start = state_t
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(bvp_t)):
#state_i.append(len(detail_paths)-1)
max_steps = int(np.round(bvp_t[k]/step_sz))
accum_cost = 0.
for step in range(1,max_steps+1):
p_start = dynamics(p_start, bvp_u[k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
cost.append(accum_cost)
accum_cost = 0.
xs_to_plot = np.array(state)
for i in range(len(xs_to_plot)):
xs_to_plot[i] = wrap_angle(xs_to_plot[i], propagate_system)
delta_x = xs_to_plot[-1] - data[data_i]
for i in range(len(delta_x)):
if circular[i]:
delta_x[i] = delta_x[i] - np.floor(delta_x[i] / (2*np.pi))*(2*np.pi)
if delta_x[i] > np.pi:
delta_x[i] = delta_x[i] - 2*np.pi
dis = np.linalg.norm(delta_x)
if dis <= min_dis_to_goal:
min_dis_to_goal = dis
min_xs_to_plot = xs_to_plot
#ax.scatter(xs_to_plot[:,0], xs_to_plot[:,1], c='green')
ax.scatter(min_xs_to_plot[:,0], min_xs_to_plot[:,1], c='green', s=10.0)
# draw start and goal
#ax.scatter(start_state[0], goal_state[0], marker='X')
draw_update_line(ax)
#state_t = min_xs_to_plot[-1]
# try using mpnet_res as new start
state_t = data[data_i]
#state_t = min_xs_to_plot[-1]
print('data_i:')
print(data[data_i])
#else:
# # in incollision
# state_t = data[data_i]
#if len(res_x) == 0:
# print('failed.')
out_queue.put(0)
def plan_one_path(obs_i, obs, obc, start_state, goal_state, goal_inform_state, cost_i, max_iteration, out_queue):
if args.env_type in ['acrobot_obs','acrobot_obs_2', 'acrobot_obs_3', 'acrobot_obs_4', 'acrobot_obs_8']:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
psopt_system = _sst_module.PSOPTAcrobot()
propagate_system = standard_cpp_systems.RectangleObs(obs, 6., 'acrobot')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
step_sz = 0.02
num_steps = 21
goal_radius=2.0
random_seed=0
delta_near=1.0
delta_drain=0.5
device = 3
#print('creating planner...')
planner = vis_planners.DeepSMPWrapper(mlp_path, encoder_path, cost_mlp_path, cost_encoder_path, \
200, num_steps, step_sz, propagate_system, device)
#cost_threshold = cost_i * 1.1
cost_threshold = 100000000.
# generate a path by using SST to plan for some maximal iterations
time0 = time.time()
res_x, res_u, res_t = planner.plan_tree_SMP_cost_gradient("sst", propagate_system, psopt_system, obc.flatten(), start_state, goal_inform_state, goal_inform_state, \
goal_radius, max_iteration, distance_computer, \
delta_near, delta_drain, cost_threshold, 15)
plan_time = time.time() - time0
"""
# visualization
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
#ax.set_autoscale_on(True)
ax.set_xlim(-np.pi, np.pi)
ax.set_ylim(-np.pi, np.pi)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
hl_for, = ax.plot([], [], 'g')
hl_back, = ax.plot([], [], 'r')
hl_for_mpnet, = ax.plot([], [], 'lightgreen')
hl_back_mpnet, = ax.plot([], [], 'salmon')
#print(obs)
def update_line(h, ax, new_data):
new_data = wrap_angle(new_data, propagate_system)
h.set_data(np.append(h.get_xdata(), new_data[0]), np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def remove_last_k(h, ax, k):
h.set_data(h.get_xdata()[:-k], h.get_ydata()[:-k])
def draw_update_line(ax):
#ax.relim()
#ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
#plt.show()
def wrap_angle(x, system):
circular = system.is_circular_topology()
res = np.array(x)
for i in range(len(x)):
if circular[i]:
# use our previously saved version
res[i] = x[i] - np.floor(x[i] / (2*np.pi))*(2*np.pi)
if res[i] > np.pi:
res[i] = res[i] - 2*np.pi
return res
dtheta = 0.1
feasible_points = []
infeasible_points = []
imin = 0
imax = int(2*np.pi/dtheta)
for i in range(imin, imax):
for j in range(imin, imax):
x = np.array([dtheta*i-np.pi, dtheta*j-np.pi, 0., 0.])
