def __init__(self,
world=None,
id_world=None,
vehicle=None,
id_vehicle=None,
dt=VehiclesConstants.DEFAULT_SIMULATION_DT,
**kwargs):
self.dt = dt
if not ((world is not None) ^ (id_world is not None)):
raise ValueError('Specify exactly one of "world" and "id_world".')
if not ((vehicle is not None) ^ (id_vehicle is not None)):
raise ValueError('Specify exactly one of "vehicle" '
'and "id_vehicle".')
vehicles = get_conftools_vehicles()
worlds = get_conftools_worlds()
# TODO: user shortcuts
if vehicle is not None:
id_vehicle = vehicle['id']
vehicle_spec = vehicle
# TODO: check well formed
vehicle = vehicles.instance_spec(vehicle)
else:
vehicle_spec = vehicles[id_vehicle]
vehicle = vehicles.instance(id_vehicle)
if world is not None:
id_world = world['id']
# TODO: check well formed
world_spec = world
world = worlds.instance_spec(world)
else:
world_spec = worlds[id_world]
world = worlds.instance(id_world)
VehicleSimulation.__init__(self, vehicle, world, **kwargs)
cmd_spec = StreamSpec.from_yaml(
self.vehicle.dynamics.get_commands_spec())
self.last_commands = cmd_spec.get_default_value()
if len(self.vehicle.sensors) == 0:
raise Exception('Vehicle %r has no sensors defined.' % id_vehicle)
obs_spec = create_obs_spec(self.vehicle)
self._boot_spec = BootSpec(obs_spec=obs_spec, cmd_spec=cmd_spec,
id_robot=id_vehicle)
# XXX: id, desc, extra?
self.commands_source = BootOlympicsConstants.CMD_SOURCE_REST
self.boot_episode_started = False
# Save for later
self.id_world = id_world
self.id_vehicle = id_vehicle
self.world_spec = world_spec
self.vehicle_spec = vehicle_spec
def plotting(id_vehicle, vehicle): # @UnusedVariable
id_world = 'SBox2_10a'
world = get_conftools_worlds().instance(id_world)
simulation = VehicleSimulation(vehicle, world)
simulation.new_episode()
simulation.compute_observations()
sim_state = simulation.to_yaml()
plot_params = dict(grid=2,
zoom=vehicle.radius * 1.5,
width=400,
height=400,
show_sensor_data=True)
f = tempfile.NamedTemporaryFile(suffix='.png', delete=True)
vehicles_cairo_display_png(filename=f.name,
sim_state=sim_state,
**plot_params)
f = tempfile.NamedTemporaryFile(suffix='.pdf', delete=True)
vehicles_cairo_display_pdf(filename=f.name,
sim_state=sim_state,
**plot_params)
f = tempfile.NamedTemporaryFile(suffix='.svg', delete=True)
vehicles_cairo_display_svg(filename=f.name,
sim_state=sim_state,
**plot_params)
def __init__(self, id_worlds):
self.id_worlds = id_worlds
self.worlds = [get_conftools_worlds().instance(id_world)
for id_world in id_worlds]
wb = [w.bounds for w in self.worlds]
bounds = [[np.min([b[0][0] for b in wb]),
np.max([b[0][1] for b in wb])],
[np.min([b[1][0] for b in wb]),
np.max([b[1][1] for b in wb])],
[np.min([b[2][0] for b in wb]),
np.max([b[2][1] for b in wb])]]
bounds = np.array(bounds).tolist()
World.__init__(self, bounds)
def __init__(self, id_worlds):
self.id_worlds = id_worlds
self.worlds = [
get_conftools_worlds().instance(id_world) for id_world in id_worlds
]
wb = [w.bounds for w in self.worlds]
bounds = [
[np.min([b[0][0] for b in wb]),
np.max([b[0][1] for b in wb])],
[np.min([b[1][0] for b in wb]),
np.max([b[1][1] for b in wb])],
[np.min([b[2][0] for b in wb]),
np.max([b[2][1] for b in wb])]
]
bounds = np.array(bounds).tolist()
World.__init__(self, bounds)
def plotting(id_vehicle, vehicle): # @UnusedVariable
id_world = 'SBox2_10a'
world = get_conftools_worlds().instance(id_world)
simulation = VehicleSimulation(vehicle, world)
simulation.new_episode()
simulation.compute_observations()
sim_state = simulation.to_yaml()
plot_params = dict(grid=2,
zoom=vehicle.radius * 1.5,
width=400, height=400,
show_sensor_data=True)
f = tempfile.NamedTemporaryFile(suffix='.png', delete=True)
vehicles_cairo_display_png(filename=f.name, sim_state=sim_state,
**plot_params)
f = tempfile.NamedTemporaryFile(suffix='.pdf', delete=True)
vehicles_cairo_display_pdf(filename=f.name, sim_state=sim_state,
**plot_params)
f = tempfile.NamedTemporaryFile(suffix='.svg', delete=True)
vehicles_cairo_display_svg(filename=f.name, sim_state=sim_state,
**plot_params)
def __init__(self,
world=None,
id_world=None,
vehicle=None,
id_vehicle=None,
dt=VehiclesConstants.DEFAULT_SIMULATION_DT,
**kwargs):
self.dt = dt
if not ((world is not None) ^ (id_world is not None)):
raise ValueError('Specify exactly one of "world" and "id_world".')
