From c728170ef126b867d23602d53657af5a13ed0abc Mon Sep 17 00:00:00 2001 From: Han Date: Mon, 30 Dec 2024 23:44:11 +0800 Subject: [PATCH 1/8] set goal --- irsim/usage/16fov_world/fov_world.py | 7 +++--- irsim/usage/16fov_world/fov_world.yaml | 5 +++-- irsim/world/object_base.py | 31 ++++++++++++++++++++++++++ 3 files changed, 38 insertions(+), 5 deletions(-) diff --git a/irsim/usage/16fov_world/fov_world.py b/irsim/usage/16fov_world/fov_world.py index bb7475d..38fd8e2 100644 --- a/irsim/usage/16fov_world/fov_world.py +++ b/irsim/usage/16fov_world/fov_world.py @@ -6,14 +6,15 @@ env.step() # env.robot.set_state([x, y, theta]) - + # env.robot.set_goal([10, 30, 0]) + for obs in env.obstacle_list: if obs.fov_detect_object(env.robot): print(f'The robot is in the FOV of the {obs.name}. The parameters of this obstacle are: state [x, y, theta]: {obs.state.flatten()}, velocity [linear, angular]: {obs.velocity.flatten()}, fov in radian: {obs.fov}.') env.render() - if env.done(): - break + # if env.done(): + # break env.end() diff --git a/irsim/usage/16fov_world/fov_world.yaml b/irsim/usage/16fov_world/fov_world.yaml index c898789..012f151 100644 --- a/irsim/usage/16fov_world/fov_world.yaml +++ b/irsim/usage/16fov_world/fov_world.yaml @@ -13,11 +13,12 @@ robot: shape: {name: 'circle', radius: 0.4} state: [5, 5, 0, 0] goal: [40, 40, 0] + goal_threshold: 0.4 vel_max: [3, 1] vel_min: [-3, -1] - behavior: {name: 'dash'} # move toward to the goal directly + behavior: {name: 'dash', wander: True, range_low: [15, 15, -3.14], range_high: [35, 35, 3.14]} plot: - show_goal: False + show_goal: True show_trajectory: True obstacle: diff --git a/irsim/world/object_base.py b/irsim/world/object_base.py index 0268607..01f0aa1 100644 --- a/irsim/world/object_base.py +++ b/irsim/world/object_base.py @@ -669,6 +669,37 @@ def set_init_geometry(self, geometry): """ self._init_geometry = geometry + def set_goal(self, goal=[10, 10, 0]): + ''' + Set the goal of the object. + + Args: + goal: The goal of the object [x, y, theta]. + ''' + if isinstance(goal, list): + if len(goal) > self.state_dim: + temp_goal = np.c_[goal[: self.state_dim]] + elif len(goal) < self.state_dim: + temp_goal = np.c_[goal + [0] * (self.state_dim - len(goal))] + else: + temp_goal = np.c_[goal] + + elif isinstance(goal, np.ndarray): + if goal.shape[0] > self.state_dim: + temp_goal = goal[: self.state_dim] + elif goal.shape[0] < self.state_dim: + temp_goal = np.r_[ + goal, np.zeros((self.state_dim - goal.shape[0], goal.shape[1])) + ] + else: + temp_goal = goal + + assert self._goal.shape == temp_goal.shape + + self._goal = temp_goal.copy() + + + def geometry_state_transition(self): pass From 61d243354ced64a695fd891c7ab520abb797eed5 Mon Sep 17 00:00:00 2001 From: Han Date: Tue, 31 Dec 2024 08:20:50 +0800 Subject: [PATCH 2/8] Update generation.py --- irsim/lib/algorithm/generation.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/irsim/lib/algorithm/generation.py b/irsim/lib/algorithm/generation.py index 559ea06..e3a1f96 100644 --- a/irsim/lib/algorithm/generation.py +++ b/irsim/lib/algorithm/generation.py @@ -82,7 +82,7 @@ def generate_polygon(center, avg_radius, irregularity, spikeyness, num_vertices) angle_steps = random_angle_steps(num_vertices, irregularity) points = [] - angle = random.uniform(0, 2 * math.pi) + angle = np.random.uniform(0, 2 * math.pi) for i in range(num_vertices): radius = clip(random.gauss(avg_radius, spikeyness), 0, 2 * avg_radius) point = ( @@ -113,7 +113,7 @@ def random_angle_steps(steps: int, irregularity: float) -> List[float]: upper = (2 * math.pi / steps) + irregularity cumsum = 0 for i in range(steps): - angle = random.uniform(lower, upper) + angle = np.random.uniform(lower, upper) angles.append(angle) cumsum += angle From 798ccd8d2ada53de273955e7230f946b52ad8467 Mon Sep 17 00:00:00 2001 From: Han <744475118@qq.com> Date: Tue, 31 Dec 2024 11:16:45 +0800 Subject: [PATCH 3/8] to do list --- irsim/env/env_base.py | 12 +++++++----- todo_list.md | 3 ++- 2 files changed, 9 insertions(+), 6 deletions(-) diff --git a/irsim/env/env_base.py b/irsim/env/env_base.py index 2398df3..e9b03c4 100644 --- a/irsim/env/env_base.py +++ b/irsim/env/env_base.py @@ -25,10 +25,12 @@ try: from pynput import keyboard + keyboard_module = True except ImportError: keyboard_module = False + class EnvBase: """ The base class of environment. This class will read the yaml file and create the world, robot, obstacle, and map objects. @@ -118,7 +120,7 @@ def __del__(self): def __str__(self): return f"Environment: {self._world.name}" - def step(self, action=None, action_id=0): + def step(self, action: Optional[np.ndarray] = None, action_id=0): """ Perform a simulation step in the environment. @@ -142,16 +144,16 @@ def step(self, action=None, action_id=0): self._world.step() - def _objects_step(self, action=None): + def _objects_step(self, action: Optional[list] =None): action = action + [None] * (len(self.objects) - len(action)) [obj.step(action) for obj, action in zip(self.objects, action)] - def _object_step(self, action, obj_id=0): + def _object_step(self, action: np.ndarray, obj_id: int = 0): self.objects[obj_id].step(action) [obj.step() for obj in self.objects if obj._id != obj_id] # render - def render(self, interval=0.05, figure_kwargs=dict(), **kwargs): + def render(self, interval: float =0.05, figure_kwargs=dict(), **kwargs): """ Render the environment. @@ -282,7 +284,7 @@ def init_keyboard(self, keyboard_kwargs=dict()): ["r", "reset the environment"], ] # headers = ["key", "function"] - + headers = ["Key", "Function"] # Generate the table using tabulate table = tabulate(commands, headers=headers, tablefmt="grid") diff --git a/todo_list.md b/todo_list.md index 0644135..1b80410 100644 --- a/todo_list.md +++ b/todo_list.md @@ -66,4 +66,5 @@ - [ ] robotics arm support - [ ] assign robot goals by mouse click - [ ] Add wrapper for ORCA algorithm -- [ ] Reorganize the structure of the readme demonstration \ No newline at end of file +- [ ] Reorganize the structure of the readme demonstration +- [ ] argument type hint \ No newline at end of file From 25af87e704174ff29a5ae452bf94a87d035ee710 Mon Sep 17 00:00:00 2001 From: Han Date: Wed, 1 Jan 2025 23:15:58 +0800 Subject: [PATCH 4/8] Update todo_list.md --- todo_list.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/todo_list.md b/todo_list.md index 1b80410..51cb789 100644 --- a/todo_list.md +++ b/todo_list.md @@ -67,4 +67,5 @@ - [ ] assign robot goals by mouse click - [ ] Add wrapper for ORCA algorithm - [ ] Reorganize the structure of the readme demonstration -- [ ] argument type hint \ No newline at end of file +- [ ] argument type hint +- [ ] Doc Noise world \ No newline at end of file From a1d1d163400c927cda5d5d93d16e73063633ae89 Mon Sep 17 00:00:00 2001 From: Han Date: Fri, 3 Jan 2025 00:39:19 +0800 Subject: [PATCH 5/8] Fix bug of world name --- irsim/usage/16fov_world/fov_world.py | 13 +++++++++---- irsim/usage/16fov_world/test_123/animation.gif | Bin 0 -> 160301 bytes irsim/world/world.py | 5 +++-- 3 files changed, 12 insertions(+), 6 deletions(-) create mode 100644 irsim/usage/16fov_world/test_123/animation.gif