if IsInCollision(x, obs_i):
infeasible_points.append(x)
else:
feasible_points.append(x)
feasible_points = np.array(feasible_points)
infeasible_points = np.array(infeasible_points)
print('feasible points')
print(feasible_points)
print('infeasible points')
print(infeasible_points)
ax.scatter(feasible_points[:,0], feasible_points[:,1], c='yellow')
ax.scatter(infeasible_points[:,0], infeasible_points[:,1], c='pink')
#for i in range(len(data)):
# update_line(hl, ax, data[i])
draw_update_line(ax)
#state_t = start_state
if len(res_u):
# propagate data
p_start = res_x[0]
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(res_u)):
#state_i.append(len(detail_paths)-1)
max_steps = int(res_t[k]/step_sz)
accum_cost = 0.
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][k])
# modify it because of small difference between data and actual propagation
p_start = res_x[k]
state[-1] = res_x[k]
for step in range(1,max_steps+1):
p_start = dynamics(p_start, res_u[k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
#print('control')
#print(controls[i][j])
cost.append(accum_cost)
accum_cost = 0.
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][-1])
state[-1] = res_x[-1]
xs_to_plot = np.array(state)
for i in range(len(xs_to_plot)):
xs_to_plot[i] = wrap_angle(xs_to_plot[i], propagate_system)
if IsInCollision(xs_to_plot[i], obs_i):
print('in collision')
ax.scatter(xs_to_plot[:,0], xs_to_plot[:,1], c='green')
# draw start and goal
#ax.scatter(start_state[0], goal_state[0], marker='X')
draw_update_line(ax)
plt.waitforbuttonpress()
"""
#im = planner.visualize_nodes(propagate_system)
#sec = input('Let us wait for user input')
#show_image_opencv(im, "planning_tree", wait=True)
# validate if the path contains collision
"""
if len(res_u):
# propagate data
p_start = res_x[0]
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(res_u)):
#state_i.append(len(detail_paths)-1)
max_steps = int(res_t[k]/step_sz)
accum_cost = 0.
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][k])
# modify it because of small difference between data and actual propagation
p_start = res_x[k]
state[-1] = res_x[k]
for step in range(1,max_steps+1):
p_start = dynamics(p_start, res_u[k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
#print('control')
#print(controls[i][j])
cost.append(accum_cost)
accum_cost = 0.
# check collision for the new state
assert not IsInCollision(p_start, obs_i)
#print('p_start:')
#print(p_start)
#print('data:')
#print(paths[i][j][-1])
state[-1] = res_x[-1]
# validation end
"""
print('plan time: %fs' % (plan_time))
if len(res_x) == 0:
print('failed.')
out_queue.put(-1)
else:
print('path succeeded.')
print('cost: %f' % (np.sum(res_t)))
print('cost_threshold: %f' % (cost_threshold))
print('data cost: %f' % (cost_i))
out_queue.put(plan_time)
def plan_one_path(obs_i, obs, obc, start_state, goal_state,
goal_inform_state, cost_i, max_iteration, data,
out_queue):
if args.env_type == 'pendulum':
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1: bvp_solver.solve(x0, x1, 200, num_steps,
1, 20, step_sz)
elif args.env_type == 'cartpole_obs':
obs_width = 4.0
psopt_system = _sst_module.PSOPTCartPole()
propagate_system = standard_cpp_systems.RectangleObs(
obs, obs_width, 'cartpole')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
step_sz = 0.002
num_steps = 101
goal_radius = 1.5
random_seed = 0
delta_near = 2.0
delta_drain = 1.2
device = 3
num_sample = 10
min_time_steps = 10
max_time_steps = 200
mpnet_goal_threshold = 2.0
mpnet_length_threshold = 40
pick_goal_init_threshold = 0.1
pick_goal_end_threshold = 0.8
pick_goal_start_percent = 0.4
elif args.env_type in [
'acrobot_obs', 'acrobot_obs_2', 'acrobot_obs_3',
'acrobot_obs_4', 'acrobot_obs_8'
]:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
psopt_system = _sst_module.PSOPTAcrobot()
propagate_system = standard_cpp_systems.RectangleObs(
obs, 6., 'acrobot')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
step_sz = 0.02
num_steps = 21
goal_radius = 2.0
random_seed = 0
delta_near = 1.0
delta_drain = 0.5
#print('creating planner...')
planner = vis_planners.DeepSMPWrapper(mlp_path, encoder_path, cost_mlp_path, cost_encoder_path, \
200, num_steps, step_sz, propagate_system, 3)
#cost_threshold = cost_i * 1.1
cost_threshold = 100000000.
