From 969483a83922df0ee9435a14676926978d6aba94 Mon Sep 17 00:00:00 2001 From: Quim Ortiz - Work Date: Sat, 22 Jul 2023 15:32:43 +0200 Subject: [PATCH 01/25] playing around with auto yaml/json conversion --- .gitmodules | 3 + CMakeLists.txt | 89 +++++----- deps/json | 1 + include/dynobench/eigen_conversions.hpp | 225 ++++++++++++++++++++++++ include/dynobench/tojson.hpp | 216 +++++++++++++++++++++++ include/dynobench/unicycle1.hpp | 120 +++++++++++++ models/unicycle1_v0J.yaml | 7 + test/test_models.cpp | 37 +++- test_yaml_json2.yaml | 9 + test_yaml_json3.yaml | 29 +++ tets_yaml_json.yaml | 32 ++++ tmp.yaml | 3 + tmp2.yaml | 25 +++ 13 files changed, 744 insertions(+), 52 deletions(-) create mode 160000 deps/json create mode 100644 include/dynobench/eigen_conversions.hpp create mode 100644 include/dynobench/tojson.hpp create mode 100644 models/unicycle1_v0J.yaml create mode 100644 test_yaml_json2.yaml create mode 100644 test_yaml_json3.yaml create mode 100644 tets_yaml_json.yaml create mode 100644 tmp.yaml create mode 100644 tmp2.yaml diff --git a/.gitmodules b/.gitmodules index bd42c4c..00cb9ba 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,6 @@ [submodule "deps/pybind11"] path = deps/pybind11 url = https://github.com/pybind/pybind11 +[submodule "deps/json"] + path = deps/json + url = https://github.com/nlohmann/json diff --git a/CMakeLists.txt b/CMakeLists.txt index 2db4705..f8a5c4a 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -15,6 +15,7 @@ find_package(Eigen3 REQUIRED) # find_package(pybind11 REQUIRED) add_subdirectory(deps/pybind11) +add_subdirectory(deps/json) set(CMAKE_CXX_STANDARD 17) set(CMAKE_CXX_STANDARD_REQUIRED On) @@ -51,65 +52,57 @@ target_include_directories( target_compile_options(dynobench PRIVATE -Wall -Wextra) -target_link_libraries(dynobench PUBLIC fcl yaml-cpp Boost::program_options - Boost::serialization) +target_link_libraries( + dynobench + PUBLIC fcl yaml-cpp Boost::program_options Boost::serialization + PUBLIC nlohmann_json::nlohmann_json) target_link_libraries( check_trajectory PUBLIC dynobench PRIVATE fcl yaml-cpp Boost::program_options Boost::serialization) -# Installation instructions - target_link_libraries(robot_python PUBLIC Eigen3::Eigen dynobench fcl) -include(GNUInstallDirs) -set(INSTALL_CONFIGDIR ${CMAKE_INSTALL_LIBDIR}/cmake/dynobench) - -install( - TARGETS dynobench - EXPORT dynobench-targets - LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} - ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}) - -install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}) - -# Export the targets to a script -install( - EXPORT dynobench-targets - FILE dynobenchTargets.cmake - NAMESPACE dynobench:: - DESTINATION ${INSTALL_CONFIGDIR}) - -# Create a ConfigVersion.cmake file -include(CMakePackageConfigHelpers) -write_basic_package_version_file( - ${CMAKE_CURRENT_BINARY_DIR}/dynobenchConfigVersion.cmake - VERSION ${PROJECT_VERSION} - COMPATIBILITY AnyNewerVersion) - -configure_package_config_file( - ${CMAKE_CURRENT_LIST_DIR}/cmake/dynobenchConfig.cmake.in - ${CMAKE_CURRENT_BINARY_DIR}/dynobenchConfig.cmake - INSTALL_DESTINATION ${INSTALL_CONFIGDIR}) - -# Install the config, configversion and custom find modules -install(FILES ${CMAKE_CURRENT_BINARY_DIR}/dynobenchConfig.cmake - ${CMAKE_CURRENT_BINARY_DIR}/dynobenchConfigVersion.cmake - DESTINATION ${INSTALL_CONFIGDIR}) +# Installation instructions +# +# include(GNUInstallDirs) set(INSTALL_CONFIGDIR +# ${CMAKE_INSTALL_LIBDIR}/cmake/dynobench) +# +# install( TARGETS dynobench EXPORT dynobench-targets LIBRARY DESTINATION +# ${CMAKE_INSTALL_LIBDIR} ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}) +# +# install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}) +# +# # Export the targets to a script install( EXPORT dynobench-targets FILE +# dynobenchTargets.cmake NAMESPACE dynobench:: DESTINATION ${INSTALL_CONFIGDIR}) +# +# # Create a ConfigVersion.cmake file include(CMakePackageConfigHelpers) +# write_basic_package_version_file( +# ${CMAKE_CURRENT_BINARY_DIR}/dynobenchConfigVersion.cmake VERSION +# ${PROJECT_VERSION} COMPATIBILITY AnyNewerVersion) +# +# configure_package_config_file( +# ${CMAKE_CURRENT_LIST_DIR}/cmake/dynobenchConfig.cmake.in +# ${CMAKE_CURRENT_BINARY_DIR}/dynobenchConfig.cmake INSTALL_DESTINATION +# ${INSTALL_CONFIGDIR}) +# +# # Install the config, configversion and custom find modules install(FILES +# ${CMAKE_CURRENT_BINARY_DIR}/dynobenchConfig.cmake +# ${CMAKE_CURRENT_BINARY_DIR}/dynobenchConfigVersion.cmake DESTINATION +# ${INSTALL_CONFIGDIR}) +# +# # # ############################################################################## -# Exporting from the build tree -# configure_file(${CMAKE_CURRENT_LIST_DIR}/cmake/FindRapidJSON.cmake +# # Exporting from the build tree # +# configure_file(${CMAKE_CURRENT_LIST_DIR}/cmake/FindRapidJSON.cmake # # ${CMAKE_CURRENT_BINARY_DIR}/FindRapidJSON.cmake COPYONLY) - -export( - EXPORT dynobench-targets - FILE ${CMAKE_CURRENT_BINARY_DIR}/dynobenchTargets.cmake - NAMESPACE dynobench::) - -# Register package in the User Package Registry -export(PACKAGE dynobench) +# +# export( EXPORT dynobench-targets FILE +# ${CMAKE_CURRENT_BINARY_DIR}/dynobenchTargets.cmake NAMESPACE dynobench::) +# +# # Register package in the User Package Registry export(PACKAGE dynobench) # Add test enable_testing() diff --git a/deps/json b/deps/json new file mode 160000 index 0000000..5d27543 --- /dev/null +++ b/deps/json @@ -0,0 +1 @@ +Subproject commit 5d2754306d67d1e654a1a34e1d2e74439a9d53b3 diff --git a/include/dynobench/eigen_conversions.hpp b/include/dynobench/eigen_conversions.hpp new file mode 100644 index 0000000..25dc7f0 --- /dev/null +++ b/include/dynobench/eigen_conversions.hpp @@ -0,0 +1,225 @@ +#pragma once + +#include +#include + +#include "nlohmann/json.hpp" + +using json = nlohmann::json; + +/** + * Provide `to_json()` and `from_json()` overloads for `json`, + * which allows simple syntax like: + * + * @code + * Eigen::Matrix3f in, out; + * + * simox::json::json j; + * j = in; + * out = j.get(); + * @endcode + * + * @test VirtualRobotJsonEigenConversionTest + * + * @see https://github.com/nlohmann/json#arbitrary-types-conversions + */ +namespace Eigen { + +// Eigen::MatrixBase (non-specialized). + +/// Writes the matrix as list of rows. +template +void to_json(json &j, const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, + _MaxRows, _MaxCols> &matrix); + +template +void to_json(json &j, const Eigen::MatrixBase &matrix); + +/// Reads the matrix from list of rows. +template +void from_json( + const json &j, + Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> &matrix); + +template +void from_json(const json &j, Eigen::MatrixBase &matrix); + +// Specialization for Eigen::Vector3f (implemented in .cpp) + +/// If `j` is an object, reads vector from `x, y, z` keys. Otherwise, reads it +/// as matrix. +void from_json(const json &j, Eigen::Vector3f &vector); + +// Specialization for Eigen::Matrix4f as transformation matrix (implemented in +// .cpp). + +/** + * @brief Reads a 4x4 matrix from list of rows or `pos` and `ori` keys. + * + * If `j` is an object, reads `matrix` as transformation matrix from `pos` and + * `ori` keys. Otherweise, reads it from list of rows. + */ +void from_json(const json &j, Eigen::Matrix4f &matrix); + +// Eigen::Quaternion + +/// Writes the quaternion with `qw, qx, qy, qz` keys. +template +void to_json(json &j, const Eigen::QuaternionBase &quat); + +/// Reads the quaternion from `qw, qx, qy, qz` keys. +template +void from_json(const json &j, Eigen::QuaternionBase &quat); + +// Eigen::Transform (Isometry, Affine, ...) + +template +void to_json(json &j, const Eigen::Transform &transform) { + to_json(j, transform.matrix()); +} + +template +void from_json(const json &j, Eigen::Transform &transform) { + from_json(j, transform.matrix()); +} + +void inline from_json(const json &j, Eigen::VectorXd &vector) { + vector.resize(j.size()); + for (std::size_t row = 0; row < j.size(); ++row) { + const auto &jrow = j.at(row); + vector(row) = jrow.get(); + } +} + +// IMPLEMENTATION + +namespace jsonbase { +// "private" excplititly non-specialized implementation +// (to make it callable from specialized implementations) +// (anonymous namespace does not work because these functions are required +// by specializations in the .cpp) + +/// Writes the matrix as list of rows. +template +void to_json(json &j, const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, + _MaxRows, _MaxCols> &matrix) { + for (int row = 0; row < matrix.rows(); ++row) { + if (matrix.cols() > 1) { + json jrow = json::array(); + for (int col = 0; col < matrix.cols(); ++col) { + jrow.push_back(matrix(row, col)); + } + j.push_back(jrow); + } else { + j.push_back(matrix(row, 0)); + } + } +} + +template +void to_json(json &j, const Eigen::MatrixBase &matrix) { + for (int row = 0; row < matrix.rows(); ++row) { + if (matrix.cols() > 1) { + json jrow = json::array(); + for (int col = 0; col < matrix.cols(); ++col) { + jrow.push_back(matrix(row, col)); + } + j.push_back(jrow); + } else { + j.push_back(matrix(row, 0)); + } + } +} + +/// Reads the matrix from list of rows. +template +void from_json(const json &j, Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, + _MaxRows, _MaxCols> &matrix) { + using Index = typename Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, + _MaxRows, _MaxCols>::Index; + + std::cout << "jsize" << j.size() << std::endl; + + std::cout << "rows: " << matrix.rows() << std::endl; + std::cout << "cols: " << matrix.cols() << std::endl; + + for (std::size_t row = 0; row < j.size(); ++row) { + const auto &jrow = j.at(row); + if (jrow.is_array()) { + for (std::size_t col = 0; col < jrow.size(); ++col) { + const auto &value = jrow.at(col); + matrix(static_cast(row), static_cast(col)) = + value.get<_Scalar>(); + } + } else { + matrix(static_cast(row), 0) = jrow.get<_Scalar>(); + } + } +} + +template +void from_json(const json &j, Eigen::MatrixBase &matrix) { + using Scalar = typename Eigen::MatrixBase::Scalar; + using Index = typename Eigen::MatrixBase::Index; + + for (std::size_t row = 0; row < j.size(); ++row) { + const auto &jrow = j.at(row); + if (jrow.is_array()) { + for (std::size_t col = 0; col < jrow.size(); ++col) { + const auto &value = jrow.at(col); + matrix(static_cast(row), static_cast(col)) = + value.get(); + } + } else { + matrix(static_cast(row), 0) = jrow.get(); + } + } +} +} // namespace jsonbase + +template +void to_json(json &j, const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, + _MaxRows, _MaxCols> &matrix) { + jsonbase::to_json(j, matrix); +} + +template +void to_json(json &j, const Eigen::MatrixBase &matrix) { + jsonbase::to_json(j, matrix); +} + +template +void from_json(const json &j, Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, + _MaxRows, _MaxCols> &matrix) { + jsonbase::from_json(j, matrix); +} + +template +void from_json(const json &j, Eigen::MatrixBase &matrix) { + jsonbase::from_json(j, matrix); +} + +template +void to_json(json &j, const Eigen::QuaternionBase &quat) { + j["qw"] = quat.w(); + j["qx"] = quat.x(); + j["qy"] = quat.y(); + j["qz"] = quat.z(); +} + +template +void from_json(const json &j, Eigen::QuaternionBase &quat) { + using Scalar = typename Eigen::QuaternionBase::Scalar; + quat.w() = j.at("qw").get(); + quat.x() = j.at("qx").get(); + quat.y() = j.at("qy").get(); + quat.z() = j.at("qz").get(); +} + +} // namespace Eigen diff --git a/include/dynobench/tojson.hpp b/include/dynobench/tojson.hpp new file mode 100644 index 0000000..5ca6395 --- /dev/null +++ b/include/dynobench/tojson.hpp @@ -0,0 +1,216 @@ +// ORIGINAL CODE: +// https://github.com/mircodezorzi/tojson + +#pragma once + +#include "nlohmann/json.hpp" +#include +#include + +#include + +/* Adding declarations to make it compatible with gcc 4.7 and greater */ +#if __GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__ > 40700 +#endif + +#if __has_cpp_attribute(nodiscard) +#define TOJSON_NODISCARD [[nodiscard]] +#else +#define TOJSON_NODISCARD +#endif + +namespace tojson { +namespace detail { + +/// \todo refactor and pass nlohmann::json down by reference instead of +/// returning it + +inline nlohmann::json parse_scalar(const YAML::Node &node) { + int i; + double d; + bool b; + std::string s; + + if (YAML::convert::decode(node, i)) + return i; + if (YAML::convert::decode(node, d)) + return d; + if (YAML::convert::decode(node, b)) + return b; + if (YAML::convert::decode(node, s)) + return s; + + return nullptr; +} + +/// \todo refactor and pass nlohmann::json down by reference instead of +/// returning it +inline nlohmann::json yaml2json(const YAML::Node &root) { + nlohmann::json j{}; + + switch (root.Type()) { + case YAML::NodeType::Null: + break; + case YAML::NodeType::Scalar: + return parse_scalar(root); + case YAML::NodeType::Sequence: + for (auto &&node : root) + j.emplace_back(yaml2json(node)); + break; + case YAML::NodeType::Map: + for (auto &&it : root) + j[it.first.as()] = yaml2json(it.second); + break; + default: + break; + } + return j; +} + +/// \todo handle @text entries better + +inline void __toyaml(const nlohmann::json &j, YAML::Emitter &e, + bool is_sequence) { + for (auto &[key, val] : j.items()) { + if (!is_sequence) + e << YAML::Key << key; + e << YAML::Value; + if (val.is_object()) { + e << YAML::BeginMap; + __toyaml(val, e, false); + e << YAML::EndMap; + } else if (val.is_array()) { + e << YAML::Flow << YAML::BeginSeq; + __toyaml(val, e, true); + e << YAML::EndSeq; + } else { + if (val.is_primitive()) { + if (val.is_number_float()) { + e << val.get(); + } else if (val.is_number_integer()) { + e << val.get(); + } else if (val.is_number_unsigned()) { + e << val.get(); + } else if (val.is_boolean()) { + e << val.get(); + } else if (val.is_string()) { + e << val.get(); + } + } + } + std::cout << "key: " << key << ", value:" << val << '\n'; + } + + // for (auto it = j.begin(); it != j.end(); ++it) { + // std::cout << it->dump() << std::endl; + // if (it->is_object()) { + // std::cout << "is_object" << std::endl; + // std::cout << it.key() << std::endl; + // e << YAML::Key << it.key() << YAML::Value << YAML::BeginMap; + // toyaml(*it, e); + // e << YAML::EndMap; + // } else if (it->is_array()) { + // std::cout << "is_array" << std::endl; + // std::cout << it.key() << std::endl; + // e << YAML::Key << it.key() << YAML::Value << YAML::Flow << + // YAML::BeginSeq; toyaml(it.value(), e); e << YAML::EndSeq; + // } else { + // std::cout << "no object, no array" << std::endl; + // if (it->is_primitive()) { + // std::cout << "is_primitive" << std::endl; + // if (it->is_number_float()) { + // e << it.value().get(); + // } + // } else { + // std::cout << "not primitves" << std::endl; + // e << YAML::Key << it.key() << YAML::Value; + // if (it->is_string()) { + // e << it.value().get(); + // } else { + // e << it.value().get(); + // } + // } + // + // // if (it->is_()) { + // // e << it.value().get(); + // // } + // + // // std::cout << "dumping " << e << it->dump(); + // // if (false && it.key() == "@text") { + // // e << YAML::Value << it.value().get(); + // // } else { + // // e << YAML::Key << it.key() << YAML::Value; + // // if (it->type() == nlohmann::json::value_t::string) + // // e << it.value().get(); + // // else + // // e << it->dump(); + // // } + // } + // } +} + +inline void toyaml(const nlohmann::json &j, YAML::Emitter &e) { + if (j.is_object()) + __toyaml(j, e, false); + else if (j.is_array()) + __toyaml(j, e, true); + else + __toyaml(j, e, false); +} + +// Forward declaration required here for circular dipedency. + +inline std::string repr(const nlohmann::json &j) { + if (j.is_number()) + return std::to_string(j.get()); + if (j.is_boolean()) + return j.get() ? "true" : "false"; + if (j.is_number_float()) + return std::to_string(j.get()); + if (j.is_string()) + return j.get(); + throw std::runtime_error("invalid type"); + return ""; +} + +/// \todo handle @text entries better + +/// \todo handle @text entries better + +} // namespace detail + +/// \brief Convert XML string to JSON. + +/// \brief Convert YAML string to JSON. +TOJSON_NODISCARD inline nlohmann::json yaml2json(const std::string &str) { + YAML::Node root = YAML::Load(str); + return detail::yaml2json(root); +} + +/// \brief Load a YAML file to JSON. +TOJSON_NODISCARD inline nlohmann::json loadyaml(const std::string &filepath) { + YAML::Node root = YAML::LoadFile(filepath); + return detail::yaml2json(root); +} + +namespace emitters { + +/// \brief Generate string representation of json as an YAML