diff --git a/irsim/usage/16fov_world/fov_world.py b/irsim/usage/16fov_world/fov_world.py index 38fd8e2..3ca7900 100644 --- a/irsim/usage/16fov_world/fov_world.py +++ b/irsim/usage/16fov_world/fov_world.py @@ -1,8 +1,13 @@ import irsim +from irsim.global_param.path_param import path_manager -env = irsim.make(save_ani=False) +path_manager.ani_path = path_manager.root_path + '/usage/16fov_world/test_123' +path_manager.ani_buffer_path = path_manager.root_path + '/usage/16fov_world/test_123_buffer' +full_path = path_manager.root_path + '/usage/16fov_world/fov_world.yaml' -for i in range(3000): +env = irsim.make(full_path, save_ani=True) + +for i in range(10): env.step() # env.robot.set_state([x, y, theta]) @@ -14,7 +19,7 @@ env.render() - # if env.done(): - # break + if env.done(): + break env.end() diff --git a/irsim/usage/16fov_world/test_123/animation.gif b/irsim/usage/16fov_world/test_123/animation.gif new file mode 100644 index 0000000000000000000000000000000000000000..e91f0dc46fc0a0002a1e984c757b1a6acf5a7f28 GIT binary patch literal 160301 zcmeEMRa2Y|tbTWKcegF>?z$9rrxd5SyOb7Kq!f3z;!bgjv$Rm$odU((TO7LQJ3r#w zo!n$57s*UAc`{EDB^5kfL 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HcmV?d00001 diff --git a/irsim/world/world.py b/irsim/world/world.py index dbf9d93..1d9027b 100644 --- a/irsim/world/world.py +++ b/irsim/world/world.py @@ -3,7 +3,7 @@ import numpy as np import matplotlib.image as mpimg from typing import Optional - +import os class World: """ @@ -50,7 +50,8 @@ def __init__( obstacle_map: Image file for the obstacle map. mdownsample (int): Downsampling factor for the obstacle map. """ - self.name = name.split('.')[0] + + self.name = os.path.basename(name).split('.')[0] self.height = height self.width = width self.step_time = step_time From 66805e6010f82ababf40041214ca09ba9a5fef95 Mon Sep 17 00:00:00 2001 From: Han Date: Fri, 3 Jan 2025 01:38:10 +0800 Subject: [PATCH 6/8] Update todo_list.md --- todo_list.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/todo_list.md b/todo_list.md index 51cb789..f1f7018 100644 --- a/todo_list.md +++ b/todo_list.md @@ -68,4 +68,5 @@ - [ ] Add wrapper for ORCA algorithm - [ ] Reorganize the structure of the readme demonstration - [ ] argument type hint -- [ ] Doc Noise world \ No newline at end of file +- [ ] Doc Noise world +- [ ] Doc path manager and change the path \ No newline at end of file From 123f844b795b94285160fa445f64f912896ffb28 Mon Sep 17 00:00:00 2001 From: Han Date: Fri, 3 Jan 2025 01:51:25 +0800 Subject: [PATCH 7/8] Update changelog.md --- changelog.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/changelog.md b/changelog.md index 729a534..fdffa25 100644 --- a/changelog.md +++ b/changelog.md @@ -3,7 +3,7 @@ - Add FOV for the object (doc require) - Add Arguments for function WrapToPi - Add the role selection for the rvo behavior (doc require) - +- Fix some bugs ## ir-sim 2.3.0 From 6f3f1abfb5b88be4068da12889097372caa5a7f0 Mon Sep 17 00:00:00 2001 From: Han Date: Fri, 3 Jan 2025 16:29:24 +0800 Subject: [PATCH 8/8] Update changelog.md --- changelog.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/changelog.md b/changelog.md index fdffa25..717e424 100644 --- a/changelog.md +++ b/changelog.md @@ -1,8 +1,9 @@ ## ir-sim 2.3.1 -- Add FOV for the object (doc require) +- Add FOV for the object (doc require), see usage 16fov_world for detail - Add Arguments for function WrapToPi - Add the role selection for the rvo behavior (doc require) +- Update Documentation (Fov, noise world, path manager) - Fix some bugs ## ir-sim 2.3.0