"""
# visualization
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
#ax.set_autoscale_on(True)
ax.set_xlim(-np.pi, np.pi)
ax.set_ylim(-np.pi, np.pi)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
hl_for, = ax.plot([], [], 'g')
hl_back, = ax.plot([], [], 'r')
hl_for_mpnet, = ax.plot([], [], 'lightgreen')
hl_back_mpnet, = ax.plot([], [], 'salmon')
#print(obs)
def update_line(h, ax, new_data):
new_data = wrap_angle(new_data, propagate_system)
h.set_data(np.append(h.get_xdata(), new_data[0]), np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def remove_last_k(h, ax, k):
h.set_data(h.get_xdata()[:-k], h.get_ydata()[:-k])
def draw_update_line(ax):
#ax.relim()
#ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
#plt.show()
def wrap_angle(x, system):
circular = system.is_circular_topology()
res = np.array(x)
for i in range(len(x)):
if circular[i]:
# use our previously saved version
res[i] = x[i] - np.floor(x[i] / (2*np.pi))*(2*np.pi)
if res[i] > np.pi:
res[i] = res[i] - 2*np.pi
return res
dtheta = 0.1
feasible_points = []
infeasible_points = []
imin = 0
imax = int(2*np.pi/dtheta)
for i in range(imin, imax):
for j in range(imin, imax):
x = np.array([dtheta*i-np.pi, dtheta*j-np.pi, 0., 0.])
if IsInCollision(x, obs_i):
infeasible_points.append(x)
else:
feasible_points.append(x)
feasible_points = np.array(feasible_points)
infeasible_points = np.array(infeasible_points)
print('feasible points')
print(feasible_points)
print('infeasible points')
print(infeasible_points)
ax.scatter(feasible_points[:,0], feasible_points[:,1], c='yellow')
ax.scatter(infeasible_points[:,0], infeasible_points[:,1], c='pink')
for i in range(len(data)):
update_line(hl, ax, data[i])
draw_update_line(ax)
# visualization end
"""
# visualize for cartpole
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
ax.set_autoscale_on(True)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
def update_line(h, ax, new_data):
h.set_data(np.append(h.get_xdata(), new_data[0]),
np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def draw_update_line(ax):
ax.relim()
ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
# randomly pick up a point in the data, and find similar data in the dataset
# plot the next point
#ax.set_autoscale_on(True)
ax.set_xlim(-30, 30)
ax.set_ylim(-np.pi, np.pi)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
hl_for, = ax.plot([], [], 'g')
hl_back, = ax.plot([], [], 'r')
hl_for_mpnet, = ax.plot([], [], 'lightgreen')
hl_back_mpnet, = ax.plot([], [], 'salmon')
#print(obs)
def update_line(h, ax, new_data):
new_data = wrap_angle(new_data, propagate_system)
h.set_data(np.append(h.get_xdata(), new_data[0]),
np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def remove_last_k(h, ax, k):
h.set_data(h.get_xdata()[:-k], h.get_ydata()[:-k])
def draw_update_line(ax):
#ax.relim()
#ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
#plt.show()
def wrap_angle(x, system):
circular = system.is_circular_topology()
res = np.array(x)
for i in range(len(x)):
if circular[i]:
# use our previously saved version
res[i] = x[i] - np.floor(x[i] / (2 * np.pi)) * (2 * np.pi)
if res[i] > np.pi:
res[i] = res[i] - 2 * np.pi
return res
dx = 1
dtheta = 0.1
feasible_points = []
infeasible_points = []
imin = 0
imax = int(2 * 30. / dx)
jmin = 0
jmax = int(2 * np.pi / dtheta)
for i in range(imin, imax):
for j in range(jmin, jmax):
x = np.array([dx * i - 30, 0., dtheta * j - np.pi, 0.])
