def __init__(self, base, top):
self.base = base
self.top = top
cmd1 = StreamSpec.from_yaml(self.base.get_commands_spec())
cmd2 = StreamSpec.from_yaml(self.top.get_commands_spec())
cmd_spec = StreamSpec.join(cmd1, cmd2).to_yaml()
components = [self.base.get_state_space(), self.top.get_state_space()]
state_space = ProductManifold(components)
Dynamics.__init__(self,
commands_spec=cmd_spec,
state_space=state_space)
def __init__(self, base, top):
self.base = base
self.top = top
cmd1 = StreamSpec.from_yaml(self.base.get_commands_spec())
cmd2 = StreamSpec.from_yaml(self.top.get_commands_spec())
cmd_spec = StreamSpec.join(cmd1, cmd2).to_yaml()
components = [self.base.get_state_space(),
self.top.get_state_space()]
state_space = ProductManifold(components)
Dynamics.__init__(self, commands_spec=cmd_spec,
state_space=state_space)
def test_compression1():
spec = StreamSpec.from_yaml({"shape": [100, 100], "format": "C", "range": [0, 5], "default": 4})
yaml2 = spec.to_yaml()
assert yaml2["format"] == "C"
assert yaml2["range"] == [0, 5]
assert yaml2["default"] == 4
def check_pickling(x):
spec = StreamSpec.from_yaml(x)
sio = StringIO()
pickle.dump(spec, sio)
sio = StringIO(sio.getvalue())
spec2 = pickle.load(sio)
assert spec == spec2
def check_conversions(x):
spec = StreamSpec.from_yaml(x)
assert isinstance(spec, StreamSpec)
y = spec.to_yaml()
assert isinstance(y, dict)
spec2 = spec.from_yaml(y)
assert spec == spec2
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 create_obs_spec(vehicle):
obs_spec = None
for attached in vehicle.sensors:
sensor = attached.sensor
ss = StreamSpec.from_yaml(sensor.observations_spec)
obs_spec = (ss if obs_spec is None else StreamSpec.join(obs_spec, ss))
assert obs_spec is not None
assert obs_spec is not None
return obs_spec
def create_obs_spec(vehicle):
obs_spec = None
for attached in vehicle.sensors:
sensor = attached.sensor
ss = StreamSpec.from_yaml(sensor.observations_spec)
obs_spec = (ss if obs_spec is None
else StreamSpec.join(obs_spec, ss))
assert obs_spec is not None
assert obs_spec is not None
return obs_spec
def check_parsing(x):
StreamSpec.from_yaml(x)
def test_default_values_5():
""" 2D default values """
spec = StreamSpec.from_yaml({"shape": [2, 2], "format": "D", "range": [0, 5], "default": 4})
assert_allclose(spec.get_default_value(), [[4, 4], [4, 4]])
def test_default_values_4():
""" Given default value; all the same. """
spec = StreamSpec.from_yaml({"shape": [3], "format": "D", "range": [0, 5], "default": 4})
assert_allclose(spec.get_default_value(), [4, 4, 4])
def test_default_values_3():
""" Given default value. """
spec = StreamSpec.from_yaml({"shape": [3], "format": "D", "range": [0, 3], "default": [1, 2, 3]})
assert_allclose(spec.get_default_value(), [1, 2, 3])
def test_default_values_2():
""" Default default value is middle of range,
rounded down for discrete. """
spec = StreamSpec.from_yaml({"shape": [3], "format": "D", "range": [0, 1]})
assert_allclose(spec.get_default_value(), [0, 0, 0])
def test_default_values_1():
""" Default default value is middle of range. """
spec = StreamSpec.from_yaml({"shape": [3], "format": "C", "range": [0, 1]})
assert_allclose(spec.get_default_value(), [0.5, 0.5, 0.5])
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