document. +TOJSON_NODISCARD inline std::string toyaml(const nlohmann::json &j) { + YAML::Emitter e; + e << YAML::BeginDoc; + if (j.is_object()) { + e << YAML::BeginMap; + detail::toyaml(j, e); + e << YAML::EndMap; + } else if (j.is_array()) { + e << YAML::BeginSeq; + detail::toyaml(j, e); + e << YAML::EndSeq; + } + e << YAML::EndDoc; + return e.c_str(); +} + +} // namespace emitters +} // namespace tojson diff --git a/include/dynobench/unicycle1.hpp b/include/dynobench/unicycle1.hpp index 8627f2b..8e88053 100644 --- a/include/dynobench/unicycle1.hpp +++ b/include/dynobench/unicycle1.hpp @@ -1,9 +1,111 @@ +#include #include "dynobench/for_each_macro.hpp" #include "dynobench/robot_models_base.hpp" +#include "dynobench/tojson.hpp" + +// #include "eigen_conversions.hpp" + +using json = nlohmann::json; + +namespace Eigen { + +void inline from_json(const json &j, Eigen::VectorXd &vector) { + vector.resize(j.size()); + for (std::size_t row = 0; row < j.size(); ++row) { + const auto &jrow = j.at(row); + vector(row) = jrow.get(); + } +} + +void inline to_json(json &j, const Eigen::VectorXd &vector) { + for (int i = 0; i < vector.size(); ++i) { + j.push_back(vector(i)); + } +} + +} // namespace Eigen namespace dynobench { +// +// namespace ns { +// // a simple struct to model a person +// struct person { +// std::string name; +// std::string address; +// int age; +// }; +// +// namespace ns { +// NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(person, name, address, age) +// } +// +// } // namespace ns + +struct Unicycle1_paramsJ { + Unicycle1_paramsJ() = default; + + double max_vel = .5; + double min_vel = -.5; + double max_angular_vel = .5; + double min_angular_vel = -.5; + std::string shape = "box"; + double dt = .1; + Eigen::VectorXd size; + Eigen::VectorXd distance_weights; + + NLOHMANN_DEFINE_TYPE_INTRUSIVE(Unicycle1_paramsJ, max_vel, min_vel, + max_angular_vel, min_angular_vel, shape, dt, + size, distance_weights); + + void read_from_json(const char *file) { + std::ifstream f(file); + json data = json::parse(f); + *this = data.template get(); + } + + void read_from_yaml(const char *file) { + std::cout << "loading file: " << file << std::endl; + YAML::Node node = YAML::LoadFile(file); + + { + Eigen::VectorXd X(2); + X << 1, 2; + json j; + j = X; + std::cout << j.dump() << std::endl; + + // Eigen::VectorXd Y(2); + + // from_json(j, Y); + // std::cout << Y << std::endl; + + auto Y = j.template get(); + // j.from_json( + std::cout << Y << std::endl; + + // Y << j; + // std::cout << Y << std::endl; + } + + YAML::Emitter emitter; + emitter << node; + std::cout << "Node :" << emitter.c_str() << std::endl; + json j = tojson::detail::yaml2json(node); + std::cout << j.dump() << std::endl; + *this = j.template get(); + } + + void write_yaml(std::ostream &os) const { + json j = *this; + + std::cout << j.dump() << std::endl; + + os << tojson::emitters::toyaml(j) << std::endl; + } +}; + struct Unicycle1_params { Unicycle1_params(const char *file) { read_from_yaml(file); } Unicycle1_params() = default; @@ -16,9 +118,21 @@ struct Unicycle1_params { Eigen::Vector2d distance_weights = Eigen::Vector2d(1, .5); std::string shape = "box"; double dt = .1; + + NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(Unicycle1_params, max_vel, min_vel, + max_angular_vel, min_angular_vel); + // + // void read_from_json(const char *file) { + // + // std::ifstream f(file); + // json data = json::parse(f); + // this = data.template get(); + // } + void read_from_yaml(YAML::Node &node); void read_from_yaml(const char *file); std::string filename = ""; + void inline write(std::ostream &out) const { const std::string be = ""; const std::string af = ": "; @@ -35,6 +149,12 @@ struct Unicycle1_params { } }; +// void file_to_unicycle1_params(const char *file) { +// std::ifstream f(file); +// json data = json::parse(f); +// auto params = data.template get(); +// } + struct Model_unicycle1 : Model_robot { virtual ~Model_unicycle1() = default; diff --git a/models/unicycle1_v0J.yaml b/models/unicycle1_v0J.yaml new file mode 100644 index 0000000..ddf5402 --- /dev/null +++ b/models/unicycle1_v0J.yaml @@ -0,0 +1,7 @@ +dynamics: "unicycle1" +max_vel: 0.5 +min_vel: -0.5 +max_angular_vel: 0.5 +min_angular_vel: -0.5 +shape: "box" +dt: 0.1 diff --git a/test/test_models.cpp b/test/test_models.cpp index 40ca905..728c34c 100644 --- a/test/test_models.cpp +++ b/test/test_models.cpp @@ -54,6 +54,33 @@ Eigen::VectorXd default_vector; #define base_path "../../" +BOOST_AUTO_TEST_CASE(yaml_json) { + + YAML::Node node = YAML::LoadFile(base_path "tets_yaml_json.yaml"); + + json j = tojson::detail::yaml2json(node); + std::cout << j.dump() << std::endl; + + std::cout << tojson::emitters::toyaml(j) << std::endl; + std::ofstream o(base_path "tmp.yaml"); + std::ofstream o2(base_path "tmp2.yaml"); + o << tojson::emitters::toyaml(j) << std::endl; + + YAML::Emitter ee; + ee << node; + o2 << ee.c_str() << std::endl; + // how to test that they are the same? +} + +BOOST_AUTO_TEST_CASE(t_load_json) { + Unicycle1_paramsJ aa; + + aa.read_from_yaml( + (std::string(base_path) + "models/unicycle1_v0.yaml").c_str()); + + aa.write_yaml(std::cout); +} + BOOST_AUTO_TEST_CASE(t_load_model_yaml) { std::shared_ptr robot = std::make_shared( @@ -72,7 +99,8 @@ BOOST_AUTO_TEST_CASE(t_load_model_yaml) { // std::shared_ptr robot = // std::make_shared("../models/quad2d_v0.yaml"); // -// std::vector primitives = traj.find_discontinuities(robot); +// std::vector primitives = +// traj.find_discontinuities(robot); // // // lets write the trajectories // std::ofstream out("fileout_primitives.yaml"); @@ -172,8 +200,8 @@ BOOST_AUTO_TEST_CASE(acrobot_rollout_free) { BOOST_TEST(std::abs(original_energy - last_energy) < 1e-2); } - // std::cout << "final state" << xs.back().format(FMT) << - // std::endl; + // std::cout << "final state" << xs.back().format(FMT) + // << std::endl; // dyn->max_torque = } @@ -686,7 +714,8 @@ BOOST_AUTO_TEST_CASE(col_acrobot) { // BOOST_AUTO_TEST_CASE(col_quad3d_v2) { // -// Problem problem("../benchmark/quadrotor_0/obstacle_flight.yaml"); +// Problem +// problem("../benchmark/quadrotor_0/obstacle_flight.yaml"); // // std::shared_ptr robot = // robot_factory(robot_type_to_path(problem.robotType).c_str()); diff --git a/test_yaml_json2.yaml b/test_yaml_json2.yaml new file mode 100644 index 0000000..6b5006c --- /dev/null +++ b/test_yaml_json2.yaml @@ -0,0 +1,9 @@ + + +problems: + - quim + - joan +algorithms: + - 3 + - 5 + - 6 diff --git a/test_yaml_json3.yaml b/test_yaml_json3.yaml new file mode 100644 index 0000000..7b447bc --- /dev/null +++ b/test_yaml_json3.yaml @@ -0,0 +1,29 @@ +- + distance_weights: [1, 0.5] + dt: 0.1 + max_angular_vel: 0.5 + max_vel: 0.5 + min_angular_vel: -0.5 + min_vel: -0.5 + shape: box + size: [0.5, 0.25] + +- + distance_weights: [1, 0.5] + dt: 0.1 + max_angular_vel: 0.5 + max_vel: 0.5 + min_angular_vel: -0.5 + min_vel: -0.5 + shape: box + size: [0.5, 0.25] + +- + distance_weights: [1, 0.5] + dt: 0.1 + max_angular_vel: 0.5 + max_vel: 0.5 + min_angular_vel: -0.5 + min_vel: -0.5 + shape: box + size: [0.5, 0.25] diff --git a/tets_yaml_json.yaml b/tets_yaml_json.yaml new file mode 100644 index 0000000..36c3d06 --- /dev/null +++ b/tets_yaml_json.yaml @@ -0,0 +1,32 @@ + + +quim: + - + distance_weights: [1, 0.5] + dt: 0.1 + max_angular_vel: 0.5 + max_vel: 0.5 + min_angular_vel: -0.5 + min_vel: -0.5 + shape: box + size: [0.5, 0.25] + + - + distance_weights: [1, 0.5] + dt: 0.1 + max_angular_vel: 0.5 + max_vel: 0.5 + min_angular_vel: -0.5 + min_vel: -0.5 + shape: box + size: [0.5, 0.25] + + - + distance_weights: [1, 0.5] + dt: 0.1 + max_angular_vel: 0.5 + max_vel: 0.5 + min_angular_vel: -0.5 + min_vel: -0.5 + shape: box + size: [0.5, 0.25] diff --git a/tmp.yaml b/tmp.yaml new file mode 100644 index 0000000..83305f2 --- /dev/null +++ b/tmp.yaml @@ -0,0 +1,3 @@ +--- +quim: [{distance_weights: [1, 0.5], dt: 0.1, max_angular_vel: 0.5, max_vel: 0.5, min_angular_vel: -0.5, min_vel: -0.5, shape: box, size: [0.5, 0.25]}, {distance_weights: [1, 0.5], dt: 0.1, max_angular_vel: 0.5, max_vel: 0.5, min_angular_vel: -0.5, min_vel: -0.5, shape: box, size: [0.5, 0.25]}, {distance_weights: [1, 0.5], dt: 0.1, max_angular_vel: 0.5, max_vel: 0.5, min_angular_vel: -0.5, min_vel: -0.5, shape: box, size: [0.5, 0.25]}] +... diff --git a/tmp2.yaml b/tmp2.yaml new file mode 100644 index 0000000..90cc2fa --- /dev/null +++ b/tmp2.yaml @@ -0,0 +1,25 @@ +quim: + - distance_weights: [1, 0.5] + dt: 0.1 + max_angular_vel: 0.5 + max_vel: 0.5 + min_angular_vel: -0.5 + min_vel: -0.5 + shape: box + size: [0.5, 0.25] + - distance_weights: [1, 0.5] + dt: 0.1 + max_angular_vel: 0.5 + max_vel: 0.5 + min_angular_vel: -0.5 + min_vel: -0.5 + shape: box + size: [0.5, 0.25] + - distance_weights: [1, 0.5] + dt: 0.1 + max_angular_vel: 0.5 + max_vel: 0.5 + min_angular_vel: -0.5 + min_vel: -0.5 + shape: box + size: [0.5, 0.25] From 139592000cdae0bfad66516ea2e1026d4a8188d5 Mon Sep 17 00:00:00 2001 From: Quim Ortiz - Work Date: Sat, 22 Jul 2023 16:38:23 +0200 Subject: [PATCH 02/25] fake cli parser with json --- test/test_models.cpp | 101 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 101 insertions(+) diff --git a/test/test_models.cpp b/test/test_models.cpp index 728c34c..bba50c4 100644 --- a/test/test_models.cpp +++ b/test/test_models.cpp @@ -54,6 +54,107 @@ Eigen::VectorXd default_vector; #define base_path "../../" +struct Fake_opt { + + std::string filename = "tmp.yaml"; + int max_it = 10; + + NLOHMANN_DEFINE_TYPE_INTRUSIVE(Fake_opt, filename, max_it); +}; + +// for string delimiter +std::vector split(std::string s, std::string delimiter) { + size_t pos_start = 0, pos_end, delim_len = delimiter.length(); + std::string token; + std::vector res; + + while ((pos_end = s.find(delimiter, pos_start)) != std::string::npos) { + token = s.substr(pos_start, pos_end - pos_start); + pos_start = pos_end + delim_len; + if (token.size()) + res.push_back(token); + } + + if (s.substr(pos_start).size()) + res.push_back(s.substr(pos_start)); + for (auto &r : res) { + std::cout << "- " << r << std::endl; + } + return res; +} + +void tokenize(std::string const &str, const char delim, + std::vector &out) { + // construct a stream from the string + std::stringstream ss(str); + + std::string s; + while (std::getline(ss, s, delim)) { + if (s.size()) + out.push_back(s); + } +} + +Fake_opt fakeCLIParser(const std::string &argv) { + + auto outs = split(argv, "--"); + + std::ofstream o(base_path "fake_cli.json"); + o << "{\n"; + + for (size_t i = 0; i < outs.size(); i++) { + auto out = outs[i]; + + std::vector _out; + tokenize(out, ' ', _out); + CHECK_EQ(_out.size(), 2, ""); + // if (i < outs.size() - 1) + o << " \"" << _out[0] << "\": "; + + try { + double d = std::stod(_out[1]); + o << _out[1]; + } catch (const std::exception &e) { + o << "\"" << _out[1] << "\""; + } + + if (i < outs.size() - 1) { + o << ",\n"; + } else { + o << "\n"; + } + } + + o << "}\n"; + o.close(); + + std::ifstream ii(base_path "fake_cli.json"); + json j = json::parse(ii); // + + Fake_opt opt = j; + return opt; +} + +BOOST_AUTO_TEST_CASE(t_jsonX) {} + +BOOST_AUTO_TEST_CASE(t_fakeCLIParser) { + Fake_opt opt = + fakeCLIParser("--filename ../models/quad2d_v0.yaml --max_it 100"); + std::cout << opt.max_it << " " << opt.filename << std::endl; + + { + Fake_opt opt = + fakeCLIParser("--filename ../models/quad2d_v0.yaml --max_it 100"); + std::cout << opt.max_it << " " << opt.filename << std::endl; + } + + { + Fake_opt opt = + fakeCLIParser("--filename ../models/quad2d_v0.yaml --max_it 100"); + std::cout << opt.max_it << " " << opt.filename << std::endl; + } +} + BOOST_AUTO_TEST_CASE(yaml_json) { YAML::Node node = YAML::LoadFile(base_path "tets_yaml_json.yaml"); From 915009e876c224031550bec4fcac6872a2df084e Mon Sep 17 00:00:00 2001 From: Quim Ortiz - Work Date: Sat, 22 Jul 2023 16:42:28 +0200 Subject: [PATCH 03/25] minor --- test/test_models.cpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/test/test_models.cpp b/test/test_models.cpp index bba50c4..62582dd 100644 --- a/test/test_models.cpp +++ b/test/test_models.cpp @@ -55,11 +55,12 @@ Eigen::VectorXd default_vector; #define base_path "../../" struct Fake_opt { - + Fake_opt() = default; std::string filename = "tmp.yaml"; int max_it = 10; - NLOHMANN_DEFINE_TYPE_INTRUSIVE(Fake_opt, filename, max_it); + // NLOHMANN_DEFINE_TYPE_INTRUSIVE(Fake_opt, filename, max_it); + NLOHMANN_DEFINE_TYPE_INTRUSIVE_WITH_DEFAULT(Fake_opt, filename, max_it); }; // for string delimiter @@ -153,6 +154,11 @@ BOOST_AUTO_TEST_CASE(t_fakeCLIParser) { fakeCLIParser("--filename ../models/quad2d_v0.yaml --max_it 100"); std::cout << opt.max_it << " " << opt.filename << std::endl; } + + { + Fake_opt opt = fakeCLIParser("--max_it 100"); + std::cout << opt.max_it << " " << opt.filename << std::endl; + } } BOOST_AUTO_TEST_CASE(yaml_json) { From 0dbf2b5fe61499deb63d65d9bd45bfe3eb76f524 Mon Sep 17 00:00:00 2001 From: Quim Ortiz - Work Date: Wed, 26 Jul 2023 12:28:45 +0200 Subject: [PATCH 04/25] dev --- envs/integrator2_2d_v0/empty.yaml | 8 ++ envs/integrator2_2d_v0/park.yaml | 2 +- include/dynobench/motions.hpp | 79 +++--------------- include/dynobench/robot_models_base.hpp | 31 +++---- models/integrator2_2d_v0.yaml | 2 +- src/integrator2_2d.cpp | 7 +- src/motions.cpp | 102 ++++++++++++++++++++++-- src/robot_models.cpp | 4 +- src/robot_models_base.cpp | 24 ++++-- 9 files changed, 156 insertions(+), 103 deletions(-) create mode 100644 envs/integrator2_2d_v0/empty.yaml diff --git a/envs/integrator2_2d_v0/empty.yaml b/envs/integrator2_2d_v0/empty.yaml new file mode 100644 index 0000000..dc3b206 --- /dev/null +++ b/envs/integrator2_2d_v0/empty.yaml @@ -0,0 +1,8 @@ +name: Integrator2_2d_v0-park +environment: + min: [0.0, -0.5] + max: [3.5, 2.5] +robots: + - type: integrator2_2d_v0 + start: [0.7, 0.6, 0, 0] # x,y,theta0,theta1 + goal: [1.9, 0.6, 0, 0] # x,y,theta0,theta1 diff --git a/envs/integrator2_2d_v0/park.yaml b/envs/integrator2_2d_v0/park.yaml index 79f85b8..5bba932 100644 --- a/envs/integrator2_2d_v0/park.yaml +++ b/envs/integrator2_2d_v0/park.yaml @@ -10,6 +10,6 @@ environment: center: [2.7, 0.2] size: [0.5, 0.25] robots: - - type: Integrator2_2d_v0 + - type: integrator2_2d_v0 start: [0.7, 0.6, 0, 0] # x,y,theta0,theta1 goal: [1.9, 0.2, 0, 0] # x,y,theta0,theta1 diff --git a/include/dynobench/motions.hpp b/include/dynobench/motions.hpp index 94607ce..2831b20 100644 --- a/include/dynobench/motions.hpp +++ b/include/dynobench/motions.hpp @@ -67,6 +67,14 @@ double check_u_bounds(const std::vector &us_out, double check_x_bounds(const std::vector &xs_out, std::shared_ptr model, bool verbose); +void resample_trajectory(std::vector &xs_out, + std::vector &us_out, + Eigen::VectorXd ×, + const std::vector &xs, + const std::vector &us, + const Eigen::VectorXd &ts, double ref_dt, + const std::shared_ptr &state); + void get_states_and_actions(const YAML::Node &data, std::vector &states, std::vector &actions); @@ -214,66 +222,7 @@ struct Trajectory { void check(std::shared_ptr robot, bool verbose = false); std::vector - find_discontinuities(std::shared_ptr &robot) { - - Eigen::VectorXd dts; - if (!times.size()) { - size_t T = actions.size(); - dts.resize(T); - dts.setOnes(); - dts.array() *= robot->ref_dt; - } - - CHECK(states.size(), AT); - CHECK(actions.size(), AT); - CHECK(robot, AT); - CHECK_EQ(states.size(), actions.size() + 1, AT); - CHECK_EQ(static_cast(dts.size()), - static_cast(actions.size()), AT); - - size_t N = actions.size(); - - double threshold = 1e-2; - - size_t start_primitive = 0; - using Vxd = Eigen::VectorXd; - std::vector trajectories; - for (size_t i = 0; i < N; i++) { - Vxd xnext(robot->nx); - auto &x = states.at(i); - auto &u = actions.at(i); - - robot->step(xnext, x, u, dts(i)); - - double jump = robot->distance(xnext, states.at(i + 1)); - if (jump > threshold) { - std::cout << "jump of " << jump << std::endl; - CSTR_(i); - CSTR_V(x); - CSTR_V(u); - CSTR_V(xnext); - CSTR_V(states.at(i + 1)); - - Trajectory traj; - traj.states = {states.begin() + start_primitive, - states.begin() + i + 1}; - traj.states.push_back(xnext); - traj.actions = {actions.begin() + start_primitive, - actions.begin() + i + 1}; - start_primitive = i + 1; - trajectories.push_back(traj); - } - } - // add the last one - if (start_primitive < states.size()) { - Trajectory traj; - traj.states = {states.begin() + start_primitive, states.end()}; - traj.actions = {actions.begin() + start_primitive, actions.end()}; - trajectories.push_back(traj); - } - - return trajectories; - } + find_discontinuities(std::shared_ptr &robot); void update_feasibility( const Feasibility_thresholds &thresholds = Feasibility_thresholds(), @@ -298,6 +247,8 @@ struct Trajectory { void save_file_boost(const char *file) const; void load_file_boost(const char *file); + + Trajectory resample(std::shared_ptr &robot); }; struct Trajectories { @@ -361,14 +312,6 @@ double max_rollout_error(std::shared_ptr robot, const std::vector &xs, const std::vector &us); -void resample_trajectory(std::vector &xs_out, - std::vector &us_out, - Eigen::VectorXd ×, - const std::vector &xs, - const std::vector &us, - const Eigen::VectorXd &ts, double ref_dt, - const std::shared_ptr &state); - struct Info_out { bool solved = false; bool solved_raw = false; diff --git a/include/dynobench/robot_models_base.hpp b/include/dynobench/robot_models_base.hpp index f42671d..33219de 100644 --- a/include/dynobench/robot_models_base.hpp +++ b/include/dynobench/robot_models_base.hpp @@ -51,12 +51,12 @@ static std::vector DEFAULT_V; static Eigen::VectorXd DEFAULT_E; // next: time optimal linear, use so2 space, generate motion primitives -struct StateQ { +struct StateDyno { size_t nx; size_t ndx; - StateQ(size_t nx, size_t ndx) : nx(nx), ndx(ndx) {} + StateDyno(size_t nx, size_t ndx) : nx(nx), ndx(ndx) {} virtual Eigen::VectorXd zero() const { ERROR_WITH_INFO("not implemented"); } @@ -117,12 +117,12 @@ struct StateQ { } }; -struct CompoundState2 : StateQ { +struct CompoundState2 : StateDyno { - std::shared_ptr s1; - std::shared_ptr s2; + std::shared_ptr s1; + std::shared_ptr s2; - CompoundState2(std::shared_ptr s1, std::shared_ptr s2); + CompoundState2(std::shared_ptr s1, std::shared_ptr s2); virtual ~CompoundState2(){}; virtual Eigen::VectorXd zero() const override; @@ -143,13 +143,13 @@ struct CompoundState2 : StateQ { Eigen::Ref Jsecond) const override; }; -struct RnSOn : StateQ { +struct RnSOn : StateDyno { size_t nR; size_t nSO2; const std::vector so2_indices; RnSOn(size_t nR, size_t nSO2, const std::vector &so2_indices) - : StateQ(nR + nSO2, nR + nSO2), so2_indices(so2_indices) { + : StateDyno(nR + nSO2, nR + nSO2), so2_indices(so2_indices) { CHECK_EQ(so2_indices.size(), nSO2, AT); } @@ -178,10 +178,10 @@ struct RnSOn : StateQ { Eigen::Ref Jsecond) const override; }; -struct Rn : StateQ { +struct Rn : StateDyno { size_t nR; - Rn(size_t nR) : StateQ(nR, nR) {} + Rn(size_t nR) : StateDyno(nR, nR) {} virtual ~Rn() {} virtual Eigen::VectorXd zero() const override; @@ -266,7 +266,7 @@ struct Model_robot { } // State - std::shared_ptr state; + std::shared_ptr state; // crocoddyl::StateAbstractTpl> state; @@ -288,7 +288,7 @@ struct Model_robot { // // Model_robot() = default; - Model_robot(std::shared_ptr state, size_t nu); + Model_robot(std::shared_ptr state, size_t nu); // Returns x_0 for optimization. Can depend on a reference point. Default: // return the ref point. Reasoning: in some systems, it is better to set the @@ -563,14 +563,15 @@ struct Model_robot { void linearInterpolation(const Eigen::VectorXd ×, const std::vector &x, double t_query, - const StateQ &state, Eigen::Ref out, + const StateDyno &state, + Eigen::Ref out, Eigen::Ref Jx); struct Interpolator { Eigen::VectorXd times; std::vector x; - std::shared_ptr state; + std::shared_ptr state; Interpolator(const Eigen::VectorXd ×, const std::vector &x) @@ -578,7 +579,7 @@ struct Interpolator { Interpolator(const Eigen::VectorXd ×, const std::vector &x, - const std::shared_ptr &state) + const std::shared_ptr &state) : times(times), x(x), state(state) { CHECK_EQ(static_cast(times.size()), x.size(), AT); } diff --git a/models/integrator2_2d_v0.yaml b/models/integrator2_2d_v0.yaml index d8bdca9..5c73c2a 100644 --- a/models/integrator2_2d_v0.yaml +++ b/models/integrator2_2d_v0.yaml @@ -1,2 +1,2 @@ -dynamics: "Integrator2_2d" +dynamics: "integrator2_2d" # use default parameters diff --git a/src/integrator2_2d.cpp b/src/integrator2_2d.cpp index d0c105d..c534541 100644 --- a/src/integrator2_2d.cpp +++ b/src/integrator2_2d.cpp @@ -18,9 +18,7 @@ namespace dynobench { -void - -Integrator2_2d_params::read_from_yaml(YAML::Node &node) { +void Integrator2_2d_params::read_from_yaml(YAML::Node &node) { set_from_yaml(node, VAR_WITH_NAME(shape)); set_from_yaml(node, VAR_WITH_NAME(dt)); set_from_yaml(node, VAR_WITH_NAME(max_vel)); @@ -77,6 +75,9 @@ Integrator2_2d::Integrator2_2d(const Integrator2_2d_params ¶ms, x_lb << low__, low__, -params.max_vel, -params.max_vel; x_ub << max__, max__, params.max_vel, params.max_vel; + u_weight << 1., 1.; + x_weightb << 0, 0, 0, 0; + // add bounds on position if provided if (p_lb.size() && p_ub.size()) { set_position_lb(p_lb); diff --git a/src/motions.cpp b/src/motions.cpp index 7950212..33a524a 100644 --- a/src/motions.cpp +++ b/src/motions.cpp @@ -171,8 +171,7 @@ void Trajectory::check(std::shared_ptr robot, bool verbose) { } else { size_t T = actions.size(); dts.resize(T); - dts.setOnes(); - dts.array() *= robot->ref_dt; + dts.setConstant(robot->ref_dt); } max_jump = check_trajectory(states, actions, dts, robot, verbose); @@ -373,6 +372,8 @@ double check_trajectory(const std::vector &xs_out, model->step(xnext, x, u, dt(i)); + // CSTR_V(xnext); + // CSTR_V(xs_out.at(i + 1)); double jump = model->distance(xnext, xs_out.at(i + 1)); if (jump > 1e-3 && verbose) { std::cout << "jump of " << jump << std::endl; @@ -445,10 +446,11 @@ void resample_trajectory(std::vector &xs_out, const std::vector &xs, const std::vector &us, const Eigen::VectorXd &ts, double ref_dt, - const std::shared_ptr &state) + const std::shared_ptr &state) { - + CHECK_EQ(xs.size(), us.size() + 1, ""); + CHECK_EQ(static_cast(ts.size()), us.size() + 1, ""); xs_out.clear(); us_out.clear(); @@ -457,6 +459,11 @@ void resample_trajectory(std::vector &xs_out, ptr path_u = mk(ts.head(ts.size() - 1), us); ptr path_x = mk(ts, xs, state); + CSTR_V(ts); + std::cout << "xs " << std::endl; + for (auto &x : xs) { + CSTR_V(x); + } size_t num_time_steps = std::ceil(total_time / ref_dt); @@ -479,16 +486,19 @@ void resample_trajectory(std::vector &xs_out, Vxd uout(nu); Vxd Juout(nu); for (size_t ti = 0; ti < num_time_steps + 1; ti++) { - path_x->interpolate(ts__(ti), xout, Jout); + path_x->interpolate(std::min(ts__(ti), ts(ts.size() - 1)), xout, Jout); new_xs.push_back(xout); + std::cout << " ti " << ti << " xout " << xout.format(FMT) << std::endl; if (ti < num_time_steps) { - path_u->interpolate(ts__(ti), uout, Juout); + path_u->interpolate(std::min(ts__(ti), ts(ts.size() - 2)), uout, Juout); new_us.push_back(uout); + std::cout << " ti " << ti << " uout " << uout.format(FMT) << std::endl; } } xs_out = new_xs; us_out = new_us; + CHECK_EQ(xs_out.size(), us_out.size() + 1, ""); } void Info_out::print(std::ostream &out, const std::string &be, @@ -904,4 +914,84 @@ void make_trajs_canonical(Model_robot &robot, } } +std::vector +Trajectory::find_discontinuities(std::shared_ptr &robot) { + + Eigen::VectorXd dts; + if (!times.size()) { + size_t T = actions.size(); + dts.resize(T); + dts.setOnes(); + dts.array() *= robot->ref_dt; + } + + CHECK(states.size(), AT); + CHECK(actions.size(), AT); + CHECK(robot, AT); + CHECK_EQ(states.size(), actions.size() + 1, AT); + CHECK_EQ(static_cast(dts.size()), static_cast(actions.size()), + AT); + + size_t N = actions.size(); + + double threshold = 1e-2; + + size_t start_primitive = 0; + using Vxd = Eigen::VectorXd; + std::vector trajectories; + for (size_t i = 0; i < N; i++) { + Vxd xnext(robot->nx); + auto &x = states.at(i); + auto &u = actions.at(i); + + robot->step(xnext, x, u, dts(i)); + + double jump = robot->distance(xnext, states.at(i + 1)); + if (jump > threshold) { + std::cout << "jump of " << jump << std::endl; + CSTR_(i); + CSTR_V(x); + CSTR_V(u); + CSTR_V(xnext); + CSTR_V(states.at(i + 1)); + + Trajectory traj; + traj.states = {states.begin() + start_primitive, states.begin() + i + 1}; + traj.states.push_back(xnext); + traj.actions = {actions.begin() + start_primitive, + actions.begin() + i + 1}; + start_primitive = i + 1; + trajectories.push_back(traj); + } + } + // add the last one + if (start_primitive < states.size()) { + Trajectory traj; + traj.states = {states.begin() + start_primitive, states.end()}; + traj.actions = {actions.begin() + start_primitive, actions.end()}; + trajectories.push_back(traj); + } + + return trajectories; +} + +Trajectory Trajectory::resample(std::shared_ptr &robot) { + + Trajectory out; + out.start = start; + out.goal = goal; + + Eigen::VectorXd times_out; + resample_trajectory(out.states, out.actions, times_out, states, actions, + times, robot->ref_dt, robot->state); + + if (startsWith(robot->name, "quad3d")) { + std::cout << "warning " + << "normalize_quaternion" << std::endl; + for (auto &s : out.states) { + s.segment<4>(3).normalize(); + } + } + return out; +} } // namespace dynobench diff --git a/src/robot_models.cpp b/src/robot_models.cpp index 5b3cda5..0f748fb 100644 --- a/src/robot_models.cpp +++ b/src/robot_models.cpp @@ -64,10 +64,10 @@ std::unique_ptr robot_factory(const char *file, return std::make_unique(file, p_lb, p_ub); } else if (dynamics == "quad2dpole") { return std::make_unique(file, p_lb, p_ub); - } else if (dynamics == "double_intergrator_2d") { + } else if (dynamics == "integrator2_2d") { return std::make_unique(file, p_lb, p_ub); } else { - ERROR_WITH_INFO("dynamics not implemented"); + ERROR_WITH_INFO("dynamics not implemented: " + dynamics); } } diff --git a/src/robot_models_base.cpp b/src/robot_models_base.cpp index 5c5fcd9..3dcc034 100644 --- a/src/robot_models_base.cpp +++ b/src/robot_models_base.cpp @@ -41,9 +41,9 @@ namespace dynobench { // using namespace pinocchio; // using namespace crocoddyl; -CompoundState2::CompoundState2(std::shared_ptr s1, - std::shared_ptr s2) - : StateQ(s1->nx + s2->nx, s1->ndx + s2->ndx), s1(s1), s2(s2) {} +CompoundState2::CompoundState2(std::shared_ptr s1, + std::shared_ptr s2) + : StateDyno(s1->nx + s2->nx, s1->ndx + s2->ndx), s1(s1), s2(s2) {} Eigen::VectorXd CompoundState2::zero() const { @@ -224,7 +224,7 @@ void RnSOn::Jdiff(const Eigen::Ref &x0, // v << c * u[0], s * u[0], u[1]; // } -Model_robot::Model_robot(std::shared_ptr state, size_t nu) +Model_robot::Model_robot(std::shared_ptr state, size_t nu) : nx(state->nx), nu(nu), state(state) { u_ref.resize(nu); @@ -239,6 +239,9 @@ Model_robot::Model_robot(std::shared_ptr state, size_t nu) u_ub.setConstant(1e8); u_lb.setConstant(-1e8); + u_weight.resize(nu); + u_weight.setConstant(.1); + x_weightb.resize(nx); x_weightb.setZero(); @@ -651,7 +654,8 @@ Model_robot::lower_bound_time(const Eigen::Ref &x, void linearInterpolation(const Eigen::VectorXd ×, const std::vector &x, double t_query, - const StateQ &state, Eigen::Ref out, + const StateDyno &state, + Eigen::Ref out, Eigen::Ref Jx) { CHECK(x.size(), AT); @@ -705,8 +709,14 @@ void linearInterpolation(const Eigen::VectorXd ×, // CSTR_(index); // CSTR_(t_query); - double factor = - (t_query - times(index - 1)) / (times(index) - times(index - 1)); + if (times(index) - times(index - 1) < 1e-6) { + std::cout << "WARNING: " << AT << std::endl; + std::cout << "times(index) - times(index - 1) < 1e-6" << std::endl; + std::cout << times(index) << " " << times(index - 1) << std::endl; + } + + double factor = (t_query - times(index - 1)) / + std::max(times(index) - times(index - 1), 1e-6); Eigen::VectorXd diff(state.ndx); Eigen::VectorXd x0 = x.at(index - 1); From fa8d47e7f7f1981574ca804335d8a582398bd98f Mon Sep 17 00:00:00 2001 From: Quim Ortiz - Work Date: Wed, 26 Jul 2023 12:31:59 +0200 Subject: [PATCH 05/25] add dev to ci --- .github/workflows/cmake.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml index 159d5ee..8963dd3 100644 --- a/.github/workflows/cmake.yml +++ b/.github/workflows/cmake.yml @@ -2,9 +2,9 @@ name: CMake on: push: - branches: [ "main" ] + branches: [ "main", "dev" ] pull_request: - branches: [ "main" ] + branches: [ "main", "dev" ] env: # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.) From 7bc3e4fe142f5d29419d4b44d352f0ba42b80ab1 Mon Sep 17 00:00:00 2001 From: Quim Ortiz - Work Date: Wed, 26 Jul 2023 17:33:24 +0200 Subject: [PATCH 06/25] update --- envs/quad2d_v0/empty_0.yaml | 9 ++++ envs/quad2d_v0/empty_1.yaml | 9 ++++ envs/quad2d_v0/fall_through.yaml | 35 +++++++++++++++ envs/quad2d_v0/quad2d_recovery_obs.yaml | 18 ++++++++ envs/quad2d_v0/quad2d_recovery_wo_obs.yaml | 9 ++++ envs/quad2d_v0/quad_bugtrap.yaml | 24 ++++++++++ envs/quad2d_v0/quad_obs_column.yaml | 12 +++++ envs/quad2dpole_v0/down.yaml | 10 +++++ envs/quad2dpole_v0/move_with_down.yaml | 9 ++++ envs/quad2dpole_v0/move_with_up.yaml | 9 ++++ envs/quad2dpole_v0/up.yaml | 10 +++++ envs/quad2dpole_v0/up_obs.yaml | 17 +++++++ envs/quad2dpole_v0/window.yaml | 28 ++++++++++++ envs/quad2dpole_v0/window_easy.yaml | 28 ++++++++++++ envs/quad2dpole_v0/window_hard.yaml | 32 ++++++++++++++ .../{croco_macros.hpp => dyno_macros.hpp} | 0 include/dynobench/general_utils.hpp | 2 +- include/dynobench/integrator2_2d.hpp | 2 +- include/dynobench/math_utils.hpp | 2 +- include/dynobench/motions.hpp | 2 +- include/dynobench/robot_models.hpp | 7 ++- include/dynobench/robot_models_base.hpp | 2 +- src/motions.cpp | 2 +- src/robot_models.cpp | 44 ++++++++++++++++++- src/robot_models_base.cpp | 2 +- 25 files changed, 315 insertions(+), 9 deletions(-) create mode 100644 envs/quad2d_v0/empty_0.yaml create mode 100644 envs/quad2d_v0/empty_1.yaml create mode 100644 envs/quad2d_v0/fall_through.yaml create mode 100644 envs/quad2d_v0/quad2d_recovery_obs.yaml create mode 100644 envs/quad2d_v0/quad2d_recovery_wo_obs.yaml create mode 100644 envs/quad2d_v0/quad_bugtrap.yaml create mode 100644 envs/quad2d_v0/quad_obs_column.yaml create mode 100644 envs/quad2dpole_v0/down.yaml create mode 100644 envs/quad2dpole_v0/move_with_down.yaml create mode 100644 envs/quad2dpole_v0/move_with_up.yaml create mode 100644 envs/quad2dpole_v0/up.yaml create mode 100644 envs/quad2dpole_v0/up_obs.yaml create mode 100644 envs/quad2dpole_v0/window.yaml create mode 100644 envs/quad2dpole_v0/window_easy.yaml create mode 100644 envs/quad2dpole_v0/window_hard.yaml rename include/dynobench/{croco_macros.hpp => dyno_macros.hpp} (100%) diff --git a/envs/quad2d_v0/empty_0.yaml b/envs/quad2d_v0/empty_0.yaml new file mode 100644 index 0000000..d10346b --- /dev/null +++ b/envs/quad2d_v0/empty_0.yaml @@ -0,0 +1,9 @@ +name: quad2d_v0-empty_0 +environment: + min: [-1, -1] + max: [1, 2] + obstacles: [] +robots: + - type: quad2d_v0 + start: [0, 0, 0, 0, 0, 0] + goal: [0, 1, 0, 0, 0, 0] diff --git a/envs/quad2d_v0/empty_1.yaml b/envs/quad2d_v0/empty_1.yaml new file mode 100644 index 0000000..8103205 --- /dev/null +++ b/envs/quad2d_v0/empty_1.yaml @@ -0,0 +1,9 @@ +name: quad2d_v0-empty_1 +environment: + min: [-1, -1] + max: [2, 2] + obstacles: [] +robots: + - type: quad2d_v0 + start: [0, 0, 0, 0, 0, 0] + goal: [1, 1, 0, 0, 0, 0] diff --git a/envs/quad2d_v0/fall_through.yaml b/envs/quad2d_v0/fall_through.yaml new file mode 100644 index 0000000..4aaf089 --- /dev/null +++ b/envs/quad2d_v0/fall_through.yaml @@ -0,0 +1,35 @@ +name: fall_through-quad2d_v0 +environment: + min: [0.0, 0.0] + max: [6, 6] + obstacles: + # difficult: + - type: box + center: [1, 3] + size: [3.4, .3] + - type: box + center: [5, 3] + size: [3.4, .3] + + # easy: + # - type: box + # center: [1, 3] + # size: [3.2,.3] + # - type: box + # center: [5, 3] + # size: [3.2,.3] + + # - type: box + # center: [5, 3] + # size: [.4,.4] + # - type: box + # center: [3, 2] + # size: [.4,.4] + # - type: box + # center: [1, 3] + # size: [.4,.4] +robots: + - type: quad2d_v0 + start: [1., 4, 0., 0., 0., 0.] # x,y,theta,v,w + goal: [4., 1., 0., 0., 0., 0] # x,y,theta,v,w + # goal: [3,3.,1.57,0.,0., 0] # x,y,theta,v,w diff --git a/envs/quad2d_v0/quad2d_recovery_obs.yaml b/envs/quad2d_v0/quad2d_recovery_obs.yaml new file mode 100644 index 0000000..3e9fec4 --- /dev/null +++ b/envs/quad2d_v0/quad2d_recovery_obs.yaml @@ -0,0 +1,18 @@ +name: quad2d_v0-recovery_obstacles +environment: + #original + min: [-1, -2.0] + max: [2, 3] + #visualization + min: [-1, -2.5] + max: [2.5, 3] + obstacles: + - type: box + center: [0, 1.5] + size: [2, .3] + +robots: + - type: quad2d_v0 + # start: [0., 1., 3.14, 0., 0., 0.] # x,y,theta,v,w + start: [0., 1., -3.14, 0., 0., 0.] # x,y,theta,v,w + goal: [0., 2, 0., 0., 0., 0] # x,y,theta,v,w diff --git a/envs/quad2d_v0/quad2d_recovery_wo_obs.yaml b/envs/quad2d_v0/quad2d_recovery_wo_obs.yaml new file mode 100644 index 0000000..e17c785 --- /dev/null +++ b/envs/quad2d_v0/quad2d_recovery_wo_obs.yaml @@ -0,0 +1,9 @@ +name: quad2d-recovery +environment: + min: [-1, -2] + max: [2, 3] + obstacles: [] +robots: + - type: quad2d_v0 + start: [0., 1., 3.14, 0., 0., 0.] # x,y,theta,v,w + goal: [1., 1., 0., 0., 0., 0] # x,y,theta,v,w diff --git a/envs/quad2d_v0/quad_bugtrap.yaml b/envs/quad2d_v0/quad_bugtrap.yaml new file mode 100644 index 0000000..a06a765 --- /dev/null +++ b/envs/quad2d_v0/quad_bugtrap.yaml @@ -0,0 +1,24 @@ +name: quad2d_v0-bugtrap +environment: + min: [0.0, 0.0] + max: [6, 6] + obstacles: + - type: box + center: [4.5, 3] + size: [0.2, 3.2] + - type: box + center: [3, 1.5] + size: [3.2, 0.2] + - type: box + center: [3, 4.5] + size: [3.2, 0.2] + - type: box + center: [1.5, 4.05] + size: [0.2, 1.1] + - type: box + center: [1.5, 1.95] + size: [0.2, 1.1] +robots: + - type: quad2d_v0 + start: [3.8, 3, 0, 0, 0, 0] + goal: [5.2, 3, 0, 0, 0, 0] diff --git a/envs/quad2d_v0/quad_obs_column.yaml b/envs/quad2d_v0/quad_obs_column.yaml new file mode 100644 index 0000000..3c3c2d6 --- /dev/null +++ b/envs/quad2d_v0/quad_obs_column.yaml @@ -0,0 +1,12 @@ +name: quad2d_v0-column +environment: + min: [0., 0.] + max: [6., 5.] + obstacles: + - type: box + center: [3, 1] + size: [.4, 4] +robots: + - type: quad2d_v0 + start: [2., 1., 0., 0., 0., 0.] # x,y,theta,v,w + goal: [4., 1., 0., 0., 0., 0] # x,y,theta,v,w diff --git a/envs/quad2dpole_v0/down.yaml b/envs/quad2dpole_v0/down.yaml new file mode 100644 index 0000000..e31e157 --- /dev/null +++ b/envs/quad2dpole_v0/down.yaml @@ -0,0 +1,10 @@ +name: quad2dpole_v0-down +environment: + min: [-2, -2] + max: [2, 2] + obstacles: [] +robots: + - type: quad2dpole_v0 + goal: [0, 0, 0.0, 0, 0, 0, 0, 0] + # goal: [0,0,0,0,0,0,0,0] + start: [0, 0, 0, 3.14, 0, 0, 0, 0] diff --git a/envs/quad2dpole_v0/move_with_down.yaml b/envs/quad2dpole_v0/move_with_down.yaml new file mode 100644 index 0000000..b37fd40 --- /dev/null +++ b/envs/quad2dpole_v0/move_with_down.yaml @@ -0,0 +1,9 @@ +name: quad2dpole_v0-move_with_down +environment: + min: [-1, -1] + max: [2, 2] + obstacles: [] +robots: + - type: quad2dpole_v0 + start: [0, 0, 0, 0, 0, 0, 0, 0] + goal: [1, 0, 0, 0, 0, 0, 0, 0] diff --git a/envs/quad2dpole_v0/move_with_up.yaml b/envs/quad2dpole_v0/move_with_up.yaml new file mode 100644 index 0000000..e4291d1 --- /dev/null +++ b/envs/quad2dpole_v0/move_with_up.yaml @@ -0,0 +1,9 @@ +name: quad2dpole_v0-move_with_up +environment: + min: [-1, -1] + max: [2, 2] + obstacles: [] +robots: + - type: quad2dpole_v0 + start: [0, 0, 0, 3.14, 0, 0, 0, 0] + goal: [1, 0, 0, 3.14, 0, 0, 0, 0] diff --git a/envs/quad2dpole_v0/up.yaml b/envs/quad2dpole_v0/up.yaml new file mode 100644 index 0000000..81634a9 --- /dev/null +++ b/envs/quad2dpole_v0/up.yaml @@ -0,0 +1,10 @@ +name: quad2dpole_v0-up +environment: + min: [-3, -3] + max: [3, 5] + obstacles: [] +robots: + - type: quad2dpole_v0 + start: [0, 0, 0.0, .0, 0, 0, 0, 0] + # goal: [0,0,0,0,0,0,0,0] + goal: [.6, 0, 0, 3.14, 0, 0, 0, 0] diff --git a/envs/quad2dpole_v0/up_obs.yaml b/envs/quad2dpole_v0/up_obs.yaml new file mode 100644 index 0000000..416a77c --- /dev/null +++ b/envs/quad2dpole_v0/up_obs.yaml @@ -0,0 +1,17 @@ +name: quad2dpole_v0-obstacles +environment: + #original + min: [-2, -1] + max: [2, 4] + #for visualization + # min: [-2, -1.5] + # max: [3, 4] + obstacles: + - type: "box" + size: [3, .2] + center: [-1, 1] +robots: + - type: quad2dpole_v0 + start: [0, 0, 0.0, .1, 0, 0, 0, 0] + # goal: [0,0,0,0,0,0,0,0] + goal: [0, 2, 0, 3.14, 0, 0, 0, 0] diff --git a/envs/quad2dpole_v0/window.yaml b/envs/quad2dpole_v0/window.yaml new file mode 100644 index 0000000..b711521 --- /dev/null +++ b/envs/quad2dpole_v0/window.yaml @@ -0,0 +1,28 @@ +name: quad2dpole_v0-window +environment: + min: [-1, 0] + max: [5, 3.5] + obstacles: + # - type: box + # center: [2, 0] + # size: [.4,4] + # + # - type: box + # center: [2, 4] + # size: [.4,2] + # + + - type: box + center: [2, -0.5] + size: [.4, 4.5] + + - type: box + center: [2, 4] + size: [.4, 2] + +robots: + - type: quad2dpole_v0 + # start: [0,0,0.0,.1,0,0,0,0] + start: [0, 1, 0, 0., 0, 0, 0, 0] + # goal: [0,0,0,0,0,0,0,0] + goal: [3.5, 1, 0, 3.14, 0, 0, 0, 0] diff --git a/envs/quad2dpole_v0/window_easy.yaml b/envs/quad2dpole_v0/window_easy.yaml new file mode 100644 index 0000000..92f037c --- /dev/null +++ b/envs/quad2dpole_v0/window_easy.yaml @@ -0,0 +1,28 @@ +name: quad2dpole_v0-window_easy +environment: + min: [-1, -1] + max: [5, 3] + obstacles: + # - type: box + # center: [2, 0] + # size: [.4,4] + # + # - type: box + # center: [2, 4] + # size: [.4,2] + # + + - type: box + center: [2, -0.5] + size: [.4, 4] + + # - type: box + # center: [2, 4] + # size: [.4,2] + +robots: + - type: quad2dpole_v0 + # start: [0,0,0.0,.1,0,0,0,0] + start: [0, 0, 0, 0, 0, 0, 0, 0] + # goal: [0,0,0,0,0,0,0,0] + goal: [3, 0, 0, 3.14, 0, 0, 0, 0] diff --git a/envs/quad2dpole_v0/window_hard.yaml b/envs/quad2dpole_v0/window_hard.yaml new file mode 100644 index 0000000..e31aeaa --- /dev/null +++ b/envs/quad2dpole_v0/window_hard.yaml @@ -0,0 +1,32 @@ +name: quad2dpole_v0-window_hard +environment: + #original + min: [-1, 0] + max: [5, 3.5] + #viewer + min: [-1, -1] + max: [6, 3.5] + obstacles: + # - type: box + # center: [2, 0] + # size: [.4,4] + # + # - type: box + # center: [2, 4] + # size: [.4,2] + # + + - type: box + center: [2, -0.5] + size: [.4, 4.5] + + - type: box + center: [2, 4] + size: [.4, 2.5] + +robots: + - type: quad2dpole_v0 + # start: [0,0,0.0,.1,0,0,0,0] + start: [0, 1, 0, 0., 0, 0, 0, 0] + # goal: [0,0,0,0,0,0,0,0] + goal: [4, 1, 0, 3.14, 0, 0, 0, 0] diff --git a/include/dynobench/croco_macros.hpp b/include/dynobench/dyno_macros.hpp similarity index 100% rename from include/dynobench/croco_macros.hpp rename to include/dynobench/dyno_macros.hpp diff --git a/include/dynobench/general_utils.hpp b/include/dynobench/general_utils.hpp index ae893bd..6b75146 100644 --- a/include/dynobench/general_utils.hpp +++ b/include/dynobench/general_utils.hpp @@ -13,7 +13,7 @@ #include #include -#include "croco_macros.hpp" +#include "dyno_macros.hpp" #include "math_utils.hpp" #include "yaml-cpp/yaml.h" #include diff --git a/include/dynobench/integrator2_2d.hpp b/include/dynobench/integrator2_2d.hpp index 78d06b3..f8cd7bc 100644 --- a/include/dynobench/integrator2_2d.hpp +++ b/include/dynobench/integrator2_2d.hpp @@ -1,6 +1,6 @@ #pragma once #include "Eigen/Core" -#include "croco_macros.hpp" +#include "dyno_macros.hpp" #include "dynobench/robot_models_base.hpp" #include "fcl/broadphase/broadphase_collision_manager.h" #include "general_utils.hpp" diff --git a/include/dynobench/math_utils.hpp b/include/dynobench/math_utils.hpp index 4744403..f3c6406 100644 --- a/include/dynobench/math_utils.hpp +++ b/include/dynobench/math_utils.hpp @@ -2,7 +2,7 @@ #include #include "Eigen/Core" -#include "croco_macros.hpp" +#include "dyno_macros.hpp" #include namespace dynobench { diff --git a/include/dynobench/motions.hpp b/include/dynobench/motions.hpp index 2831b20..08f9dfd 100644 --- a/include/dynobench/motions.hpp +++ b/include/dynobench/motions.hpp @@ -1,6 +1,6 @@ #pragma once #include "Eigen/Core" -#include "croco_macros.hpp" +#include "dyno_macros.hpp" #include "fcl/broadphase/broadphase_collision_manager.h" #include "general_utils.hpp" #include "math_utils.hpp" diff --git a/include/dynobench/robot_models.hpp b/include/dynobench/robot_models.hpp index a67ca39..60e1f5c 100644 --- a/include/dynobench/robot_models.hpp +++ b/include/dynobench/robot_models.hpp @@ -1,6 +1,6 @@ #pragma once #include "Eigen/Core" -#include "croco_macros.hpp" +#include "dyno_macros.hpp" #include "fcl/broadphase/broadphase_collision_manager.h" #include "for_each_macro.hpp" #include "general_utils.hpp" @@ -37,4 +37,9 @@ std::unique_ptr robot_factory_with_env(const std::string &robot_name, const std::string &problem_name); +bool check_edge_at_resolution(const Eigen::VectorXd &start, + const Eigen::VectorXd &goal, + std::shared_ptr &robot, + double resolution); + } // namespace dynobench diff --git a/include/dynobench/robot_models_base.hpp b/include/dynobench/robot_models_base.hpp index 33219de..800f2f7 100644 --- a/include/dynobench/robot_models_base.hpp +++ b/include/dynobench/robot_models_base.hpp @@ -1,6 +1,6 @@ #pragma once #include "Eigen/Core" -#include "croco_macros.hpp" +#include "dyno_macros.hpp" #include "fcl/broadphase/broadphase_collision_manager.h" #include "general_utils.hpp" #include "math_utils.hpp" diff --git a/src/motions.cpp b/src/motions.cpp index 33a524a..025930a 100644 --- a/src/motions.cpp +++ b/src/motions.cpp @@ -16,7 +16,7 @@ #include #include "Eigen/Core" -#include "dynobench/croco_macros.hpp" +#include "dynobench/dyno_macros.hpp" #include diff --git a/src/robot_models.cpp b/src/robot_models.cpp index 0f748fb..3b533d6 100644 --- a/src/robot_models.cpp +++ b/src/robot_models.cpp @@ -16,7 +16,7 @@ #include #include "Eigen/Core" -#include "dynobench/croco_macros.hpp" +#include "dynobench/dyno_macros.hpp" #include @@ -81,4 +81,46 @@ robot_factory_with_env(const std::string &robot_name, return robot; } +bool check_edge_at_resolution(const Eigen::VectorXd &start, + const Eigen::VectorXd &goal, + std::shared_ptr &robot, + double resolution) { + + using Segment = std::pair; + + if (!robot->collision_check(start)) { + return false; + } + if (!robot->collision_check(goal)) { + return false; + } + + std::queue queue; + queue.push(Segment{start, goal}); + Eigen::VectorXd x(robot->nx); + + while (!queue.empty()) { + + auto [si, gi] = queue.front(); + queue.pop(); + + if (robot->distance(si, gi) > resolution) { + // check mid points + robot->interpolate(x, si, gi, 0.5); + + if (robot->collision_check(x)) { + // collision free. + queue.push({si, x}); + queue.push({x, gi}); + } else { + // collision! + return false; + } + + ; + } + } + return true; +} + } // namespace dynobench diff --git a/src/robot_models_base.cpp b/src/robot_models_base.cpp index 3dcc034..6f91d07 100644 --- a/src/robot_models_base.cpp +++ b/src/robot_models_base.cpp @@ -16,7 +16,7 @@ #include #include "Eigen/Core" -#include "dynobench/croco_macros.hpp" +#include "dynobench/dyno_macros.hpp" #include From 65fd1d06de47c339669e38d87cf3e6031d565db4 Mon Sep 17 00:00:00 2001 From: Quim Ortiz - Work Date: Thu, 27 Jul 2023 12:45:46 +0200 Subject: [PATCH 07/25] update for refactor of removing ompl dependency from our planners --- include/dynobench/dyno_macros.hpp | 26 ++--- include/dynobench/general_utils.hpp | 7 ++ include/dynobench/math_utils.hpp | 26 ++--- include/dynobench/motions.hpp | 9 ++ include/dynobench/planar_rotor.hpp | 10 +- include/dynobench/planar_rotor_pole.hpp | 10 +- include/dynobench/quadrotor.hpp | 2 +- include/dynobench/robot_models_base.hpp | 34 +++---- src/acrobot.cpp | 14 +-- src/car.cpp | 28 ++--- src/car2.cpp | 26 ++--- src/motions.cpp | 129 ++++++++++++++++++++---- src/planar_rotor.cpp | 6 +- src/planar_rotor_pole.cpp | 10 +- src/quadrotor.cpp | 14 +-- src/robot_models_base.cpp | 48 ++++----- src/unicycle1.cpp | 6 +- utils/viewer/robot_viewer.py | 8 +- utils/viewer/viewer_test.py | 6 +- 19 files changed, 264 insertions(+), 155 deletions(-) diff --git a/include/dynobench/dyno_macros.hpp b/include/dynobench/dyno_macros.hpp index dbc10a0..9b955fe 100644 --- a/include/dynobench/dyno_macros.hpp +++ b/include/dynobench/dyno_macros.hpp @@ -43,9 +43,9 @@ << " -- " << msg << std::endl; \ } -#define CHECK_EQ(A, B, msg) \ +#define DYNO_CHECK_EQ(A, B, msg) \ if (!(A == B)) { \ - std::cout << "CHECK_EQ failed: '" << #A << "'=" << A << " '" << #B \ + std::cout << "DYNO_CHECK_EQ failed: '" << #A << "'=" << A << " '" << #B \ << "'=" << B << " -- " << msg << std::endl \ << "AT: " << AT << std::endl; \ throw std::runtime_error(msg); \ @@ -59,42 +59,42 @@ throw std::runtime_error(msg); \ } -#define CHECK_GEQ(A, B, msg) \ +#define DYNO_DYNO_CHECK_GEQ(A, B, msg) \ if (!(A >= B)) { \ - std::cout << "CHECK_GEQ failed: '" << #A << "'=" << A << " '" << #B \ + std::cout << "DYNO_DYNO_CHECK_GEQ failed: '" << #A << "'=" << A << " '" << #B \ << "'=" << B << " -- " << msg << std::endl \ << "AT: " << AT << std::endl; \ throw std::runtime_error(msg); \ } -#define WARN_GEQ(A, B, msg) \ +#define DYNO_WARN_GEQ(A, B, msg) \ if (!(A >= B)) { \ - std::cout << "WARN_GEQ failed: '" << #A << "'=" << A << " '" << #B \ + std::cout << "DYNO_WARN_GEQ failed: '" << #A << "'=" << A << " '" << #B \ << "'=" << B << " -- " << msg << std::endl \ << AT << std::endl; \ - std::cerr << "WARN_GEQ failed: '" << #A << "'=" << A << " '" << #B \ + std::cerr << "DYNO_WARN_GEQ failed: '" << #A << "'=" << A << " '" << #B \ << "'=" << B << " -- " << msg << std::endl \ << AT << std::endl; \ } -#define CHECK_LEQ(A, B, msg) \ +#define DYNO_CHECK_LEQ(A, B, msg) \ if (!(A <= B)) { \ - std::cout << "CHECK_LEQ failed: '" << #A << "'=" << A << " '" << #B \ + std::cout << "DYNO_CHECK_LEQ failed: '" << #A << "'=" << A << " '" << #B \ << "'=" << B << " -- " << msg << std::endl \ << "AT: " << AT << std::endl; \ throw std::runtime_error(msg); \ } -#define CHECK_GE(A, B, msg) \ +#define DYNO_CHECK_GE(A, B, msg) \ if (!(A > B)) { \ - std::cout << "CHECK_GE failed: '" << #A << "'=" << A << " '" << #B \ + std::cout << "DYNO_CHECK_GE failed: '" << #A << "'=" << A << " '" << #B \ << "'=" << B << " -- " << msg << "AT: " << AT << std::endl; \ throw std::runtime_error(msg); \ } -#define CHECK_SEQ(A, B, msg) \ +#define DYNO_CHECK_SEQ(A, B, msg) \ if (!(A <= B)) { \ - std::cout << "CHECK_SEQ failed: '" << #A << "'=" << A << " '" << #B \ + std::cout << "DYNO_CHECK_SEQ failed: '" << #A << "'=" << A << " '" << #B \ << "'=" << B << " -- " << msg << "AT: " << AT << std::endl; \ throw std::runtime_error(msg); \ } diff --git a/include/dynobench/general_utils.hpp b/include/dynobench/general_utils.hpp index 6b75146..6ffc960 100644 --- a/include/dynobench/general_utils.hpp +++ b/include/dynobench/general_utils.hpp @@ -78,6 +78,13 @@ auto timed_fun(Fun fun, Args &&...args) { out, std::chrono::duration(tac - tic).count()); } +template auto timed_fun_void(Fun fun) { + auto tic = std::chrono::high_resolution_clock::now(); + fun(); + auto tac = std::chrono::high_resolution_clock::now(); + return std::chrono::duration(tac - tic).count(); +} + namespace po = boost::program_options; template bool __in(const std::vector &v, const T &val) { diff --git a/include/dynobench/math_utils.hpp b/include/dynobench/math_utils.hpp index f3c6406..4969311 100644 --- a/include/dynobench/math_utils.hpp +++ b/include/dynobench/math_utils.hpp @@ -12,8 +12,8 @@ const Eigen::IOFormat FMT(6, Eigen::DontAlignCols, ",", ",", "", "", "[", "]"); bool inline check_bounds(const Eigen::VectorXd &v, const Eigen::VectorXd &v_lb, const Eigen::VectorXd &v_ub, double tol = 1e-10) { - CHECK_EQ(v.size(), v_lb.size(), AT); - CHECK_EQ(v.size(), v_lb.size(), AT); + DYNO_CHECK_EQ(v.size(), v_lb.size(), AT); + DYNO_CHECK_EQ(v.size(), v_lb.size(), AT); size_t n = v.size(); for (size_t i = 0; i < n; i++) { if (v(i) > v_ub(i) + tol || v(i) < v_lb(i) - tol) { @@ -31,8 +31,8 @@ double inline check_bounds_distance(const Eigen::VectorXd &v, const Eigen::VectorXd &v_lb, const Eigen::VectorXd &v_ub) { - CHECK_EQ(v.size(), v_lb.size(), AT); - CHECK_EQ(v.size(), v_lb.size(), AT); + DYNO_CHECK_EQ(v.size(), v_lb.size(), AT); + DYNO_CHECK_EQ(v.size(), v_lb.size(), AT); size_t n = v.size(); double max_distance = 0; for (size_t i = 0; i < n; i++) { @@ -51,15 +51,15 @@ double inline check_bounds_distance(const Eigen::VectorXd &v, Eigen::VectorXd inline enforce_bounds(const Eigen::VectorXd &us, const Eigen::VectorXd &lb, const Eigen::VectorXd &ub) { - CHECK_EQ(us.size(), lb.size(), AT); - CHECK_EQ(us.size(), ub.size(), AT); + DYNO_CHECK_EQ(us.size(), lb.size(), AT); + DYNO_CHECK_EQ(us.size(), ub.size(), AT); return us.cwiseMax(lb).cwiseMin(ub); } bool inline check_equal(Eigen::MatrixXd A, Eigen::MatrixXd B, double rtol, double atol) { - CHECK_EQ(A.rows(), B.rows(), AT); - CHECK_EQ(A.cols(), B.cols(), AT); + DYNO_CHECK_EQ(A.rows(), B.rows(), AT); + DYNO_CHECK_EQ(A.cols(), B.cols(), AT); auto dif = (A - B).cwiseAbs(); auto max_cwise = A.cwiseAbs().cwiseMax(B.cwiseAbs()); @@ -103,7 +103,7 @@ bool inline is_diagonal(const Eigen::Ref &mat, } template T inside_bounds(const T &i, const T &lb, const T &ub) { - CHECK_GEQ(ub, lb, AT); + DYNO_DYNO_CHECK_GEQ(ub, lb, AT); if (i < lb) return lb; @@ -508,10 +508,10 @@ inline std::string eigen_to_string(Eigen::Vector4d x) { } double inline so3_distance(const Eigen::Vector4d &x, const Eigen::Vector4d &y) { double max_quaternion_norm_error = 1e-6; - CHECK_LEQ(std::abs(x.norm() - 1), max_quaternion_norm_error, - eigen_to_string(x)); - CHECK_LEQ(std::abs(y.norm() - 1), max_quaternion_norm_error, - eigen_to_string(y)); + DYNO_CHECK_LEQ(std::abs(x.norm() - 