grey = RGB(0.0, 0.0, 0.0)
red = RGB(1.0, 0.0, 0.0)
blue = RGB(0.0, 0.0, 1.0)
led_commands = LEDSCommands(red, grey, blue, red, blue)
# Send PWM command
pwm_commands = PWMCommands(motor_left=pwm_left, motor_right=pwm_right)
commands = DB20Commands(pwm_commands, led_commands)
context.write('commands', commands)
def finish(self, context: Context):
context.info('finish()')
def jpg2rgb(image_data: bytes) -> np.ndarray:
"""
Reads JPG bytes as RGB.
"""
im = Image.open(io.BytesIO(image_data))
im = im.convert('RGB')
data = np.array(im)
assert data.ndim == 3
assert data.dtype == np.uint8
return data
if __name__ == '__main__':
node = Agent()
protocol = protocol_agent_DB20
wrap_direct(node=node, protocol=protocol)
def main():
node = GymDuckiebotSimulator()
protocol = protocol_simulator_duckiebot1
protocol.outputs['robot_state'] = MyRobotState
wrap_direct(node=node, protocol=protocol)
if dt > 60:
msg = "I have been waiting for commands from the ROS part" f" since {int(dt)} s"
context.error(msg)
raise Exception(msg)
time.sleep(0.02)
dt = time.time() - t0
if dt > 2.0:
context.info(f"obtained agent commands after {dt:.1f} s")
time.sleep(0.2)
pwm_left, pwm_right = self.agent.action
self.agent.updated = False
grey = RGB(0.5, 0.5, 0.5)
led_commands = LEDSCommands(grey, grey, grey, grey, grey)
pwm_commands = PWMCommands(motor_left=pwm_left, motor_right=pwm_right)
commands = DB20Commands(pwm_commands, led_commands)
context.write("commands", commands)
def finish(self, context):
context.info("finish()")
rospy.signal_shutdown("My job here is done.")
if __name__ == "__main__":
node = ROSTemplateAgent()
protocol = protocol_agent_DB20_timestamps
wrap_direct(node=node, protocol=protocol, args=[])
def main():
node = SagemakerILAgent()
protocol = protocol_agent_duckiebot1
wrap_direct(node=node, protocol=protocol)
def main():
node = PytorchRLBaseline()
protocol = protocol_agent_DB20
wrap_direct(node=node, protocol=protocol)
def main():
node = PytorchRLTemplateAgent(load_model=True, model_path="model_lf.pt")
protocol = protocol_agent_DB20
wrap_direct(node=node, protocol=protocol)
def main():
node = PytorchRLTemplateAgent(load_model=False, model_path=None)
protocol = protocol_agent_DB20
wrap_direct(node=node, protocol=protocol)
def main():
node = SimScenarioMaker()
protocol = protocol_scenario_maker
protocol.outputs['scenario'] = MyScenario
wrap_direct(node=node, protocol=protocol)
def main():
node = RandomAgent()
protocol = protocol_agent_DB20
wrap_direct(node=node, protocol=protocol)
while not self.agent.updated:
time.sleep(0.01)
pwm_left, pwm_right = self.agent.action
self.agent.updated = False
grey = RGB(0.5, 0.5, 0.5)
led_commands = LEDSCommands(grey, grey, grey, grey, grey)
pwm_commands = PWMCommands(motor_left=pwm_left, motor_right=pwm_right)
commands = Duckiebot1Commands(pwm_commands, led_commands)
context.write("commands", commands)
def finish(self, context):
context.info("finish()")
def jpg2rgb(image_data):
""" Reads JPG bytes as RGB"""
im = Image.open(io.BytesIO(image_data))
im = im.convert("RGB")
data = np.array(im)
assert data.ndim == 3
assert data.dtype == np.uint8
return data
if __name__ == "__main__":
agent = ROSTemplateAgent()
wrap_direct(agent, protocol_agent_duckiebot1)
def main() -> None:
node = MinimalAgent()
protocol = protocol_agent_duckiebot1
wrap_direct(node=node, protocol=protocol)
def main():
node = ImitationAgent()
protocol = protocol_agent_duckiebot1
wrap_direct(node=node, protocol=protocol)
def main():
node = PytorchRLTemplateAgent()
protocol = protocol_agent_DB20
wrap_direct(node=node, protocol=protocol)
def main():
node = DummyImageSource()
protocol = protocol_image_source
wrap_direct(node=node, protocol=protocol)
def submit_aido(submission):
protocol = protocol_agent_duckiebot1
wrap_direct(node=submission, protocol=protocol)
def main():
node = PytorchAgent()
protocol = protocol_agent_duckiebot1
wrap_direct(node=node, protocol=protocol)
def main():
node = DummyImageFilter()
protocol = protocol_image_filter
wrap_direct(node=node, protocol=protocol)
def main():
node = DuckieChallenger()
protocol = protocol_agent_DB20
wrap_direct(node=node, protocol=protocol)
def main():
node = TensorflowTemplateAgent()
protocol = protocol_agent_duckiebot1
wrap_direct(node=node, protocol=protocol)
def main():
node = BraitenbergAgent()
protocol = protocol_agent_DB20
wrap_direct(node=node, protocol=protocol)
def main():
node = DummySimulator()
protocol = protocol_simulator_duckiebot1
wrap_direct(node=node, protocol=protocol)