if IsInCollision(x, obs_i):
infeasible_points.append(x)
else:
feasible_points.append(x)
feasible_points = np.array(feasible_points)
infeasible_points = np.array(infeasible_points)
print('feasible points')
print(feasible_points)
print('infeasible points')
print(infeasible_points)
ax.scatter(feasible_points[:, 0], feasible_points[:, 2], c='yellow')
ax.scatter(infeasible_points[:, 0], infeasible_points[:, 2], c='pink')
#for i in range(len(data)):
# update_line(hl, ax, data[i])
draw_update_line(ax)
#state_t = start_state
# visualization end
# generate a path by using SST to plan for some maximal iterations
state_t = start_state
pick_goal_threshold = .0
ax.scatter(goal_inform_state[0],
goal_inform_state[2],
marker='*',
c='red') # cartpole
for i in range(max_iteration):
time0 = time.time()
# determine if picking goal based on iteration number
goal_prob = random.random()
#flag=1: using MPNet
#flag=0: not using MPNet
if goal_prob <= pick_goal_threshold:
flag = 0
else:
flag = 1
bvp_x, bvp_u, bvp_t, mpnet_res = planner.plan_tree_SMP_step("sst", propagate_system, psopt_system, obc.flatten(), state_t, goal_inform_state, goal_inform_state, \
flag, goal_radius, max_iteration, distance_computer, \
delta_near, delta_drain, cost_threshold)
if len(
bvp_u
) != 0: # and bvp_t[0] > 0.01: # turn bvp_t off if want to use step_bvp
xw_scat = ax.scatter(mpnet_res[0],
mpnet_res[2],
c='lightgreen')
draw_update_line(ax)
# propagate data
p_start = bvp_x[0]
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(bvp_u)):
#state_i.append(len(detail_paths)-1)
max_steps = int(bvp_t[k] / step_sz)
accum_cost = 0.
for step in range(1, max_steps + 1):
p_start = dynamics(p_start, bvp_u[k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
cost.append(accum_cost)
accum_cost = 0.
xs_to_plot = np.array(state)
for j in range(len(xs_to_plot)):
xs_to_plot[j] = wrap_angle(xs_to_plot[j], propagate_system)
xs_to_plot = xs_to_plot[::5]
#ax.scatter(xs_to_plot[:,0], xs_to_plot[:,1], c='green') # acrobot
ax.scatter(xs_to_plot[:, 0], xs_to_plot[:, 2],
c='green') # cartpole
#ax.scatter(bvp_x[:,0], bvp_x[:,1], c='green')
print('solution: x')
print(bvp_x)
print('solution: u')
print(bvp_u)
print('solution: t')
print(bvp_t)
# draw start and goal
#ax.scatter(start_state[0], goal_state[0], marker='X')
draw_update_line(ax)
#state_t = state[-1]
print('state_t:')
print(state_t)
print('mpnet_res')
print(mpnet_res)
# based on flag, determine how to change state_t
if flag:
# only change state_t if in MPNet inform mode
#if len(bvp_u) != 0:
if True:
# try using steered result as next start
#if not IsInCollision(state_t, obs_i):
state_t = mpnet_res
print('after copying to state_t:')
print('state_t')
print(state_t)
# if in collision, then not using it
else:
print('failure')
state_t = start_state # failed BVP, back to origin
plan_time = time.time() - time0
print('plan time: %fs' % (plan_time))
if len(res_u) == 0:
print('failed.')
out_queue.put(-1)
else:
print('path succeeded.')
print('cost: %f' % (np.sum(res_t)))
print('cost_threshold: %f' % (cost_threshold))
print('data cost: %f' % (cost_i))
out_queue.put(plan_time)
def plan_one_path(obs_i, obs, obc, start_state, goal_state,
goal_inform_state, max_iteration, data, out_queue):
if args.env_type == 'pendulum':
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1: bvp_solver.solve(x0, x1, 200, num_steps,
1, 20, step_sz)
elif args.env_type == 'cartpole_obs':
#system = standard_cpp_systems.RectangleObs(obs[i], 4.0, 'cartpole')
system = _sst_module.CartPole()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 200, num_steps, step_sz * 1, step_sz * 50, x_init,
u_init, t_init)
goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type in [
'acrobot_obs', 'acrobot_obs_2', 'acrobot_obs_3',
'acrobot_obs_4', 'acrobot_obs_8'
]:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
psopt_system = _sst_module.PSOPTAcrobot()
propagate_system = standard_cpp_systems.RectangleObs(
obs, 6., 'acrobot')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
step_sz = 0.02
num_steps = 21
goal_radius = 2
random_seed = 0
#delta_near=1.0
#delta_drain=0.5
delta_near = 0.1
delta_drain = 0.05
#print('creating planner...')