1), max_quaternion_norm_error, + eigen_to_string(x)); + DYNO_CHECK_LEQ(std::abs(y.norm() - 1), max_quaternion_norm_error, + eigen_to_string(y)); double dq = std::fabs(x.dot(y)); if (dq > 1.0 - max_quaternion_norm_error) return 0.0; diff --git a/include/dynobench/motions.hpp b/include/dynobench/motions.hpp index 08f9dfd..40f5cce 100644 --- a/include/dynobench/motions.hpp +++ b/include/dynobench/motions.hpp @@ -104,6 +104,12 @@ struct Problem { void read_from_yaml(const char *file); void write_to_yaml(const char *file); + + void to_yaml(std::ostream &out) { + + NOT_IMPLEMENTED; + // TODO + } }; // next: time optimal linear, use so2 space, generate motion primitives @@ -350,6 +356,9 @@ void make_trajs_canonical(Model_robot &robot, const std::vector &trajs, std::vector &trajs_canonical); +bool is_motion_collision_free(dynobench::Trajectory &traj, + dynobench::Model_robot &robot); + } // namespace dynobench // // diff --git a/include/dynobench/planar_rotor.hpp b/include/dynobench/planar_rotor.hpp index 765aef7..6f898c1 100644 --- a/include/dynobench/planar_rotor.hpp +++ b/include/dynobench/planar_rotor.hpp @@ -107,7 +107,7 @@ struct Model_quad2d : Model_robot { } virtual Eigen::VectorXd get_x0(const Eigen::VectorXd &x) override { - CHECK_EQ(static_cast(x.size()), nx, AT); + DYNO_CHECK_EQ(static_cast(x.size()), nx, AT); Eigen::VectorXd out(nx); out.setZero(); out.head(2) = x.head(2); @@ -179,10 +179,10 @@ struct Model_quad2d : Model_robot { CHECK((p.size() == 2 || 4), AT); - CHECK_EQ(us_out.size(), us_in.size(), AT); - CHECK_EQ(xs_out.size(), xs_in.size(), AT); - CHECK_EQ(xs_out.front().size(), xs_in.front().size(), AT); - CHECK_EQ(us_out.front().size(), us_in.front().size(), AT); + DYNO_CHECK_EQ(us_out.size(), us_in.size(), AT); + DYNO_CHECK_EQ(xs_out.size(), xs_in.size(), AT); + DYNO_CHECK_EQ(xs_out.front().size(), xs_in.front().size(), AT); + DYNO_CHECK_EQ(us_out.front().size(), us_in.front().size(), AT); if (p.size() == 2) { Model_robot::transform_primitive(p, xs_in, us_in, xs_out, us_out); diff --git a/include/dynobench/planar_rotor_pole.hpp b/include/dynobench/planar_rotor_pole.hpp index 19137b4..cb71f1e 100644 --- a/include/dynobench/planar_rotor_pole.hpp +++ b/include/dynobench/planar_rotor_pole.hpp @@ -112,7 +112,7 @@ struct Model_quad2dpole : Model_robot { } virtual Eigen::VectorXd get_x0(const Eigen::VectorXd &x) override { - CHECK_EQ(static_cast(x.size()), nx, AT); + DYNO_CHECK_EQ(static_cast(x.size()), nx, AT); Eigen::VectorXd out(nx); out.setZero(); out.head(2) = x.head(2); @@ -182,10 +182,10 @@ struct Model_quad2dpole : Model_robot { std::vector &xs_out, std::vector &us_out) override { - CHECK_EQ(us_out.size(), us_in.size(), AT); - CHECK_EQ(xs_out.size(), xs_in.size(), AT); - CHECK_EQ(xs_out.front().size(), xs_in.front().size(), AT); - CHECK_EQ(us_out.front().size(), us_in.front().size(), AT); + DYNO_CHECK_EQ(us_out.size(), us_in.size(), AT); + DYNO_CHECK_EQ(xs_out.size(), xs_in.size(), AT); + DYNO_CHECK_EQ(xs_out.front().size(), xs_in.front().size(), AT); + DYNO_CHECK_EQ(us_out.front().size(), us_in.front().size(), AT); CHECK((p.size() == 2 || 4), AT); diff --git a/include/dynobench/quadrotor.hpp b/include/dynobench/quadrotor.hpp index 804d05f..659b8ed 100644 --- a/include/dynobench/quadrotor.hpp +++ b/include/dynobench/quadrotor.hpp @@ -158,7 +158,7 @@ struct Model_quad3d : Model_robot { virtual void offset(const Eigen::Ref &xin, Eigen::Ref p) override { - CHECK_EQ(p.size(), 6, AT); + DYNO_CHECK_EQ(p.size(), 6, AT); if (adapt_vel) { p.head<3>() = xin.head<3>(); p.tail<3>() = xin.segment<3>(7); diff --git a/include/dynobench/robot_models_base.hpp b/include/dynobench/robot_models_base.hpp index 800f2f7..fae1b1c 100644 --- a/include/dynobench/robot_models_base.hpp +++ b/include/dynobench/robot_models_base.hpp @@ -150,7 +150,7 @@ struct RnSOn : StateDyno { const std::vector so2_indices; RnSOn(size_t nR, size_t nSO2, const std::vector &so2_indices) : StateDyno(nR + nSO2, nR + nSO2), so2_indices(so2_indices) { - CHECK_EQ(so2_indices.size(), nSO2, AT); + DYNO_CHECK_EQ(so2_indices.size(), nSO2, AT); } virtual ~RnSOn(){}; @@ -296,12 +296,12 @@ struct Model_robot { virtual Eigen::VectorXd get_x0(const Eigen::VectorXd &x) { return x; } void set_position_ub(const Eigen::Ref &p_ub) { - CHECK_EQ(static_cast(p_ub.size()), translation_invariance, AT); + DYNO_CHECK_EQ(static_cast(p_ub.size()), translation_invariance, AT); x_ub.head(translation_invariance) = p_ub; } void set_position_lb(const Eigen::Ref &p_lb) { - CHECK_EQ(static_cast(p_lb.size()), translation_invariance, AT); + DYNO_CHECK_EQ(static_cast(p_lb.size()), translation_invariance, AT); x_lb.head(translation_invariance) = p_lb; } @@ -328,7 +328,7 @@ struct Model_robot { virtual void setPositionBounds(const Eigen::Ref &p_lb, const Eigen::Ref &p_ub) { - CHECK_EQ(p_lb.size(), p_ub.size(), AT); + DYNO_CHECK_EQ(p_lb.size(), p_ub.size(), AT); CHECK((static_cast(p_lb.size()) == 2 || static_cast(p_lb.size()) == 3), AT); @@ -419,7 +419,7 @@ struct Model_robot { virtual void rollout(const Eigen::Ref &x0, const std::vector &us, std::vector &xs) { - CHECK_EQ(us.size() + 1, xs.size(), AT); + DYNO_CHECK_EQ(us.size() + 1, xs.size(), AT); xs.at(0) = x0; for (size_t i = 0; i < us.size(); i++) { @@ -445,7 +445,7 @@ struct Model_robot { virtual void offset(const Eigen::Ref &xin, Eigen::Ref p) { - CHECK_EQ(static_cast(p.size()), translation_invariance, AT); + DYNO_CHECK_EQ(static_cast(p.size()), translation_invariance, AT); p = xin.head(translation_invariance); } @@ -458,13 +458,13 @@ struct Model_robot { std::vector &us_out) { // basic transformation is translation invariance - CHECK_EQ(static_cast(p.size()), translation_invariance, ""); + DYNO_CHECK_EQ(static_cast(p.size()), translation_invariance, ""); // TODO: avoid memory allocation inside this function!! - CHECK_EQ(us_out.size(), us_in.size(), AT); - CHECK_EQ(xs_out.size(), xs_in.size(), AT); - CHECK_EQ(xs_out.front().size(), xs_in.front().size(), AT); - CHECK_EQ(us_out.front().size(), us_in.front().size(), AT); + DYNO_CHECK_EQ(us_out.size(), us_in.size(), AT); + DYNO_CHECK_EQ(xs_out.size(), xs_in.size(), AT); + DYNO_CHECK_EQ(xs_out.front().size(), xs_in.front().size(), AT); + DYNO_CHECK_EQ(us_out.front().size(), us_in.front().size(), AT); for (size_t i = 0; i < us_in.size(); i++) { us_out[i] = us_in[i]; @@ -488,8 +488,8 @@ struct Model_robot { const Eigen::Ref &x1) { // lets just use state - CHECK_EQ(r_weight.size(), r.size(), AT); - CHECK_EQ(x0.size(), x1.size(), AT); + DYNO_CHECK_EQ(r_weight.size(), r.size(), AT); + DYNO_CHECK_EQ(x0.size(), x1.size(), AT); state->diff(x0, x1, r); r.array() *= r_weight.array(); } @@ -499,9 +499,9 @@ struct Model_robot { const Eigen::Ref &x0, const Eigen::Ref &x1) { - CHECK_EQ(x0.size(), x1.size(), AT); - CHECK_EQ(Jx0.cols(), Jx1.cols(), AT); - CHECK_EQ(Jx0.rows(), Jx1.rows(), AT); + DYNO_CHECK_EQ(x0.size(), x1.size(), AT); + DYNO_CHECK_EQ(Jx0.cols(), Jx1.cols(), AT); + DYNO_CHECK_EQ(Jx0.rows(), Jx1.rows(), AT); state->Jdiff(x0, x1, Jx0, Jx1); Jx0.diagonal().array() *= r_weight.array(); @@ -581,7 +581,7 @@ struct Interpolator { const std::vector &x, const std::shared_ptr &state) : times(times), x(x), state(state) { - CHECK_EQ(static_cast(times.size()), x.size(), AT); + DYNO_CHECK_EQ(static_cast(times.size()), x.size(), AT); } void inline interpolate(double t_query, Eigen::Ref out, diff --git a/src/acrobot.cpp b/src/acrobot.cpp index 7ba2755..689e0e3 100644 --- a/src/acrobot.cpp +++ b/src/acrobot.cpp @@ -80,8 +80,8 @@ Model_acrobot::Model_acrobot(const Acrobot_params &acrobot_params, ts_data.resize(2); col_outs.resize(2); - // CHECK_EQ(p_lb.size(), 2, AT); - // CHECK_EQ(p_ub.size(), 2, AT); + // DYNO_CHECK_EQ(p_lb.size(), 2, AT); + // DYNO_CHECK_EQ(p_ub.size(), 2, AT); } void Model_acrobot::sample_uniform(Eigen::Ref x) { @@ -203,11 +203,11 @@ void Model_acrobot::calcDiffV(Eigen::Ref Jv_x, const Eigen::Ref &x, const Eigen::Ref &uu) { - CHECK_EQ(static_cast(x.size()), nx, AT); - CHECK_EQ(static_cast(Jv_x.cols()), nx, AT); - CHECK_EQ(static_cast(Jv_x.rows()), nx, AT); - CHECK_EQ(static_cast(Jv_u.rows()), nx, AT); - CHECK_EQ(static_cast(Jv_u.cols()), nu, AT); + DYNO_CHECK_EQ(static_cast(x.size()), nx, AT); + DYNO_CHECK_EQ(static_cast(Jv_x.cols()), nx, AT); + DYNO_CHECK_EQ(static_cast(Jv_x.rows()), nx, AT); + DYNO_CHECK_EQ(static_cast(Jv_u.rows()), nx, AT); + DYNO_CHECK_EQ(static_cast(Jv_u.cols()), nu, AT); double q1dotdot_u; double q2dotdot_u; diff --git a/src/car.cpp b/src/car.cpp index 68e2643..ff149cf 100644 --- a/src/car.cpp +++ b/src/car.cpp @@ -99,7 +99,7 @@ void Model_car_with_trailers::constraintsIneq( const Eigen::Ref &u) { (void)u; - CHECK_EQ(r.size(), 2, AT); + DYNO_CHECK_EQ(r.size(), 2, AT); double diff = x(2) - x(3); if (diff > M_PI) { @@ -123,8 +123,8 @@ void Model_car_with_trailers::constraintsIneqDiff( (void)u; (void)Ju; (void)x; - CHECK_EQ(static_cast(Jx.cols()), nx, ""); - CHECK_EQ(static_cast(Jx.rows()), 2, ""); + DYNO_CHECK_EQ(static_cast(Jx.cols()), nx, ""); + DYNO_CHECK_EQ(static_cast(Jx.rows()), 2, ""); Jx(0, 2) = 1; Jx(0, 3) = -1; @@ -190,7 +190,7 @@ void Model_car_with_trailers::calcV( f(2) = v / params.l * std::tan(phi); if (params.num_trailers) { - CHECK_EQ(params.num_trailers, 1, AT); + DYNO_CHECK_EQ(params.num_trailers, 1, AT); double d = params.hitch_lengths(0); double theta_dot = v / d; theta_dot *= std::sin(x(2) - x(3)); @@ -202,7 +202,7 @@ void Model_car_with_trailers::regularization_cost( Eigen::Ref r, const Eigen::Ref &x, const Eigen::Ref &u) { (void)x; - CHECK_EQ(r.size(), 2, ""); + DYNO_CHECK_EQ(r.size(), 2, ""); r = u; } @@ -221,14 +221,14 @@ void Model_car_with_trailers::calcDiffV( const Eigen::Ref &x, const Eigen::Ref &u) { - CHECK_EQ(static_cast(Jv_x.rows()), nx, AT); - CHECK_EQ(static_cast(Jv_u.rows()), nx, AT); + DYNO_CHECK_EQ(static_cast(Jv_x.rows()), nx, AT); + DYNO_CHECK_EQ(static_cast(Jv_u.rows()), nx, AT); - CHECK_EQ(static_cast(Jv_x.cols()), nx, AT); - CHECK_EQ(static_cast(Jv_u.cols()), nu, AT); + DYNO_CHECK_EQ(static_cast(Jv_x.cols()), nx, AT); + DYNO_CHECK_EQ(static_cast(Jv_u.cols()), nu, AT); - CHECK_EQ(static_cast(x.size()), nx, AT); - CHECK_EQ(static_cast(u.size()), nu, AT); + DYNO_CHECK_EQ(static_cast(x.size()), nx, AT); + DYNO_CHECK_EQ(static_cast(u.size()), nu, AT); const double &v = u(0); const double &phi = u(1); @@ -246,7 +246,7 @@ void Model_car_with_trailers::calcDiffV( Jv_u(2, 1) = 1. * v / params.l / (std::cos(phi) * std::cos(phi)); if (params.num_trailers) { - CHECK_EQ(params.num_trailers, 1, AT); + DYNO_CHECK_EQ(params.num_trailers, 1, AT); double d = params.hitch_lengths(0); // double theta_dot = v / d; // double theta_dot = v / d * std::sin(x(2) - x(3)); @@ -260,8 +260,8 @@ void Model_car_with_trailers::calcDiffV( double Model_car_with_trailers::distance(const Eigen::Ref &x, const Eigen::Ref &y) { - CHECK_EQ(x.size(), 4, AT); - CHECK_EQ(y.size(), 4, AT); + DYNO_CHECK_EQ(x.size(), 4, AT); + DYNO_CHECK_EQ(y.size(), 4, AT); assert(y(2) <= M_PI && y(2) >= -M_PI); assert(x(2) <= M_PI && x(2) >= -M_PI); double d = params.distance_weights(0) * (x.head<2>() - y.head<2>()).norm() + diff --git a/src/car2.cpp b/src/car2.cpp index 027f608..4ea6df3 100644 --- a/src/car2.cpp +++ b/src/car2.cpp @@ -67,13 +67,13 @@ Model_car2::Model_car2(const Car2_params ¶ms, const Eigen::VectorXd &p_lb, double Model_car2::distance(const Eigen::Ref &x, const Eigen::Ref &y) { - CHECK_EQ(x.size(), 5, AT); - CHECK_EQ(y.size(), 5, AT); - CHECK_LEQ(y(2), M_PI, AT); - CHECK_GEQ(y(2), -M_PI, AT); - CHECK_LEQ(x(2), M_PI, AT); - CHECK_GEQ(x(2), -M_PI, AT); - CHECK_EQ(params.distance_weights.size(), 4, AT); + DYNO_CHECK_EQ(x.size(), 5, AT); + DYNO_CHECK_EQ(y.size(), 5, AT); + DYNO_CHECK_LEQ(y(2), M_PI, AT); + DYNO_DYNO_CHECK_GEQ(y(2), -M_PI, AT); + DYNO_CHECK_LEQ(x(2), M_PI, AT); + DYNO_DYNO_CHECK_GEQ(x(2), -M_PI, AT); + DYNO_CHECK_EQ(params.distance_weights.size(), 4, AT); double d = params.distance_weights(0) * (x.head<2>() - y.head<2>()).norm() + params.distance_weights(1) * so2_distance(x(2), y(2)) + params.distance_weights(2) * std::abs(x(3) - y(3)) + @@ -115,14 +115,14 @@ void Model_car2::calcDiffV(Eigen::Ref Jv_x, const Eigen::Ref &x, const Eigen::Ref &u) { - CHECK_EQ(static_cast(Jv_x.rows()), nx, AT); - CHECK_EQ(static_cast(Jv_u.rows()), nx, AT); + DYNO_CHECK_EQ(static_cast(Jv_x.rows()), nx, AT); + DYNO_CHECK_EQ(static_cast(Jv_u.rows()), nx, AT); - CHECK_EQ(static_cast(Jv_x.cols()), nx, AT); - CHECK_EQ(static_cast(Jv_u.cols()), nu, AT); + DYNO_CHECK_EQ(static_cast(Jv_x.cols()), nx, AT); + DYNO_CHECK_EQ(static_cast(Jv_u.cols()), nu, AT); - CHECK_EQ(static_cast(x.size()), nx, AT); - CHECK_EQ(static_cast(u.size()), nu, AT); + DYNO_CHECK_EQ(static_cast(x.size()), nx, AT); + DYNO_CHECK_EQ(static_cast(u.size()), nu, AT); const double &v = x(3); const double &phi = x(4); diff --git a/src/motions.cpp b/src/motions.cpp index 025930a..65b0d16 100644 --- a/src/motions.cpp +++ b/src/motions.cpp @@ -161,9 +161,9 @@ void Trajectory::check(std::shared_ptr robot, bool verbose) { Eigen::VectorXd dts; if (times.size()) { - CHECK_EQ(static_cast(times.size()), states.size(), AT); + DYNO_CHECK_EQ(static_cast(times.size()), states.size(), AT); dts.resize(times.size() - 1); - CHECK_GE(times.size(), 1, AT); + DYNO_CHECK_GE(times.size(), 1, AT); for (size_t i = 0; i < static_cast(times.size() - 1); i++) { dts(i) = times(i + 1) - times(i); } @@ -230,7 +230,7 @@ void Problem::read_from_yaml(const YAML::Node &env) { std::vector max_ = env["environment"]["max"].as>(); - CHECK_EQ(min_.size(), max_.size(), AT); + DYNO_CHECK_EQ(min_.size(), max_.size(), AT); CHECK((min_.size() <= 3), AT); p_lb = Eigen::Map(&min_.at(0), min_.size()); p_ub = Eigen::Map(&max_.at(0), max_.size()); @@ -357,9 +357,9 @@ double check_trajectory(const std::vector &xs_out, CHECK(xs_out.size(), AT); CHECK(us_out.size(), AT); CHECK(model, AT); - CHECK_EQ(xs_out.size(), us_out.size() + 1, AT); - CHECK_EQ(static_cast(dt.size()), static_cast(us_out.size()), - AT); + DYNO_CHECK_EQ(xs_out.size(), us_out.size() + 1, AT); + DYNO_CHECK_EQ(static_cast(dt.size()), + static_cast(us_out.size()), AT); size_t N = us_out.size(); @@ -419,7 +419,7 @@ double check_cols(std::shared_ptr model_robot, double max_rollout_error(std::shared_ptr robot, const std::vector &xs, const std::vector &us) { - CHECK_EQ(xs.size(), us.size() + 1, AT); + DYNO_CHECK_EQ(xs.size(), us.size() + 1, AT); size_t N = us.size(); @@ -449,8 +449,8 @@ void resample_trajectory(std::vector &xs_out, const std::shared_ptr &state) { - CHECK_EQ(xs.size(), us.size() + 1, ""); - CHECK_EQ(static_cast(ts.size()), us.size() + 1, ""); + DYNO_CHECK_EQ(xs.size(), us.size() + 1, ""); + DYNO_CHECK_EQ(static_cast(ts.size()), us.size() + 1, ""); xs_out.clear(); us_out.clear(); @@ -498,7 +498,7 @@ void resample_trajectory(std::vector &xs_out, xs_out = new_xs; us_out = new_us; - CHECK_EQ(xs_out.size(), us_out.size() + 1, ""); + DYNO_CHECK_EQ(xs_out.size(), us_out.size() + 1, ""); } void Info_out::print(std::ostream &out, const std::string &be, @@ -566,21 +566,21 @@ void Info_out::to_yaml(std::ostream &out, const std::string &be, double Trajectory::distance(const Trajectory &other) const { - CHECK_EQ(actions.size(), other.actions.size(), AT); - CHECK_EQ(states.size(), other.states.size(), AT); + DYNO_CHECK_EQ(actions.size(), other.actions.size(), AT); + DYNO_CHECK_EQ(states.size(), other.states.size(), AT); double distance = 0; for (size_t i = 0; i < states.size(); i++) { auto &x = states.at(i); auto &y = other.states.at(i); - CHECK_EQ(x.size(), y.size(), AT); + DYNO_CHECK_EQ(x.size(), y.size(), AT); distance += (x - y).norm(); } for (size_t i = 0; i < actions.size(); i++) { auto &x = actions.at(i); auto &y = other.actions.at(i); - CHECK_EQ(x.size(), y.size(), AT); + DYNO_CHECK_EQ(x.size(), y.size(), AT); distance += (x - y).norm(); } return distance; @@ -858,9 +858,10 @@ Trajectories cut_trajectory(const Trajectory &traj, size_t number_of_cuts, traj.actions.begin() + i * length_each, traj.actions.begin() + std::min((i + 1) * length_each, num_actions)}; Trajectory traj; - CHECK_EQ(states.size(), actions.size() + 1, AT); + DYNO_CHECK_EQ(states.size(), actions.size() + 1, AT); traj.states = states; traj.actions = actions; + DYNO_WARN_GEQ(traj.states.size(), 2, AT); traj.start = states.front(); traj.goal = states.back(); traj.cost = robot->ref_dt * traj.actions.size(); @@ -873,7 +874,8 @@ Trajectories cut_trajectory(const Trajectory &traj, size_t number_of_cuts, } { // save trjectories for debugging - std::string filename = "/tmp/dbastar/trajs_cuts_" + gen_random(6) + ".yaml"; + std::string