def __init__(self,
host='127.0.0.1',
port=2000,
city_name='Town03',
render_pygame=True,
warming_up_steps=50,
window_size=5):
self.client = carla.Client(host, port)
self.client.set_timeout(2.0)
self.hud = HUD(1700, 1000)
self._carla_world = self.client.get_world()
settings = self._carla_world.get_settings()
settings.synchronous_mode = True
settings.fixed_delta_seconds = 0.05
self._carla_world.apply_settings(settings)
self.world = World(self._carla_world, self.hud)
# time.sleep(2)
self.render_pygame = render_pygame
self.timestep = 0
self.warming_up_steps = warming_up_steps
self.window_size = 5
self.current_state = defaultdict(
list
) # {"CAV":[window_size, num_features=9], "LHDV":[window_size, num_features=6]}
def __init__(self, root_dir, source_limit, transform=None):
self.world = World()
self.speakers = []
for d_name in os.listdir(root_dir):
if os.path.isdir(os.path.join(root_dir, d_name)):
self.speakers.append(d_name)
print(self.speakers)
self.data = []
self.label = []
for i, d_name in enumerate(self.speakers):
data_dir = os.path.join(root_dir, d_name)
if os.path.isfile(os.path.join(data_dir, d_name + "_mcep.pickle")):
with open(os.path.join(data_dir, d_name + "_mcep.pickle"),
mode="rb") as data:
mceps = pickle.load(data)
mceps = mceps[:source_limit]
self.data.extend(mceps)
self.label.extend(np.ones((len(mceps))) * i)
print("[{}] mcep loaded.".format(d_name))
else:
mceps = []
f0s = []
for f in tqdm_notebook(os.listdir(data_dir)):
if not ".wav" in f:
continue
file_path = os.path.join(data_dir, f)
wav, _ = librosa.load(file_path, sr=hparams.fs)
if len(wav) <= 10:
continue
wav, _ = librosa.effects.trim(wav)
wav = wav.astype(np.double)
f0, spec, ap = self.world.analyze(wav)
mcep = self.world.mcep_from_spec(spec)
mcep = mcep.reshape(mcep.shape[0], mcep.shape[1], 1)
if mcep.shape[0] < 128:
continue
mceps.append(mcep)
f0s.append(f0)
# mceps = mceps[:source_limit]
self.data.extend(mceps)
self.label.extend(np.ones((len(mceps))) * i)
with open(os.path.join(data_dir, d_name + "_mcep.pickle"),
mode='wb') as f:
pickle.dump(mceps, f)
log_f0s_mean, log_f0s_std = logf0_statistics(f0s)
mceps_mean, mceps_std = mcep_statistics(mceps)
np.savez(os.path.join(data_dir, d_name + "_norm.npz"),
log_f0s_mean=log_f0s_mean,
log_f0s_std=log_f0s_std,
mceps_mean=mceps_mean,
mceps_std=mceps_std)
print("[{}] voices converted.".format(d_name))
self.transform = transform
self.converter = Converter(root_dir, self.speakers)
def node(turtle_name, indx, step, no_turtles, world):
x = 0.0
y_start = indx * (world.window_height / no_turtles)
y_end = (indx + 1) * (world.window_height / no_turtles)
turtle = world.spawn(turtle_name, x, y_start)
draw(turtle, y_start, y_end, world, step)
world.kill(turtle_name)
if __name__ == '__main__':
rospy.init_node('draw')
task = rospy.get_param('~task', default='none')
world = World()
step = rospy.get_param('~step_size', default=0.5)
no_turtles = int(math.ceil(world.window_height / (step)))
nodes = []
for i in range(no_turtles):
nodes.append(
Process(target=node,
args=('t' + str(i), i, step, no_turtles, world)))
for node in nodes:
node.start()
for node in nodes:
node.join()
turtle1 = Turtle('turtle1')
from agents import *
from models import *
from utils.World import *
import sys
import pickle
"""
This script is to visualize evaluation result.
usage:
python view_result.py path_to_record_file
"""
# instantiate the class
f = open(sys.argv[1], 'rb')
record = pickle.load(f)
dT = record.dT
exec('robot = ' + record.model + '(' + record.algorithm + '(), dT)')
human = HumanBall3D(MobileAgent(), dT)
w = World(dT, human, robot, record)
base.run()
import sys
from utils import World, ElfLossException
if __name__ == "__main__":
for power in range(4, 20):
w = World(sys.argv[1], elves_power=power)
try:
n = w.play(verbose=False, elves_loss=True)
except ElfLossException:
print(f"Elf lost with power {power}")
else:
tot_hit_pts = sum([obj.hit_points for obj in w.goblins_and_elves])
print(
f"Battle with power {power} ended in round {n} with a total of "
f"{tot_hit_pts}, solution is {tot_hit_pts*n}")
break
pub = rospy.Publisher('scan', LaserScan, queue_size=10)
name = rospy.get_param('~turtle_name', default='turtle1')
map_tc = rospy.get_param('~map_topic', default='/map')
range_max = rospy.get_param('~range_max', default=3.0)
range_min = rospy.get_param('~range_min', default=0.0)
angle_min = rospy.get_param('~angle_min', default=-1.5)
angle_max = rospy.get_param('~angle_max', default=1.5)
frame_id = rospy.get_param('~frame_id', default='base_link')
linear_increment = rospy.get_param('~linear_increment', default=0.1)
angle_increment = rospy.get_param('~angle_increment', default=0.01)
freq = rospy.get_param('~rate', default=100)
rate = rospy.Rate(freq)
world = World(map_topic=map_tc)
turtle1 = Turtle(name)
msg = LaserScan()
msg.angle_min = angle_min
msg.angle_max = angle_max
msg.angle_increment = angle_increment
msg.range_max = range_max
msg.range_min = range_min
msg.time_increment = 0.001
msg.range_min = range_min
msg.header.frame_id = frame_id
start = time()
while not rospy.is_shutdown():
scan_time = time() - start
start = time()
import sys
from utils import World
if __name__ == "__main__":
w = World(sys.argv[1])
w.print()
n = w.play(verbose=False)
tot_hit_pts = sum([obj.hit_points for obj in w.goblins_and_elves])
print(
f"Battle ended in round {n} with a total of {tot_hit_pts}, solution is {tot_hit_pts*n}"
)
w.print()
from agents import * from models import * from utils.World import * # end class world # instantiate the class dT = 0.05 # robot = RobotArm(SublevelSafeSet(), dT); # robot = Unicycle(SafeSet(), dT); robot = Ball(SafeSet(), dT) # human = InteractiveHumanBall2D(SafeSet(d_min=1, k_v=2), dT); human = HumanBall2D(MobileAgent, dT) w = World(dT, human, robot) base.run()