planner = vis_planners.DeepSMPWrapper(mlp_path, encoder_path,
cost_mlp_path, cost_encoder_path,
20, num_steps, step_sz,
propagate_system, args.device)
# generate a path by using SST to plan for some maximal iterations
time0 = time.time()
#print('obc:')
#print(obc.shape)
#print(delta_near)
#print(delta_drain)
#print('start_state:')
#print(start_state)
#print('goal_state:')
#print(goal_state)
state_t = start_state
pick_goal_threshold = 0.10
goal_linear_inc_start_iter = int(0.6 * max_iteration)
goal_linear_inc_end_iter = max_iteration
goal_linear_inc_end_threshold = 0.95
goal_linear_inc = (goal_linear_inc_end_threshold -
pick_goal_threshold) / (goal_linear_inc_end_iter -
goal_linear_inc_start_iter)
start_time = time.time()
plan_time = -1
for i in tqdm(range(max_iteration)):
print('iteration: %d' % (i))
print('state_t:')
print(state_t)
# calculate if using goal or not
use_goal_prob = random.random()
if i > goal_linear_inc_start_iter:
pick_goal_threshold += goal_linear_inc
if use_goal_prob <= pick_goal_threshold:
flag = 0
else:
flag = 1
bvp_x, bvp_u, bvp_t, mpnet_res = planner.plan_step("sst", propagate_system, psopt_system, obc.flatten(), state_t, goal_inform_state, goal_inform_state, \
flag, goal_radius, max_iteration, distance_computer, \
delta_near, delta_drain)
solution = planner.get_solution()
if solution is not None:
plan_time = time.time() - start_time
if plan_time == -1:
print('failed.')
out_queue.put(-1)
else:
print('path succeeded.')
out_queue.put(plan_time) #if len(res_x) == 0:
def plan_one_path(obs_i, obs, obc, start_state, goal_state,
goal_inform_state, max_iteration, data, out_queue):
if args.env_type == 'pendulum':
system = standard_cpp_systems.PSOPTPendulum()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 2, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1: bvp_solver.solve(x0, x1, 200, num_steps,
1, 20, step_sz)
elif args.env_type == 'cartpole_obs':
#system = standard_cpp_systems.RectangleObs(obs[i], 4.0, 'cartpole')
system = _sst_module.CartPole()
bvp_solver = _sst_module.PSOPTBVPWrapper(system, 4, 1, 0)
step_sz = 0.002
num_steps = 20
traj_opt = lambda x0, x1, x_init, u_init, t_init: bvp_solver.solve(
x0, x1, 200, num_steps, step_sz * 1, step_sz * 50, x_init,
u_init, t_init)
goal_S0 = np.identity(4)
goal_rho0 = 1.0
elif args.env_type in [
'acrobot_obs', 'acrobot_obs_2', 'acrobot_obs_3',
'acrobot_obs_4', 'acrobot_obs_8'
]:
#system = standard_cpp_systems.RectangleObs(obs[i], 6.0, 'acrobot')
obs_width = 6.0
psopt_system = _sst_module.PSOPTAcrobot()
propagate_system = standard_cpp_systems.RectangleObs(
obs, 6., 'acrobot')
distance_computer = propagate_system.distance_computer()
#distance_computer = _sst_module.euclidean_distance(np.array(propagate_system.is_circular_topology()))
psopt_step_sz = 0.02
psopt_num_steps = 21
step_sz = 0.02
num_steps = 21
goal_radius = 2
random_seed = 0
#delta_near=1.0
#delta_drain=0.5
delta_near = 0.1
delta_drain = 0.05
#print('creating planner...')
planner = vis_planners.DeepSMPWrapper(mlp_path, encoder_path,
cost_mlp_path, cost_encoder_path,
20, psopt_num_steps,
psopt_step_sz, step_sz,
propagate_system, args.device)
# generate a path by using SST to plan for some maximal iterations
time0 = time.time()
#print('obc:')
#print(obc.shape)
#print(delta_near)
#print(delta_drain)
#print('start_state:')
#print(start_state)
#print('goal_state:')
#print(goal_state)
plt.ion()
fig = plt.figure()
ax = fig.add_subplot(111)
#ax.set_autoscale_on(True)
ax.set_xlim(-np.pi, np.pi)
ax.set_ylim(-np.pi, np.pi)
hl, = ax.plot([], [], 'b')
#hl_real, = ax.plot([], [], 'r')
hl_for, = ax.plot([], [], 'g')
hl_back, = ax.plot([], [], 'r')
hl_for_mpnet, = ax.plot([], [], 'lightgreen')
hl_back_mpnet, = ax.plot([], [], 'salmon')
#print(obs)
def update_line(h, ax, new_data):
new_data = wrap_angle(new_data, propagate_system)
h.set_data(np.append(h.get_xdata(), new_data[0]),
np.append(h.get_ydata(), new_data[1]))
#h.set_xdata(np.append(h.get_xdata(), new_data[0]))
#h.set_ydata(np.append(h.get_ydata(), new_data[1]))
def remove_last_k(h, ax, k):
h.set_data(h.get_xdata()[:-k], h.get_ydata()[:-k])
def draw_update_line(ax):
#ax.relim()
#ax.autoscale_view()
fig.canvas.draw()
fig.canvas.flush_events()
#plt.show()
def wrap_angle(x, system):
circular = system.is_circular_topology()
res = np.array(x)
for i in range(len(x)):
if circular[i]:
# use our previously saved version
res[i] = x[i] - np.floor(x[i] / (2 * np.pi)) * (2 * np.pi)
if res[i] > np.pi:
res[i] = res[i] - 2 * np.pi
return res
dtheta = 0.1
feasible_points = []
infeasible_points = []
imin = 0
imax = int(2 * np.pi / dtheta)
for i in range(imin, imax):
for j in range(imin, imax):
x = np.array([dtheta * i - np.pi, dtheta * j - np.pi, 0., 0.])