filename = + "/tmp/dynoplan/trajs_cuts_" + gen_random(6) + ".yaml"; std::cout << "saving traj file: " << filename << std::endl; new_trajectories.save_file_yaml(filename.c_str()); } @@ -928,9 +930,9 @@ Trajectory::find_discontinuities(std::shared_ptr &robot) { CHECK(states.size(), AT); CHECK(actions.size(), AT); CHECK(robot, AT); - CHECK_EQ(states.size(), actions.size() + 1, AT); - CHECK_EQ(static_cast(dts.size()), static_cast(actions.size()), - AT); + DYNO_CHECK_EQ(states.size(), actions.size() + 1, AT); + DYNO_CHECK_EQ(static_cast(dts.size()), + static_cast(actions.size()), AT); size_t N = actions.size(); @@ -994,4 +996,93 @@ Trajectory Trajectory::resample(std::shared_ptr &robot) { } return out; } + +// TODO: reimplement this +#if 0 + auto out = timed_fun([&] { + motion->collision_manager->shift(offset); + fcl::DefaultCollisionData collision_data; + motion->collision_manager->collide( + robot->env.get(), &collision_data, + fcl::DefaultCollisionFunction); + bool motionValid = !collision_data.result.isCollision(); + motion->collision_manager->shift(-offset); + return motionValid; + }); + + motionValid = out.first; + time_bench.time_collisions += out.second; + time_bench.num_col_motions++; +#endif + +bool is_motion_collision_free(dynobench::Trajectory &traj, + dynobench::Model_robot &robot) { + + assert(traj.states.size()); + if (!robot.collision_check(traj.states.front())) { + return false; + } + + if (!robot.collision_check(traj.states.back())) { + return false; + } + + CHECK(traj.states.size(), AT); + + Stopwatch watch; + + size_t index_start = 0; + size_t index_last = traj.states.size() - 1; + + // check the first and last state + + size_t nx = robot.nx; + Eigen::VectorXd x(nx); + + using Segment = std::pair; + std::queue queue; + + queue.push(Segment{index_start, index_last}); + + size_t index_resolution = 1; + + if (robot.ref_dt < .05) { + // TODO: which number to put here? + index_resolution = 5; + } + + // I could use a spatial resolution also... + + while (!queue.empty()) { + + auto [si, gi] = queue.front(); + queue.pop(); + + if (gi - si > index_resolution) { + + // check if they are very close -> HOW exactly? + // auto &gix = traj.states.at(gi); + // auto &six = traj.states.at(si); + + size_t ii = int((si + gi) / 2); + + if (ii == si || ii == gi) { + continue; + } + // robot->toEigen(motion->states.at(ii), x); + x = traj.states.at(ii); + if (robot.collision_check(x)) { + if (ii != si) + queue.push(Segment{ii, gi}); + if (ii != gi) + queue.push(Segment{si, ii}); + } else { + return false; + break; + } + } + } + return true; +}; + } // namespace dynobench diff --git a/src/planar_rotor.cpp b/src/planar_rotor.cpp index f2f9c61..237abb2 100644 --- a/src/planar_rotor.cpp +++ b/src/planar_rotor.cpp @@ -77,9 +77,9 @@ void Model_quad2d::calcV(Eigen::Ref v, const Eigen::Ref &x, const Eigen::Ref &u) { - CHECK_EQ(v.size(), 6, AT); - CHECK_EQ(x.size(), 6, AT); - CHECK_EQ(u.size(), 2, AT); + DYNO_CHECK_EQ(v.size(), 6, AT); + DYNO_CHECK_EQ(x.size(), 6, AT); + DYNO_CHECK_EQ(u.size(), 2, AT); const double &f1 = u_nominal * u(0); const double &f2 = u_nominal * u(1); diff --git a/src/planar_rotor_pole.cpp b/src/planar_rotor_pole.cpp index 351a2ab..0d473b1 100644 --- a/src/planar_rotor_pole.cpp +++ b/src/planar_rotor_pole.cpp @@ -148,9 +148,9 @@ void Model_quad2dpole::calcV(Eigen::Ref v, const Eigen::Ref &x, const Eigen::Ref &u) { - CHECK_EQ(v.size(), 8, AT); - CHECK_EQ(x.size(), 8, AT); - CHECK_EQ(u.size(), 2, AT); + DYNO_CHECK_EQ(v.size(), 8, AT); + DYNO_CHECK_EQ(x.size(), 8, AT); + DYNO_CHECK_EQ(u.size(), 2, AT); double data[6] = {params.I, params.m, params.m_p, params.l, params.r, g}; double out[4]; @@ -177,8 +177,8 @@ void Model_quad2dpole::calcDiffV(Eigen::Ref Jv_x, assert(static_cast(x.size()) == 8); assert(static_cast(u.size()) == 2); - CHECK_EQ(x.size(), 8, AT); - CHECK_EQ(u.size(), 2, AT); + DYNO_CHECK_EQ(x.size(), 8, AT); + DYNO_CHECK_EQ(u.size(), 2, AT); double data[6] = {params.I, params.m, params.m_p, params.l, params.r, g}; double out[4]; diff --git a/src/quadrotor.cpp b/src/quadrotor.cpp index 81ce932..ccb7b47 100644 --- a/src/quadrotor.cpp +++ b/src/quadrotor.cpp @@ -175,7 +175,7 @@ Model_quad3d::Model_quad3d(const Quad3d_params ¶ms, } Eigen::VectorXd Model_quad3d::get_x0(const Eigen::VectorXd &x) { - CHECK_EQ(static_cast(x.size()), nx, AT); + DYNO_CHECK_EQ(static_cast(x.size()), nx, AT); Eigen::VectorXd out(nx); out.setZero(); out.head(3) = x.head(3); @@ -209,10 +209,10 @@ void Model_quad3d::transform_primitive( CHECK((p.size() == 3 || 6), AT); - CHECK_EQ(us_out.size(), us_in.size(), AT); - CHECK_EQ(xs_out.size(), xs_in.size(), AT); - CHECK_EQ(xs_out.front().size(), xs_in.front().size(), AT); - CHECK_EQ(us_out.front().size(), us_in.front().size(), AT); + DYNO_CHECK_EQ(us_out.size(), us_in.size(), AT); + DYNO_CHECK_EQ(xs_out.size(), xs_in.size(), AT); + DYNO_CHECK_EQ(xs_out.front().size(), xs_in.front().size(), AT); + DYNO_CHECK_EQ(us_out.front().size(), us_in.front().size(), AT); if (p.size() == 3) { Model_robot::transform_primitive(p, xs_in, us_in, xs_out, us_out); @@ -309,7 +309,7 @@ void Model_quad3d::step(Eigen::Ref xnext, Eigen::Ref pos = x.head(3).head<3>(); Eigen::Vector4d q = x.segment(3, 4).head<4>().normalized(); - CHECK_LEQ(std::abs((q.norm() - 1.0)), 1e-6, AT); + DYNO_CHECK_LEQ(std::abs((q.norm() - 1.0)), 1e-6, AT); Eigen::Ref vel = x.segment(7, 3).head<3>(); Eigen::Ref w = x.segment(10, 3).head<3>(); @@ -325,7 +325,7 @@ void Model_quad3d::step(Eigen::Ref xnext, __get_quat_from_ang_vel_time(ff.segment<3>(3) * dt, deltaQ, nullptr); quat_product(q, deltaQ, q_next, nullptr, nullptr); w_next = w + dt * ff.segment<3>(9); - CHECK_LEQ(std::abs((q_next.norm() - 1.0)), 1e-6, AT); + DYNO_CHECK_LEQ(std::abs((q_next.norm() - 1.0)), 1e-6, AT); } void Model_quad3d::stepDiff(Eigen::Ref Fx, diff --git a/src/robot_models_base.cpp b/src/robot_models_base.cpp index 6f91d07..e0b8c26 100644 --- a/src/robot_models_base.cpp +++ b/src/robot_models_base.cpp @@ -160,8 +160,8 @@ void RnSOn::diff(const Eigen::Ref &x0, const Eigen::Ref &x1, Eigen::Ref dxout) const { - CHECK_EQ(x0.size(), x1.size(), AT); - CHECK_EQ(dxout.size(), x1.size(), AT); + DYNO_CHECK_EQ(x0.size(), x1.size(), AT); + DYNO_CHECK_EQ(dxout.size(), x1.size(), AT); dxout = x1 - x0; for (auto &i : so2_indices) { @@ -281,8 +281,8 @@ Model_robot::Model_robot(std::shared_ptr state, size_t nu) void Model_robot::transformation_collision_geometries( const Eigen::Ref &x, std::vector &ts) { - CHECK_GEQ(x.size(), 3, ""); - CHECK_EQ(ts.size(), 1, ""); + DYNO_DYNO_CHECK_GEQ(x.size(), 3, ""); + DYNO_CHECK_EQ(ts.size(), 1, ""); fcl::Transform3d result; result = Eigen::Translation(fcl::Vector3d(x(0), x(1), 0)); @@ -304,9 +304,9 @@ bool Model_robot::collision_check(const Eigen::Ref &x) { fcl::DefaultCollisionData collision_data; transformation_collision_geometries(x, ts_data); - CHECK_EQ(collision_geometries.size(), ts_data.size(), AT); + DYNO_CHECK_EQ(collision_geometries.size(), ts_data.size(), AT); assert(collision_geometries.size() == ts_data.size()); - CHECK_EQ(collision_geometries.size(), col_outs.size(), AT); + DYNO_CHECK_EQ(collision_geometries.size(), col_outs.size(), AT); assert(collision_geometries.size() == col_outs.size()); for (size_t i = 0; i < collision_geometries.size(); i++) { @@ -336,9 +336,9 @@ void Model_robot::collision_distance(const Eigen::Ref &x, // compute all tansforms transformation_collision_geometries(x, ts_data); - CHECK_EQ(collision_geometries.size(), ts_data.size(), AT); + DYNO_CHECK_EQ(collision_geometries.size(), ts_data.size(), AT); assert(collision_geometries.size() == ts_data.size()); - CHECK_EQ(collision_geometries.size(), col_outs.size(), AT); + DYNO_CHECK_EQ(collision_geometries.size(), col_outs.size(), AT); assert(collision_geometries.size() == col_outs.size()); for (size_t i = 0; i < collision_geometries.size(); i++) { @@ -588,12 +588,12 @@ void Model_robot::stepDiff(Eigen::Ref Fx, // const Eigen::Ref &x, // const Eigen::Ref &u, // double dt) { -// CHECK_EQ(nu, static_cast(u.size()), AT); -// CHECK_EQ(nx, static_cast(x.size()), AT); -// CHECK_EQ(nx, static_cast(Fx.rows()), AT); -// CHECK_EQ(nx, static_cast(Fx.cols()), AT); -// CHECK_EQ(nx, static_cast(Fu.rows()), AT); -// CHECK_EQ(static_cast(Fu.cols()), nu + 1, AT); +// DYNO_CHECK_EQ(nu, static_cast(u.size()), AT); +// DYNO_CHECK_EQ(nx, static_cast(x.size()), AT); +// DYNO_CHECK_EQ(nx, static_cast(Fx.rows()), AT); +// DYNO_CHECK_EQ(nx, static_cast(Fx.cols()), AT); +// DYNO_CHECK_EQ(nx, static_cast(Fu.rows()), AT); +// DYNO_CHECK_EQ(static_cast(Fu.cols()), nu + 1, AT); // calcDiffV(__Jv_x, __Jv_u, x, u); // euler_diff(Fx, Fu.block(0, 0, nx, nu), dt, __Jv_x, __Jv_u); // calcV(__v, x, u); @@ -606,12 +606,12 @@ void Model_robot::stepDiff_with_v(Eigen::Ref Fx, const Eigen::Ref &x, const Eigen::Ref &u, double dt) { - CHECK_EQ(nu, static_cast(u.size()), AT); - CHECK_EQ(nx, static_cast(x.size()), AT); - CHECK_EQ(nx, static_cast(Fx.rows()), AT); - CHECK_EQ(nx, static_cast(Fx.cols()), AT); - CHECK_EQ(nx, static_cast(Fu.rows()), AT); - CHECK_EQ(static_cast(Fu.cols()), nu, AT); + DYNO_CHECK_EQ(nu, static_cast(u.size()), AT); + DYNO_CHECK_EQ(nx, static_cast(x.size()), AT); + DYNO_CHECK_EQ(nx, static_cast(Fx.rows()), AT); + DYNO_CHECK_EQ(nx, static_cast(Fx.cols()), AT); + DYNO_CHECK_EQ(nx, static_cast(Fu.rows()), AT); + DYNO_CHECK_EQ(static_cast(Fu.cols()), nu, AT); calcV(__v, x, u); calcDiffV(__Jv_x, __Jv_u, x, u); @@ -659,14 +659,14 @@ void linearInterpolation(const Eigen::VectorXd ×, Eigen::Ref Jx) { CHECK(x.size(), AT); - CHECK_EQ(x.front().size(), out.size(), AT); + DYNO_CHECK_EQ(x.front().size(), out.size(), AT); // double num_tolerance = 1e-8; - // CHECK_GEQ(t_query + num_tolerance, times.head(1)(0), AT); + // DYNO_DYNO_CHECK_GEQ(t_query + num_tolerance, times.head(1)(0), AT); assert(static_cast(times.size()) == static_cast(x.size())); if (times.size() == 1) { - CHECK_EQ(x.size(), 1, AT); + DYNO_CHECK_EQ(x.size(), 1, AT); out = x.front(); return; } @@ -699,7 +699,7 @@ void linearInterpolation(const Eigen::VectorXd ×, break; } } - CHECK_EQ(index, index2, AT); + DYNO_CHECK_EQ(index, index2, AT); } } diff --git a/src/unicycle1.cpp b/src/unicycle1.cpp index 20e243f..a4100c5 100644 --- a/src/unicycle1.cpp +++ b/src/unicycle1.cpp @@ -92,9 +92,9 @@ void Model_unicycle1::calcV(Eigen::Ref v, const Eigen::Ref &x, const Eigen::Ref &u) { - CHECK_EQ(v.size(), 3, AT); - CHECK_EQ(x.size(), 3, AT); - CHECK_EQ(u.size(), 2, AT); + DYNO_CHECK_EQ(v.size(), 3, AT); + DYNO_CHECK_EQ(x.size(), 3, AT); + DYNO_CHECK_EQ(u.size(), 2, AT); const double c = cos(x[2]); const double s = sin(x[2]); diff --git a/utils/viewer/robot_viewer.py b/utils/viewer/robot_viewer.py index c3d1630..d37cc32 100644 --- a/utils/viewer/robot_viewer.py +++ b/utils/viewer/robot_viewer.py @@ -249,8 +249,8 @@ def check_viewer(viewer: RobotViewer, argv=None, show_single_state=False): filename_video = "" - # Path("/tmp/dbastar").mkdir(parents=True, exist_ok=True) - # viewer = viewer.make_video(env, result, "/tmp/dbastar/tmp.mp4") + # Path("/tmp/dynoplan").mkdir(parents=True, exist_ok=True) + # viewer = viewer.make_video(env, result, "/tmp/dynoplan/tmp.mp4") if args.store: if args.out == "auto": @@ -258,7 +258,7 @@ def check_viewer(viewer: RobotViewer, argv=None, show_single_state=False): else: filename_video = args.out.replace(".pdf", "-solution.mp4") - # print("copy from /tmp/dbastar/tmp.mp4 to", name_out) - # shutil.copy("/tmp/dbastar/tmp.mp4", name_out) + # print("copy from /tmp/dynoplan/tmp.mp4 to", name_out) + # shutil.copy("/tmp/dynoplan/tmp.mp4", name_out) viewer.make_video(env, result, filename_video, interactive=args.interactive) diff --git a/utils/viewer/viewer_test.py b/utils/viewer/viewer_test.py index 9388ffd..7d4b769 100644 --- a/utils/viewer/viewer_test.py +++ b/utils/viewer/viewer_test.py @@ -10,12 +10,14 @@ import os import subprocess -base_path = os.path.dirname(__file__) + "/" + "../../" -this_path = os.path.dirname(__file__) + "/" +base_path = "./" + os.path.dirname(__file__) + "/" + "../../" +this_path = "./" + os.path.dirname(__file__) + "/" visualize: bool = False +print(base_path) +print(this_path) class TestCli(unittest.TestCase): def test_cli_env(self): From f2a5a23444ba4da2221d6f37741c5a283e383cd0 Mon Sep 17 00:00:00 2001 From: Quim Ortiz - Work Date: Thu, 27 Jul 2023 18:36:58 +0200 Subject: [PATCH 08/25] new pics of motions --- assets/motions/primitives-acrobot.png | Bin 0 -> 81343 bytes assets/motions/primitives-quad2d.png | Bin 0 -> 38740 bytes assets/motions/primitives-quad2dpole.png | Bin 0 -> 82902 bytes assets/motions/primitives-unicycle1.png | Bin 0 -> 51991 bytes 4 files changed, 0 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z{qBG3v$5&hPX*@}710Lg4P;6AMuw30+n>eI?GcncmJS&G7se`#V}>%{iZ@{N7tmk4 z3z?ql8pI8ye-PKHGs*_%^=8^19XJGeA!9M_iQx6jffAXMYs z5EL l|2K30uW{M`t?Tp{|B7+QA+>- literal 0 HcmV?d00001 From 258b97e2cbbc9c5d770316b25ab10aab41256e7e Mon Sep 17 00:00:00 2001 From: quimortiz <32126190+quimortiz@users.noreply.github.com> Date: Thu, 27 Jul 2023 18:55:27 +0200 Subject: [PATCH 09/25] Update README.md --- README.md | 47 +++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 47 insertions(+) diff --git a/README.md b/README.md index 6c50cf7..3097ead 100644 --- a/README.md +++ b/README.md @@ -270,6 +270,53 @@ The planners in Dynoplan that depend on OMPL require to implement a small wrappe +## More Motion Primitives + +You will find a small set of motion primitives for each system in [dynobench](https://github.com/quimortiz/dynobench). + +A large set of primitives for each system can be downloaded from Google Drive. This can be done manually with a web browser or using the command line with [gdown](https://github.com/wkentaro/gdown). For example: + +``` +gdown --fuzzy "https://drive.google.com/file/d/1r_ecGwdfvWnVWxPsvR4d8Hjcayxg5PsB/view?usp=drive_link" +``` + +All primitive in two ZIP files: https://drive.google.com/drive/folders/1-Nvctva17I8aFsWvHfdQFWTIDUNWwgcM?usp=drive_link + +Primitves per system: + +* unicycle1_v0 +https://drive.google.com/file/d/15dXqC_OdrI8KjaHRNakYgk9IXLtTeMtt/view?usp=drive_link + +* quadrotor_v1 (OMPL-style) +https://drive.google.com/file/d/1r_ecGwdfvWnVWxPsvR4d8Hjcayxg5PsB/view?usp=drive_link + +* quadrotor_v0 +https://drive.google.com/file/d/1j57kwE5hFgO-46LjStv_zqm6S5BFUsY8/view?usp=drive_link + +* Acrobot_v0 + https://drive.google.com/file/d/1mLiTgcpXSI9UHHss4Qt7AIsRwJPbPC2H/view?usp=drive_link + +* Roto_Pole_v0 +https://drive.google.com/file/d/1KMb4IDgucHN8uWI9YN_W07AhX59tkph_/view?usp=drive_link + +* Planar Rotor_v0 +https://drive.google.com/file/d/18kI3qXweA4RgvDxtV3vfxnfc_BhX52j8/view?usp=drive_link + +* Car1_v0 +https://drive.google.com/file/d/1TPX3c8RvMOy9hiaKL-kUE8M61OknDrDK/view?usp=drive_link + +* Unicycle 2 _v0 + https://drive.google.com/file/d/1PoK1kbiLRFq_hkv3pVWU0csNr4hap0WX/view?usp=drive_link + +* Unicycle 1 v2 +https://drive.google.com/file/d/1IvwN-e1jn5P0P1ILaVwSrUnIeBlFxhHI/view?usp=drive_link + +* Unicycle 1 v1 +https://drive.google.com/file/d/1OLuw5XICTueoZuleXOuD6vNh3PCWfHif/view?usp=drive_link + + + + ## Roadmap Dynobench is still in an alpha stage. 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Thus, the step function is $\mathbf{x}_{k+1} = A \mathbf{x} + B \mathbf{u} $ with: ```math @@ -157,12 +155,10 @@ B = \end{bmatrix} ``` -Control Bounds: $|u_x| \leq 1$, $|u_y| \leq 1$ - -State Bounds: $|\dot{x}| \leq 1 $, $|\dot{y}| \leq 1 $ +Control Bounds are $|u_x| \leq 1$, $|u_y| \leq 1$, and state bounds on velocity $|\dot{x}| \leq 1 $, $|\dot{y}| \leq 1 $. First, we have implemented a new class in `src/integrator2_2d.cpp` and `include/dynobench/integrator2_2d.hpp`. We store all parameters in a separate class, `Integrator2_2d_params`. -A robot model implements 4 big functionalities: distance and cost bounds between states, a dynamics function, bounds on state and control, and collision . Check the code! +A robot model implements 4 main functionalities: distance and cost bounds between states, a dynamics function, bounds on state and control, and collision against obstacles. Check the code! ```cpp // dynobench/double_integrator_2d.hpp and src/double_integrator_2d.hpp From 55983813778356ab87b34817a89c7027425ff554 Mon Sep 17 00:00:00 2001 From: quimortiz <32126190+quimortiz@users.noreply.github.com> Date: Thu, 27 Jul 2023 19:16:56 +0200 Subject: [PATCH 12/25] Update README.md --- README.md | 15 ++++++--------- 1 file changed, 6 insertions(+), 9 deletions(-) diff --git a/README.md b/README.md index 5ef1436..a9a031b 100644 --- a/README.md +++ b/README.md @@ -101,12 +101,12 @@ target_link_libraries(main PRIVATE dynobench::dynobench yaml-cpp) ### Python Viewer Check the viewers with: -``` +```bash python3 ../utils/viewer/viewer_test.py ``` and -``` +```bash VISUALIZE=1 python3 ../utils/viewer/viewer_test.py ``` @@ -226,29 +226,26 @@ We define `double_integrator_2d_v0` with a configuration file `models/integrator Let's add a viewer in python. We need a new class: -``` +```python //utils/viewer/integrator2_2d_viewer.py class Robot : class Integrator2_2dViewer (RobotViewer): - - ``` + `RobotViewer` is a base class that provides default functionality. `Robot` is the class that draws the robot (e.g. using a rectangle ) -``` +```python // utils/viewer/viewer_cli.py - def get_robot_viewer(robot: str) -> robot_viewer.RobotViewer: ... elif robot == "integrator2_2d": viewer = double_integrator_2d_viewer.Integrator2_2dViewer() - ``` @@ -272,7 +269,7 @@ You will find a small set of motion primitives for each system in [dynobench](h A large set of primitives for each system can be downloaded from Google Drive. This can be done manually with a web browser or using the command line with [gdown](https://github.com/wkentaro/gdown). For example: -``` +```bash gdown --fuzzy "https://drive.google.com/file/d/1r_ecGwdfvWnVWxPsvR4d8Hjcayxg5PsB/view?usp=drive_link" ``` From 043b2d889a273e092dd46ee38aca75447b3cdcbf Mon Sep 17 00:00:00 2001 From: quimortiz <32126190+quimortiz@users.noreply.github.com> Date: Thu, 27 Jul 2023 19:24:27 +0200 Subject: [PATCH 13/25] Update README.md --- README.md | 28 ++++++++++++++++++++++++++++ 1 file changed, 28 insertions(+) diff --git a/README.md b/README.md index a9a031b..b3d8d89 100644 --- a/README.md +++ b/README.md @@ -9,6 +9,34 @@ Dynobench 🦖 is a universal benchmark for kinodynamic motion planning. Develop

