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Commit e6da4233 authored by rachelmoan's avatar rachelmoan
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Put initialize_libraries function into general utils folder

parent 658cf05e
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......@@ -11,6 +11,7 @@ from guided_mrmp.planners import RRTStar
from guided_mrmp.planners.db_guided_mrmp import GuidedMRMP
from guided_mrmp.simulator import Simulator
from guided_mrmp.utils.library import Library
from guided_mrmp.utils.helpers import initialize_libraries
class_function_names_dict = {
'Roomba': Roomba
......@@ -92,27 +93,6 @@ def initialize_robots(starts, goals, dynamics_models, radii, target_v, env):
return robots
def initialize_libraries(library_fnames=["guided_mrmp/database/2x3_library","guided_mrmp/database/3x3_library","guided_mrmp/database/5x2_library"]):
"""
Load the 2x3, 3x3, and 2x5 libraries. Store them in self.lib-x-
Inputs:
library_fnames - the folder containing the library files
"""
# Create each of the libraries
print(f"Loading libraries. This usually takes about 10 seconds...")
lib_2x3 = Library(library_fnames[0])
lib_2x3.read_library_from_file()
lib_3x3 = Library(library_fnames[1])
lib_3x3.read_library_from_file()
lib_2x5 = Library(library_fnames[2])
lib_2x5.read_library_from_file()
return [lib_2x3, lib_3x3, lib_2x5]
if __name__ == "__main__":
# Load the settings
settings = load_settings("settings_files/settings.yaml")
......@@ -125,8 +105,6 @@ if __name__ == "__main__":
rectangle_obstacles = settings['environment']['rectangle_obstacles']
x_range = settings['environment']['x_range']
y_range = settings['environment']['y_range']
# sim_x_range = settings['simulator']['sim_x_range']
# sim_y_range = settings['simulator']['sim_y_range']
env = Env(x_range, y_range, circle_obstacles, rectangle_obstacles)
# Load the dynamics models
......@@ -143,14 +121,11 @@ if __name__ == "__main__":
target_v = settings['target_v']
if robot_starts == []:
robot_starts, robot_goals = create_random_starts_and_goals(env, len(robot_radii))
# print(f"starts = {len(robot_starts)}")
robots = initialize_robots(robot_starts, robot_goals, dynamics_models, robot_radii, target_v, env)
# Load the libraries
libs = initialize_libraries()
# libs = [None, None, None]
# Create the Guided MRMP policy
T = settings['prediction_horizon']
DT = settings['discretization_step']
......@@ -164,6 +139,7 @@ if __name__ == "__main__":
screen = pygame.display.set_mode((x_range[1]*scaling_factor, y_range[1]*scaling_factor))
else: screen = None
sim = Simulator(robots, dynamics_models, env, policy, settings)
# Run the simulation
......
......@@ -40,6 +40,28 @@ def create_random_starts_and_goals(env, num_agents):
return starts,goals
def initialize_libraries(library_fnames=["guided_mrmp/database/2x3_library","guided_mrmp/database/3x3_library","guided_mrmp/database/5x2_library"]):
"""
Load the 2x3, 3x3, and 2x5 libraries. Store them in self.lib-x-
Inputs:
library_fnames - the folder containing the library files
"""
from guided_mrmp.utils.library import Library
# Create each of the libraries
print(f"Loading libraries. This usually takes about 10 seconds...")
lib_2x3 = Library(library_fnames[0])
lib_2x3.read_library_from_file()
lib_3x3 = Library(library_fnames[1])
lib_3x3.read_library_from_file()
lib_2x5 = Library(library_fnames[2])
lib_2x5.read_library_from_file()
return lib_2x3, lib_3x3, lib_2x5
def read_agents_from_file(fname):
pass
......
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