if IsInCollision(x, obs_i):
infeasible_points.append(x)
else:
feasible_points.append(x)
feasible_points = np.array(feasible_points)
infeasible_points = np.array(infeasible_points)
print('feasible points')
print(feasible_points)
print('infeasible points')
print(infeasible_points)
ax.scatter(feasible_points[:, 0], feasible_points[:, 1], c='yellow')
ax.scatter(infeasible_points[:, 0], infeasible_points[:, 1], c='pink')
for i in range(len(data)):
update_line(hl, ax, data[i])
draw_update_line(ax)
state_t = start_state
pick_goal_threshold = 0.10
goal_linear_inc_start_iter = int(0.6 * max_iteration)
goal_linear_inc_end_iter = max_iteration
goal_linear_inc_end_threshold = 0.95
goal_linear_inc = (goal_linear_inc_end_threshold -
pick_goal_threshold) / (goal_linear_inc_end_iter -
goal_linear_inc_start_iter)
for i in range(max_iteration):
print('iteration: %d' % (i))
print('state_t:')
print(state_t)
# calculate if using goal or not
use_goal_prob = random.random()
if i > goal_linear_inc_start_iter:
pick_goal_threshold += goal_linear_inc
if use_goal_prob <= pick_goal_threshold:
flag = 0
else:
flag = 1
bvp_x, bvp_u, bvp_t, mpnet_res = planner.plan_step("sst", propagate_system, psopt_system, obc.flatten(), state_t, goal_inform_state, goal_inform_state, \
flag, goal_radius, max_iteration, distance_computer, \
delta_near, delta_drain)
plan_time = time.time() - time0
if len(
bvp_u
) != 0: # and bvp_t[0] > 0.01: # turn bvp_t off if want to use step_bvp
# propagate data
p_start = bvp_x[0]
detail_paths = [p_start]
detail_controls = []
detail_costs = []
state = [p_start]
control = []
cost = []
for k in range(len(bvp_u)):
#state_i.append(len(detail_paths)-1)
max_steps = int(bvp_t[k] / step_sz)
accum_cost = 0.
for step in range(1, max_steps + 1):
p_start = dynamics(p_start, bvp_u[k], step_sz)
p_start = enforce_bounds(p_start)
detail_paths.append(p_start)
accum_cost += step_sz
if (step % 1 == 0) or (step == max_steps):
state.append(p_start)
cost.append(accum_cost)
accum_cost = 0.
xs_to_plot = np.array(state)
for i in range(len(xs_to_plot)):
xs_to_plot[i] = wrap_angle(xs_to_plot[i], propagate_system)
#ax.scatter(xs_to_plot[:,0], xs_to_plot[:,1], c='green')
ax.scatter(bvp_x[:, 0], bvp_x[:, 1], c='green', s=10.0)
print('solution: x')
print(bvp_x)
print('solution: u')
print(bvp_u)
print('solution: t')
print(bvp_t)
# draw start and goal
#ax.scatter(start_state[0], goal_state[0], marker='X')
draw_update_line(ax)
xw_scat = ax.scatter(mpnet_res[0],
mpnet_res[1],
c='brown',
s=10.)
draw_update_line(ax)
#state_t = state[-1]
# try using mpnet_res as new start
state_t = mpnet_res
else:
# in incollision
state_t = start_state
#if len(res_x) == 0:
# print('failed.')
out_queue.put(0)