    +## Robots and Problem Description + +Kinodynamic motion planning problem are defined in [Dynobench](https://github.com/quimortiz/dynobench) + +Acrobot +

    + +

    + +Planar Rotor +

    + +

    + +Planar Rotor Pole +

    + +

    + +

    + +

    + +Unicycle1 +

    + +

    + # Using Dynobench From 14073682b23559f2c78c088263d171d9d2202d39 Mon Sep 17 00:00:00 2001 From: quimortiz <32126190+quimortiz@users.noreply.github.com> Date: Thu, 27 Jul 2023 19:25:43 +0200 Subject: [PATCH 14/25] Update README.md --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index b3d8d89..80038a4 100644 --- a/README.md +++ b/README.md @@ -28,6 +28,7 @@ Planar Rotor Pole

    +Quadrotor

    From c8c596441380758a9bdc18e1047fe7d545d22877 Mon Sep 17 00:00:00 2001 From: quimortiz <32126190+quimortiz@users.noreply.github.com> Date: Thu, 27 Jul 2023 19:29:45 +0200 Subject: [PATCH 15/25] Update README.md --- README.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/README.md b/README.md index 80038a4..ef5c5cb 100644 --- a/README.md +++ b/README.md @@ -11,6 +11,10 @@ Dynobench 🦖 is a universal benchmark for kinodynamic motion planning. Develop ## Robots and Problem Description +TODO + +## Motion Primitives + Kinodynamic motion planning problem are defined in [Dynobench](https://github.com/quimortiz/dynobench) Acrobot From 8001d98f13d19902d464c33e159b196311a6304b Mon Sep 17 00:00:00 2001 From: Quim Ortiz - Work Date: Fri, 28 Jul 2023 16:31:32 +0200 Subject: [PATCH 16/25] update for backup before filling with trajectories --- CMakeLists.txt | 4 +- .../acrobot_v0_all2.bin.sp.bin.small.msgpack | Bin 0 -> 182930 bytes .../car1_v0_all.bin.sp.bin.small.msgpack | Bin 0 -> 149303 bytes envs/multirotor2d_v0/empty_0.yaml | 9 - envs/multirotor2d_v0/empty_1.yaml | 9 - envs/multirotor2d_v0/fall_through.yaml | 35 - envs/multirotor2d_v0/quad2d_recovery_obs.yaml | 17 - .../quad2d_recovery_wo_obs.yaml | 9 - envs/multirotor2d_v0/quad_bugtrap.yaml | 24 - envs/multirotor2d_v0/quad_obs_column.yaml | 12 - .../quad2d_recovery_good_init_guess.yaml | 813 ------------------ ..._v0_all_im.bin.sp.bin.ca.bin.small.msgpack | Bin 0 -> 422533 bytes ...ll.bin.im.bin.sp1.bin.ca.bin.small.msgpack | Bin 0 -> 501205 bytes ...l3.bin.im.bin.sp1.bin.ca.bin.small.msgpack | Bin 0 -> 799305 bytes ...__14_56_57.bin.im.bin.im.bin.small.msgpack | Bin 0 -> 81440 bytes ...__15_36_01.bin.im.bin.im.bin.small.msgpack | Bin 0 -> 104778 bytes include/dynobench/dyno_macros.hpp | 65 +- include/dynobench/general_utils.hpp | 25 + include/dynobench/motions.hpp | 47 + include/dynobench/unicycle1.hpp | 19 - src/integrator2_2d.cpp | 2 +- src/motions.cpp | 13 +- src/planar_rotor.cpp | 2 +- src/unicycle1.cpp | 1 + test/test_models.cpp | 83 +- utils/viewer/quad2dpole_viewer.py | 4 +- utils/viewer/view_motions.py | 134 +++ 27 files changed, 345 insertions(+), 982 deletions(-) create mode 100644 envs/acrobot_v0/motions/acrobot_v0_all2.bin.sp.bin.small.msgpack create mode 100644 envs/car1_v0/motions/car1_v0_all.bin.sp.bin.small.msgpack delete mode 100644 envs/multirotor2d_v0/empty_0.yaml delete mode 100644 envs/multirotor2d_v0/empty_1.yaml delete mode 100644 envs/multirotor2d_v0/fall_through.yaml delete mode 100644 envs/multirotor2d_v0/quad2d_recovery_obs.yaml delete mode 100644 envs/multirotor2d_v0/quad2d_recovery_wo_obs.yaml delete mode 100644 envs/multirotor2d_v0/quad_bugtrap.yaml delete mode 100644 envs/multirotor2d_v0/quad_obs_column.yaml delete mode 100644 envs/multirotor2d_v0/trajectories/quad2d_recovery_good_init_guess.yaml create mode 100644 envs/quad2d_v0/motions/quad2d_v0_all_im.bin.sp.bin.ca.bin.small.msgpack create mode 100644 envs/quad2dpole_v0/motions/quad2dpole_all.bin.im.bin.sp1.bin.ca.bin.small.msgpack create mode 100644 envs/quadrotor_v0/motions/quad3d_v0_all3.bin.im.bin.sp1.bin.ca.bin.small.msgpack create mode 100644 envs/unicycle1_v0/motions/unicycle1_v0__ispso__2023_04_03__14_56_57.bin.im.bin.im.bin.small.msgpack create mode 100644 envs/unicycle2_v0/motions/unicycle2_v0__ispso__2023_04_03__15_36_01.bin.im.bin.im.bin.small.msgpack create mode 100644 utils/viewer/view_motions.py diff --git a/CMakeLists.txt b/CMakeLists.txt index 511e12c..9462ad3 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -8,7 +8,7 @@ project( LANGUAGES CXX) # find_package(pinocchio REQUIRED) -find_package(Boost REQUIRED COMPONENTS program_options serialization) +find_package(Boost REQUIRED COMPONENTS program_options serialization stacktrace_basic) find_package(fcl REQUIRED) find_package(yaml-cpp REQUIRED) find_package(Eigen3 REQUIRED) @@ -55,7 +55,7 @@ target_compile_options(dynobench PRIVATE -Wall -Wextra) target_link_libraries( dynobench - PUBLIC fcl yaml-cpp Boost::program_options Boost::serialization + PUBLIC fcl yaml-cpp Boost::program_options Boost::serialization ${CMAKE_DL_LIBS} PUBLIC nlohmann_json::nlohmann_json) target_link_libraries( diff --git a/envs/acrobot_v0/motions/acrobot_v0_all2.bin.sp.bin.small.msgpack b/envs/acrobot_v0/motions/acrobot_v0_all2.bin.sp.bin.small.msgpack new file mode 100644 index 0000000000000000000000000000000000000000..3b8ccc19c4779f3f2f97c34428b1129f5a234609 GIT binary patch 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    4hqzxtLVA<8LmqQ?8jxW02qrBMdoGAnD4{vjQJ27iyL i9efs`!gni44+x;VG2n#4Bh>(b0JJ3nbcr+vZ~q@4^pOYv literal 0 HcmV?d00001 diff --git a/envs/multirotor2d_v0/empty_0.yaml b/envs/multirotor2d_v0/empty_0.yaml deleted file mode 100644 index d10346b..0000000 --- a/envs/multirotor2d_v0/empty_0.yaml +++ /dev/null @@ -1,9 +0,0 @@ -name: quad2d_v0-empty_0 -environment: - min: [-1, -1] - max: [1, 2] - obstacles: [] -robots: - - type: quad2d_v0 - start: [0, 0, 0, 0, 0, 0] - goal: [0, 1, 0, 0, 0, 0] diff --git a/envs/multirotor2d_v0/empty_1.yaml b/envs/multirotor2d_v0/empty_1.yaml deleted file mode 100644 index 8103205..0000000 --- a/envs/multirotor2d_v0/empty_1.yaml +++ /dev/null @@ -1,9 +0,0 @@ -name: quad2d_v0-empty_1 -environment: - min: [-1, -1] - max: [2, 2] - obstacles: [] -robots: - - type: quad2d_v0 - start: [0, 0, 0, 0, 0, 0] - goal: [1, 1, 0, 0, 0, 0] diff --git a/envs/multirotor2d_v0/fall_through.yaml b/envs/multirotor2d_v0/fall_through.yaml deleted file mode 100644 index 4aaf089..0000000 --- a/envs/multirotor2d_v0/fall_through.yaml +++ /dev/null @@ -1,35 +0,0 @@ -name: fall_through-quad2d_v0 -environment: - min: [0.0, 0.0] - max: [6, 6] - obstacles: - # difficult: - - type: box - center: [1, 3] - size: [3.4, .3] - - type: box - center: [5, 3] - size: [3.4, .3] - - # easy: - # - type: box - # center: [1, 3] - # size: [3.2,.3] - # - type: box - # center: [5, 3] - # size: [3.2,.3] - - # - type: box - # center: [5, 3] - # size: [.4,.4] - # - type: box - # center: [3, 2] - # size: [.4,.4] - # - type: box - # center: [1, 3] - # size: [.4,.4] -robots: - - type: quad2d_v0 - start: [1., 4, 0., 0., 0., 0.] # x,y,theta,v,w - goal: [4., 1., 0., 0., 0., 0] # x,y,theta,v,w - # goal: [3,3.,1.57,0.,0., 0] # x,y,theta,v,w diff --git a/envs/multirotor2d_v0/quad2d_recovery_obs.yaml b/envs/multirotor2d_v0/quad2d_recovery_obs.yaml deleted file mode 100644 index 12020a5..0000000 --- a/envs/multirotor2d_v0/quad2d_recovery_obs.yaml +++ /dev/null @@ -1,17 +0,0 @@ -name: quad2d_v0-recovery_obstacles -environment: - #original - min: [-1, -2.0] - max: [2, 3] - # #visualization - # min: [-1, -2.5] - # max: [2.5, 3] - obstacles: - - type: box - center: [0, 1.5] - size: [2, .3] -robots: - - type: quad2d_v0 - # start: [0., 1., 3.14, 0., 0., 0.] # x,y,theta,v,w - start: [0., 1., -3.14, 0., 0., 0.] # x,y,theta,v,w - goal: [0., 2, 0., 0., 0., 0] # x,y,theta,v,w diff --git a/envs/multirotor2d_v0/quad2d_recovery_wo_obs.yaml b/envs/multirotor2d_v0/quad2d_recovery_wo_obs.yaml deleted file mode 100644 index e17c785..0000000 --- a/envs/multirotor2d_v0/quad2d_recovery_wo_obs.yaml +++ /dev/null @@ -1,9 +0,0 @@ -name: quad2d-recovery -environment: - min: [-1, -2] - max: [2, 3] - obstacles: [] -robots: - - type: quad2d_v0 - start: [0., 1., 3.14, 0., 0., 0.] # x,y,theta,v,w - goal: [1., 1., 0., 0., 0., 0] # x,y,theta,v,w diff --git a/envs/multirotor2d_v0/quad_bugtrap.yaml b/envs/multirotor2d_v0/quad_bugtrap.yaml deleted file mode 100644 index a06a765..0000000 --- a/envs/multirotor2d_v0/quad_bugtrap.yaml +++ /dev/null @@ -1,24 +0,0 @@ -name: quad2d_v0-bugtrap -environment: - min: [0.0, 0.0] - max: [6, 6] - obstacles: - - type: box - center: [4.5, 3] - size: [0.2, 3.2] - - type: box - center: [3, 1.5] - size: [3.2, 0.2] - - type: box - center: [3, 4.5] - size: [3.2, 0.2] - - type: box - center: [1.5, 4.05] - size: [0.2, 1.1] - - type: box - center: [1.5, 1.95] - size: [0.2, 1.1] -robots: - - type: quad2d_v0 - start: [3.8, 3, 0, 0, 0, 0] - goal: [5.2, 3, 0, 0, 0, 0] diff --git a/envs/multirotor2d_v0/quad_obs_column.yaml b/envs/multirotor2d_v0/quad_obs_column.yaml deleted file mode 100644 index 3c3c2d6..0000000 --- a/envs/multirotor2d_v0/quad_obs_column.yaml +++ /dev/null @@ -1,12 +0,0 @@ -name: quad2d_v0-column -environment: - min: [0., 0.] - max: [6., 5.] - obstacles: - - type: box - center: [3, 1] - size: [.4, 4] -robots: - - type: quad2d_v0 - start: [2., 1., 0., 0., 0., 0.] # x,y,theta,v,w - goal: [4., 1., 0., 0., 0., 0] # x,y,theta,v,w diff --git a/envs/multirotor2d_v0/trajectories/quad2d_recovery_good_init_guess.yaml b/envs/multirotor2d_v0/trajectories/quad2d_recovery_good_init_guess.yaml deleted file mode 100644 index 7a4cf7a..0000000 --- a/envs/multirotor2d_v0/trajectories/quad2d_recovery_good_init_guess.yaml +++ /dev/null @@ -1,813 +0,0 @@ -feasible: 1 -cost: 4 -result: - - states: - - [1, 4, 3, 0, 0, 0] - - [1, 4, 3, -0.00898934, -0.161063, -2.1658] - - [0.99991, 3.99839, 2.97834, -0.017976, -0.322078, -4.11502] - - [0.99973, 3.99517, 2.93719, -0.0283237, -0.482836, -5.86932] - - [0.999447, 3.99034, 2.8785, -0.0412452, -0.643068, -7.44819] - - [0.999035, 3.98391, 2.80402, -0.0563855, -0.797137, -8.6843] - - [0.998471, 3.97594, 2.71717, -0.0674198, -0.926385, -8.95033] - - [0.997797, 3.96667, 2.62767, -0.0782014, -1.04802, -8.94713] - - [0.997015, 3.95619, 2.5382, -0.0900758, -1.16678, -8.87526] - - [0.996114, 3.94453, 2.44945, -0.103452, -1.28389, -8.79082] - - [0.995079, 3.93169, 2.36154, -0.118387, -1.39956, -8.70902] - - [0.993895, 3.91769, 2.27445, -0.134811, -1.51379, -8.63378] - - [0.992547, 3.90255, 2.18811, -0.152614, -1.62648, -8.566] - - [0.991021, 3.88629, 2.10245, -0.171668, -1.73756, -8.50575] - - [0.989305, 3.86891, 2.01739, -0.191841, -1.84695, -8.45289] - - [0.987386, 3.85044, 1.93286, -0.212996, -1.95456, -8.40721] - - [0.985256, 3.8309, 1.84879, -0.234992, -2.06034, -8.36848] - - [0.982906, 3.81029, 1.76511, -0.257687, -2.16423, -8.33649] - - [0.980329, 3.78865, 1.68174, -0.280933, -2.26618, -8.31102] - - [0.97752, 3.76599, 1.59863, -0.304584, -2.36616, -8.29185] - - [0.974474, 3.74233, 1.51571, -0.328491, -2.46413, -8.27887] - - [0.971189, 3.71769, 1.43292, -0.352512, -2.56008, -8.27221] - - [0.967664, 3.69209, 1.3502, -0.376544, -2.65398, -8.27347] - - [0.963899, 3.66555, 1.26747, -0.400695, -2.74576, -8.2915] - - [0.959892, 3.63809, 1.18455, -0.426087, -2.83496, -8.37118] - - [0.955631, 3.60974, 1.10084, -0.458671, -2.91883, -8.73462] - - [0.951044, 3.58055, 1.01349, 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[0.778627, 3.09977, 0.122522, -1.43886, -2.85845, -2.59133] - - [0.764239, 3.07119, 0.096609, -1.45382, -2.83062, -2.382] - - [0.7497, 3.04288, 0.072789, -1.46557, -2.8022, -2.18565] - - [0.735045, 3.01486, 0.0509325, -1.47435, -2.77303, -1.99157] - - [0.720301, 2.98713, 0.0310169, -1.48035, -2.74392, -1.82418] - - [0.705498, 2.95969, 0.0127751, -1.48384, -2.71462, -1.67047] - - [0.690659, 2.93255, -0.00392963, -1.48502, -2.68518, -1.5291] - - [0.675809, 2.90569, -0.0192207, -1.48409, -2.65566, -1.3989] - - [0.660968, 2.87914, -0.0332097, -1.48122, -2.62609, -1.27881] - - [0.646156, 2.85288, -0.0459978, -1.47657, -2.59648, -1.16791] - - [0.63139, 2.82691, -0.0576769, -1.47029, -2.56687, -1.06533] - - [0.616687, 2.80124, -0.0683302, -1.46254, -2.53727, -0.97033] - - [0.602062, 2.77587, -0.0780335, -1.45343, -2.50768, -0.88218] - - [0.587528, 2.75079, -0.0868553, -1.44308, -2.47811, -0.800136] - - [0.573097, 2.72601, -0.0948567, -1.43161, -2.44855, -0.723141] - - [0.558781, 2.70153, 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zP*`gh2MSP(T84?&2!H)WfV27XJ`{y>AD!Cd$M*#EFfH@FXO9TFtH2WX5R$?a9=;d| zy8`-aV4s%?FRpy9*uI^$cEh0ic;B$rUQQZ2-8;<)yQ5)~6%YzNX|Kux z*Z(=BkbkdKkotd2MmLu?BDiFFXq}1FLP_h8N@@7)B66uKnYN^+ddwJua-N3XICz=? zMlsb}$pLUs2{Vj)^pQnd=EtN8+;anM$#^tpNL#&%WRfyyL+UmK%`*DCl337kby5&o zXc2{;&nmX^-n$93IbYUKp2zf#v#UK*^47uu*a zKFLEV?)^}v-2TzLi zX-YI#>OtSX#^yL34q3UT$9%_0h@VvY(dWTVsHT!r=c*&}i3dB!vQ?Os`bX= zoP>0~WKVq$x`3TVIWYizN^!o+wNN*JdVsq@ke{V3sx`Vf5BqIYkP&q>Te`|8{Xc3I BzLWp} literal 0 HcmV?d00001 diff --git a/include/dynobench/dyno_macros.hpp b/include/dynobench/dyno_macros.hpp index 9b955fe..e12e56d 100644 --- a/include/dynobench/dyno_macros.hpp +++ b/include/dynobench/dyno_macros.hpp @@ -1,6 +1,9 @@ #pragma once +#include +#include #include +#include #define NAMEOF(variable) #variable @@ -30,11 +33,17 @@ #define CSTR_V(x) std::cout << STR_V(x) << std::endl; +std::string inline add_stacktrace(const std::string &msg) { + + return "MSG: " + msg + "\n" + "STACKTRACE: \n" + + boost::stacktrace::to_string(boost::stacktrace::stacktrace()) + "\n"; +} + #define CHECK(A, msg) \ if (!A) { \ std::cout << "CHECK failed: '" << #A << " " << A << " '" \ - << " -- " << msg << "AT: " << AT << std::endl; \ - throw std::runtime_error(msg); \ + << " -- " << add_stacktrace(msg) << "AT: " << AT << std::endl; \ + throw std::runtime_error(add_stacktrace(msg)); \ } #define WARN(A, msg) \ @@ -43,36 +52,36 @@ << " -- " << msg << std::endl; \ } -#define DYNO_CHECK_EQ(A, B, msg) \ +#define DYNO_CHECK_EQ(A, B, msg) \ if (!(A == B)) { \ - std::cout << "DYNO_CHECK_EQ failed: '" << #A << "'=" << A << " '" << #B \ - << "'=" << B << " -- " << msg << std::endl \ + std::cout << "DYNO_CHECK_EQ failed: '" << #A << "'=" << A << " '" << #B \ + << "'=" << B << " -- " << add_stacktrace(msg) << std::endl \ << "AT: " << AT << std::endl; \ - throw std::runtime_error(msg); \ + throw std::runtime_error(add_stacktrace(msg)); \ } #define CHECK_NEQ(A, B, msg) \ if (A == B) { \ std::cout << "CHECK_NEQ failed: '" << #A << "'=" << A << " '" << #B \ - << "'=" << B << " -- " << msg << std::endl \ + << "'=" << B << " -- " << add_stacktrace(msg) << std::endl \ << "AT: " << AT << std::endl; \ - throw std::runtime_error(msg); \ + throw std::runtime_error(add_stacktrace(msg)); \ } -#define DYNO_DYNO_CHECK_GEQ(A, B, msg) \ +#define DYNO_DYNO_CHECK_GEQ(A, B, msg) \ if (!