if not ((vehicle is not None) ^ (id_vehicle is not None)):
raise ValueError('Specify exactly one of "vehicle" '
'and "id_vehicle".')
vehicles = get_conftools_vehicles()
worlds = get_conftools_worlds()
# TODO: user shortcuts
if vehicle is not None:
id_vehicle = vehicle['id']
vehicle_spec = vehicle
# TODO: check well formed
vehicle = vehicles.instance_spec(vehicle)
else:
vehicle_spec = vehicles[id_vehicle]
vehicle = vehicles.instance(id_vehicle)
if world is not None:
id_world = world['id']
# TODO: check well formed
world_spec = world
world = worlds.instance_spec(world)
else:
world_spec = worlds[id_world]
world = worlds.instance(id_world)
VehicleSimulation.__init__(self, vehicle, world, **kwargs)
cmd_spec = StreamSpec.from_yaml(
self.vehicle.dynamics.get_commands_spec())
self.last_commands = cmd_spec.get_default_value()
if len(self.vehicle.sensors) == 0:
raise Exception('Vehicle %r has no sensors defined.' % id_vehicle)
obs_spec = create_obs_spec(self.vehicle)
self._boot_spec = BootSpec(obs_spec=obs_spec,
cmd_spec=cmd_spec,
id_robot=id_vehicle)
# XXX: id, desc, extra?
self.commands_source = BootOlympicsConstants.CMD_SOURCE_REST
self.boot_episode_started = False
# Save for later
self.id_world = id_world
self.id_vehicle = id_vehicle
self.world_spec = world_spec
self.vehicle_spec = vehicle_spec
#
# try:
# function(*arguments)
# except:
# msg = ('Error detected when running test (%s); displaying debug info.'
# % function.__name__)
# if dynamics is not None:
# msg += '\ndynamics: %s' % dynamics
# # TODO: write other info
# logger.error(msg)
# raise
for_all_dynamics = comptests_for_all(get_conftools_dynamics())
for_all_vehicles = comptests_for_all(get_conftools_vehicles())
for_all_worlds = comptests_for_all(get_conftools_worlds())
for_all_sensors = comptests_for_all(get_conftools_sensors())
for_all_skins = comptests_for_all(get_conftools_skins())
for_all_world_vehicle_pairs = comptests_for_all_pairs(get_conftools_worlds(),
get_conftools_vehicles())
#
# for_all_dynamics = fancy_test_decorator(lister=all_dynamics,
# arguments=lambda x: (x, get_dynamics(x)),
# attributes=lambda x: dict(dynamics=x))
#
# for_all_worlds = fancy_test_decorator(lister=all_worlds,
# arguments=lambda x: (x, get_world(x)),
# attributes=lambda x: dict(world=x))
#
# for_all_vehicles = fancy_test_decorator(lister=all_vehicles,
# if an exception is detected. '''
#
# try:
# function(*arguments)
# except:
# msg = ('Error detected when running test (%s); displaying debug info.'
# % function.__name__)
# if dynamics is not None:
# msg += '\ndynamics: %s' % dynamics
# # TODO: write other info
# logger.error(msg)
# raise
for_all_dynamics = comptests_for_all(get_conftools_dynamics())
for_all_vehicles = comptests_for_all(get_conftools_vehicles())
for_all_worlds = comptests_for_all(get_conftools_worlds())
for_all_sensors = comptests_for_all(get_conftools_sensors())
for_all_skins = comptests_for_all(get_conftools_skins())
for_all_world_vehicle_pairs = comptests_for_all_pairs(get_conftools_worlds(),
get_conftools_vehicles())
#
# for_all_dynamics = fancy_test_decorator(lister=all_dynamics,
# arguments=lambda x: (x, get_dynamics(x)),
# attributes=lambda x: dict(dynamics=x))
#
# for_all_worlds = fancy_test_decorator(lister=all_worlds,
# arguments=lambda x: (x, get_world(x)),
# attributes=lambda x: dict(world=x))
#
# for_all_vehicles = fancy_test_decorator(lister=all_vehicles,