(A >= B)) { \ - std::cout << "DYNO_DYNO_CHECK_GEQ failed: '" << #A << "'=" << A << " '" << #B \ - << "'=" << B << " -- " << msg << std::endl \ + std::cout << "DYNO_DYNO_CHECK_GEQ failed: '" << #A << "'=" << A << " '" \ + << #B << "'=" << B << " -- " << add_stacktrace(msg) << std::endl \ << "AT: " << AT << std::endl; \ - throw std::runtime_error(msg); \ + throw std::runtime_error(add_stacktrace(msg)); \ } -#define DYNO_WARN_GEQ(A, B, msg) \ +#define DYNO_WARN_GEQ(A, B, msg) \ if (!(A >= B)) { \ - std::cout << "DYNO_WARN_GEQ failed: '" << #A << "'=" << A << " '" << #B \ + std::cout << "DYNO_WARN_GEQ failed: '" << #A << "'=" << A << " '" << #B \ << "'=" << B << " -- " << msg << std::endl \ << AT << std::endl; \ - std::cerr << "DYNO_WARN_GEQ failed: '" << #A << "'=" << A << " '" << #B \ + std::cerr << "DYNO_WARN_GEQ failed: '" << #A << "'=" << A << " '" << #B \ << "'=" << B << " -- " << msg << std::endl \ << AT << std::endl; \ } @@ -80,33 +89,35 @@ #define DYNO_CHECK_LEQ(A, B, msg) \ if (!(A <= B)) { \ std::cout << "DYNO_CHECK_LEQ failed: '" << #A << "'=" << A << " '" << #B \ - << "'=" << B << " -- " << msg << std::endl \ + << "'=" << B << " -- " << add_stacktrace(msg) << std::endl \ << "AT: " << AT << std::endl; \ - throw std::runtime_error(msg); \ + throw std::runtime_error(add_stacktrace(msg)); \ } -#define DYNO_CHECK_GE(A, B, msg) \ +#define DYNO_CHECK_GE(A, B, msg) \ if (!(A > B)) { \ - std::cout << "DYNO_CHECK_GE failed: '" << #A << "'=" << A << " '" << #B \ - << "'=" << B << " -- " << msg << "AT: " << AT << std::endl; \ - throw std::runtime_error(msg); \ + std::cout << "DYNO_CHECK_GE failed: '" << #A << "'=" << A << " '" << #B \ + << "'=" << B << " -- " << add_stacktrace(msg) << "AT: " << AT \ + << std::endl; \ + throw std::runtime_error(add_stacktrace(msg)); \ } -#define DYNO_CHECK_SEQ(A, B, msg) \ +#define DYNO_CHECK_SEQ(A, B, msg) \ if (!(A <= B)) { \ - std::cout << "DYNO_CHECK_SEQ failed: '" << #A << "'=" << A << " '" << #B \ - << "'=" << B << " -- " << msg << "AT: " << AT << std::endl; \ - throw std::runtime_error(msg); \ + std::cout << "DYNO_CHECK_SEQ failed: '" << #A << "'=" << A << " '" << #B \ + << "'=" << B << " -- " << add_stacktrace(msg) << "AT: " << AT \ + << std::endl; \ + throw std::runtime_error(add_stacktrace(msg)); \ } #define ERROR_WITH_INFO(msg) \ throw std::runtime_error(std::string("--ERROR-- ") + __FILE__ + \ std::string(":") + std::to_string(__LINE__) + \ - " \"" + std::string(msg) + "\"\n"); + " \"" + add_stacktrace(msg) + "\"\n"); #define NOT_IMPLEMENTED ERROR_WITH_INFO("not implemented") #define WARN_WITH_INFO(msg) \ std::cout << __FILE__ + std::string(":") + std::to_string(__LINE__) + "\"" + \ - std::string(msg) + "\"\n" \ + msg + "\"\n" \ << std::endl; diff --git a/include/dynobench/general_utils.hpp b/include/dynobench/general_utils.hpp index 6ffc960..83bdba4 100644 --- a/include/dynobench/general_utils.hpp +++ b/include/dynobench/general_utils.hpp @@ -19,6 +19,10 @@ #include #include +#define BOOST_STACKTRACE_USE_ADDR2LINE + +#include + template using ptr = boost::shared_ptr; template using ptrs = std::shared_ptr; @@ -26,6 +30,9 @@ template auto mk(Args &&...args) { return boost::make_shared(std::forward(args)...); } +#include +using json = nlohmann::json; + inline std::string gen_random(const int len) { static const char alphanum[] = "0123456789" "ABCDEFGHIJKLMNOPQRSTUVWXYZ" @@ -342,3 +349,21 @@ struct Loader { } } }; + +namespace Eigen { + +void inline from_json(const json &j, Eigen::VectorXd &vector) { + vector.resize(j.size()); + for (std::size_t row = 0; row < j.size(); ++row) { + const auto &jrow = j.at(row); + vector(row) = jrow.get(); + } +} + +void inline to_json(json &j, const Eigen::VectorXd &vector) { + for (int i = 0; i < vector.size(); ++i) { + j.push_back(vector(i)); + } +} + +} // namespace Eigen diff --git a/include/dynobench/motions.hpp b/include/dynobench/motions.hpp index 40f5cce..1ac7a16 100644 --- a/include/dynobench/motions.hpp +++ b/include/dynobench/motions.hpp @@ -255,6 +255,8 @@ struct Trajectory { void load_file_boost(const char *file); Trajectory resample(std::shared_ptr &robot); + + NLOHMANN_DEFINE_TYPE_INTRUSIVE(Trajectory, states, actions); }; struct Trajectories { @@ -309,8 +311,53 @@ struct Trajectories { load_file_yaml(load_yaml_safe(file)); } + // TODO: + // From json to msgpack, and compare speeds! + void compute_stats(const char *filename_out) const; + void save_file_msgpack(const char *filename) { + std::ofstream fout(filename, std::ios::out | std::ios::binary); + CHECK(fout.is_open(), ""); + std::vector v_msgpack = json::to_msgpack(json(*this)); + fout.write((const char *)v_msgpack.data(), v_msgpack.size()); + fout.close(); + } + + void load_file_msgpack(const char *filename) { + + std::cout << "loading file msgpack " << filename << std::endl; + std::ifstream fin(filename, std::ios::in | std::ios::binary); + + CHECK(fin.is_open(), ""); + assert(fin.is_open()); + + std::vector contents; + fin.seekg(0, std::ios::end); + contents.resize(fin.tellg()); + fin.seekg(0, std::ios::beg); + fin.read((char *)contents.data(), contents.size()); + fin.close(); + + *this = Trajectories(json::from_msgpack(contents)); + } + + void save_file_json(const char *filename) { + std::ofstream out(filename); + CHECK(out.is_open(), ""); + out << json(*this); + } + + void load_file_json(const char *filename) { + std::ifstream in(filename); + CHECK(in.is_open(), ""); + json j; + in >> j; + *this = Trajectories(j); + } + + NLOHMANN_DEFINE_TYPE_INTRUSIVE(Trajectories, data); + // }; diff --git a/include/dynobench/unicycle1.hpp b/include/dynobench/unicycle1.hpp index 8e88053..5ea8416 100644 --- a/include/dynobench/unicycle1.hpp +++ b/include/dynobench/unicycle1.hpp @@ -1,4 +1,3 @@ - #include #include "dynobench/for_each_macro.hpp" @@ -9,24 +8,6 @@ using json = nlohmann::json; -namespace Eigen { - -void inline from_json(const json &j, Eigen::VectorXd &vector) { - vector.resize(j.size()); - for (std::size_t row = 0; row < j.size(); ++row) { - const auto &jrow = j.at(row); - vector(row) = jrow.get(); - } -} - -void inline to_json(json &j, const Eigen::VectorXd &vector) { - for (int i = 0; i < vector.size(); ++i) { - j.push_back(vector(i)); - } -} - -} // namespace Eigen - namespace dynobench { // // namespace ns { diff --git a/src/integrator2_2d.cpp b/src/integrator2_2d.cpp index c534541..ff46088 100644 --- a/src/integrator2_2d.cpp +++ b/src/integrator2_2d.cpp @@ -76,7 +76,7 @@ Integrator2_2d::Integrator2_2d(const Integrator2_2d_params ¶ms, x_ub << max__, max__, params.max_vel, params.max_vel; u_weight << 1., 1.; - x_weightb << 0, 0, 0, 0; + x_weightb << 100, 100, 100, 100; // TODO: change!! // add bounds on position if provided if (p_lb.size() && p_ub.size()) { diff --git a/src/motions.cpp b/src/motions.cpp index 65b0d16..a0edcd6 100644 --- a/src/motions.cpp +++ b/src/motions.cpp @@ -157,6 +157,9 @@ void Trajectory::update_feasibility(const Feasibility_thresholds &thresholds, void Trajectory::check(std::shared_ptr robot, bool verbose) { + CHECK(robot, ""); + CHECK(states.size(), ""); + max_collision = check_cols(robot, states); Eigen::VectorXd dts; @@ -174,9 +177,15 @@ void Trajectory::check(std::shared_ptr robot, bool verbose) { dts.setConstant(robot->ref_dt); } - max_jump = check_trajectory(states, actions, dts, robot, verbose); + if (actions.size()) { + max_jump = check_trajectory(states, actions, dts, robot, verbose); + u_bound_distance = check_u_bounds(actions, robot, verbose); + } else { + // corner case: sometimes a trajectory is a single state + max_jump = 0; + u_bound_distance = 0; + } x_bound_distance = check_x_bounds(states, robot, verbose); - u_bound_distance = check_u_bounds(actions, robot, verbose); if (goal.size()) { if (verbose) { diff --git a/src/planar_rotor.cpp b/src/planar_rotor.cpp index 237abb2..4d1425e 100644 --- a/src/planar_rotor.cpp +++ b/src/planar_rotor.cpp @@ -49,7 +49,7 @@ Model_quad2d::Model_quad2d(const Quad2d_params ¶ms, u_weight = V2d(.5, .5); x_weightb = 10. * Vxd::Ones(6); - x_weightb.head<3>() = V3d::Zero(); + x_weightb.head<3>() << 10, 10, 0; if (params.shape == "box") { collision_geometries.push_back( diff --git a/src/unicycle1.cpp b/src/unicycle1.cpp index a4100c5..148a4da 100644 --- a/src/unicycle1.cpp +++ b/src/unicycle1.cpp @@ -63,6 +63,7 @@ Model_unicycle1::Model_unicycle1(const Unicycle1_params ¶ms, u_weight.resize(2); u_weight.setConstant(.2); x_weightb = V3d::Zero(); + x_weightb << 100, 100, 0; std::cout << "in " << __FILE__ << ": " << __LINE__ << std::endl; std::cout << STR_V(u_lb) << std::endl; diff --git a/test/test_models.cpp b/test/test_models.cpp index 059caec..9f63d6d 100644 --- a/test/test_models.cpp +++ b/test/test_models.cpp @@ -2,6 +2,7 @@ #include "dynobench/robot_models.hpp" #include #include +#include #include #include #include @@ -110,7 +111,7 @@ Fake_opt fakeCLIParser(const std::string &argv) { std::vector _out; tokenize(out, ' ', _out); - CHECK_EQ(_out.size(), 2, ""); + DYNO_CHECK_EQ(_out.size(), 2, ""); // if (i < outs.size() - 1) o << " \"" << _out[0] << "\": "; @@ -138,6 +139,86 @@ Fake_opt fakeCLIParser(const std::string &argv) { return opt; } +BOOST_AUTO_TEST_CASE(t_traj_to_json) { + + Trajectory traj; + + traj.states.push_back(Eigen::VectorXd::Zero(3)); + traj.states.push_back(Eigen::VectorXd::Ones(3)); + traj.states.push_back(-1 * Eigen::VectorXd::Zero(3)); + + traj.actions.push_back(Eigen::VectorXd::Zero(2)); + traj.actions.push_back(Eigen::VectorXd::Ones(2)); + + json j = traj; + std::cout << j.dump(2) << std::endl; + + auto filename = "/tmp/dynobench/traj.json"; + create_dir_if_necessary(filename); + std::ofstream out(filename); + out << j; + out.close(); + + std::ifstream in(filename); + json j2; + in >> j2; + + Trajectory traj2 = j2; + BOOST_TEST(traj.states == traj2.states); + BOOST_TEST(traj.actions == traj2.actions); + + { + Trajectories trajs; + trajs.data.push_back(traj); + trajs.data.push_back(traj); + trajs.data.push_back(traj); + trajs.data.push_back(traj); + trajs.data.push_back(traj); + + auto filename = "/tmp/dynobench/trajs.json"; + create_dir_if_necessary(filename); + std::ofstream out(filename); + out << json(trajs); + out.close(); + + { + std::vector v_msgpack = json::to_msgpack(json(trajs)); + + ofstream fout("data.dat", ios::out | ios::binary); + fout.write((const char *)v_msgpack.data(), v_msgpack.size()); + fout.close(); + + // Open in Python with + // >>> import msgpack + // >>> with open("data.dat", "rb") as f: + // ... a = msgpack.unpackb(f.read()) + + ifstream fin("data.dat", ios::in | ios::binary); + + // std::vector contents((std::istreambuf_iterator(fin)), + // std::istreambuf_iterator()); + + std::vector contents; + fin.seekg(0, std::ios::end); + contents.resize(fin.tellg()); + fin.seekg(0, std::ios::beg); + fin.read((char *)contents.data(), contents.size()); + in.close(); + + json j = json::from_msgpack(contents); + std::cout << j.dump(2) << std::endl; + Trajectories trajsX = j; + } + + // lets load from msgpack + + std::ifstream in(filename); + json j; + in >> j; + Trajectories trajs2 = j; + } +} + BOOST_AUTO_TEST_CASE(t_jsonX) {} BOOST_AUTO_TEST_CASE(t_fakeCLIParser) { diff --git a/utils/viewer/quad2dpole_viewer.py b/utils/viewer/quad2dpole_viewer.py index 5ee92f3..5fa4bb2 100644 --- a/utils/viewer/quad2dpole_viewer.py +++ b/utils/viewer/quad2dpole_viewer.py @@ -53,7 +53,9 @@ def draw_traj_minimal(self, ax, Xs, **kwargs): print(**kwargs) # ax.plot([p[0] for p in ps], [p[1] for p in ps], **kwargs) - color = plt.gca().lines[-1].get_color() + # color = plt.gca().lines[-1].get_color() + # color = "blue" + color = 'C0' ax.plot([p[0] for p in ps], [p[1] for p in ps], color=color) def draw_basic(self, ax, X, fill=None, color="k", l=0.05, alpha=1.0, **kwargs): diff --git a/utils/viewer/view_motions.py b/utils/viewer/view_motions.py new file mode 100644 index 0000000..de857f9 --- /dev/null +++ b/utils/viewer/view_motions.py @@ -0,0 +1,134 @@ + + + +import msgpack +import viewer_cli +import matplotlib.pyplot as plt + + + +# small script to load and display primitives + +# file = "../../envs/unicycle1_v0/motions/unicycle1_v0__ispso__2023_04_03__14_56_57.bin.im.bin.im.bin.small.msgpack" +# robot = "unicycle1" + +# +# file = "../../envs/acrobot_v0/motions/acrobot_v0_all2.bin.sp.bin.small.msgpack" +# robot = "acrobot" + +# file = "../../envs/quad2d_v0/motions/quad2d_v0_all_im.bin.sp.bin.ca.bin.small.msgpack" +# robot = "quad2d" + +# file = "../../envs/quad2dpole_v0/motions/quad2dpole_all.bin.im.bin.sp1.bin.ca.bin.small.msgpack" +# robot = "quad2dpole" + +file = "../../envs/quadrotor_v0/motions/quad3d_v0_all3.bin.im.bin.sp1.bin.ca.bin.small.msgpack" + # quad2dpole_v0/motions/quad2dpole_all.bin.im.bin.sp1.bin.ca.bin.small.msgpack" +robot = "quad3d" + + + +with open(file, "rb") as f: + data = msgpack.unpack(f, raw=False) + +trajs = data["data"] + + +grid = (1,5) +num_primitives =grid[0]*grid[1] +trajs = trajs[0:num_primitives] + +len(trajs) + +viewer = viewer_cli.get_robot_viewer(robot) + + + + +# fig, axs = plt.subplots(grid[0], grid[1], sharex=True, sharey=True) + +# fig, axs = plt.subplots(grid[0], grid[1], sharex=True, sharey=True) + +if viewer.is_3d : + fig = plt.figure() + axs = [] + for i in range(5): + axs.append( fig.add_subplot(1, 5, i+1, projection='3d')) + + # fig, axs = plt.subplots(grid[0], grid[1]) + +else: + fig, axs = plt.subplots(grid[0], grid[1]) + + + +fig.set_size_inches(10,2) +# +# fig = plt.figure(figsize=plt.figaspect(0.5)) +# ax = fig.add_subplot(1, 2, 1, projection='3d') +# +# # plot a 3D surface like in the example mplot3d/surface3d_demo +# X = np.arange(-5, 5, 0.25) +# Y = np.arange(-5, 5, 0.25) +# X, Y = np.meshgrid(X, Y) +# R = np.sqrt(X**2 + Y**2) +# Z = np.sin(R) +# surf = ax.plot_surface(X, Y, Z, rstride=1, cstride=1, cmap=cm.coolwarm, +# linewidth=0, antialiased=False) +# ax.set_zlim(-1.01, 1.01) +# fig.colorbar(surf, shrink=0.5, aspect=10) +# +# # ============== +# # Second subplot +# # ============== +# # set up the axes for the second plot +# ax = fig.add_subplot(1, 2, 2, projection='3d') +# +# + + +for i, traj in enumerate(trajs): + + if grid[0] > 1 and grid[1] > 1: + ix = i % grid[1] + iy = i // grid[1] + ax = axs[iy][ix] + else: + ax = axs[i] + viewer.view_trajectory(ax, traj) + viewer.view_state(ax, traj["states"][0], color="green") + viewer.view_state(ax, traj["states"][-1], color="red") + # ax.set_xlim(-2, 1.5) + # ax.set_ylim(-3, 1.5) + + if not viewer.is_3d: + ax.set_aspect("equal") + # ax.axis('off') + + ax.tick_params(top=False, bottom=False, left=False, right=False, + labelleft=False, labelbottom=False) + + +# plt.axis('off') +# share_all=True + + + +# if not viewer.is_3d: +fig.tight_layout() + +fig.savefig(f"primitives-{robot}.png", dpi=300) + + + # ax.axis('equal') + +plt.show() + + + + + + + + + From a58b49007f68e0ba3e349702ceb574f367485942 Mon Sep 17 00:00:00 2001 From: Quim Ortiz - Work Date: Fri, 28 Jul 2023 18:35:49 +0200 Subject: [PATCH 17/25] add example trajectories for each problem --- .../idbastar_v0_db_solution_v0.yaml | 574 ++++++ .../idbastar_v0_opt_solution_v0.yaml | 21 + .../swing_down/idbastar_v0_solution_v0.yaml | 675 +++++++ .../swing_down/rrt_to_v0_guess_v0.yaml | 31 + .../swing_down/rrt_to_v0_solution_v0.yaml | 823 ++++++++ .../idbastar_v0_db_solution_v0.yaml | 256 +++ .../idbastar_v0_opt_solution_v0.yaml | 21 + .../idbastar_v0_solution_v0.yaml | 461 +++++ .../swing_down_easy/rrt_to_v0_guess_v0.yaml | 28 + .../idbastar_v0_db_solution_v0.yaml | 682 +++++++ .../idbastar_v0_opt_solution_v0.yaml | 867 +++++++++ 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-> 72014 bytes envs/unicycle1_v2/wall_0.yaml | 14 + .../wall_0/idbastar_v0_db_solution_v0.yaml | 60 + .../wall_0/idbastar_v0_opt_solution_v0.yaml | 413 ++++ .../wall_0/idbastar_v0_solution_v0.yaml | 393 ++++ .../wall_0/rrt_to_v0_guess_v0.yaml | 37 + .../bugtrap_0/idbastar_v0_db_solution_v0.yaml | 552 ++++++ .../idbastar_v0_opt_solution_v0.yaml | 561 ++++++ .../bugtrap_0/idbastar_v0_solution_v0.yaml | 525 ++++++ .../bugtrap_0/rrt_to_v0_guess_v0.yaml | 58 + .../kink_0/idbastar_v0_db_solution_v0.yaml | 386 ++++ .../kink_0/idbastar_v0_opt_solution_v0.yaml | 411 ++++ .../kink_0/idbastar_v0_solution_v0.yaml | 377 ++++ .../kink_0/rrt_to_v0_guess_v0.yaml | 49 + .../kink_0/rrt_to_v0_solution_v0.yaml | 559 ++++++ .../idbastar_v0_db_solution_v0.yaml | 86 + .../idbastar_v0_opt_solution_v0.yaml | 139 ++ .../idbastar_v0_solution_v0.yaml | 139 ++ .../parallelpark_0/rrt_to_v0_guess_v0.yaml | 31 + .../parallelpark_0/rrt_to_v0_solution_v0.yaml | 139 ++ 223 files changed, 92549 insertions(+) create mode 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envs/unicycle1_v0/parallelpark_0/idbastar_v0_solution_v0.yaml create mode 100644 envs/unicycle1_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml create mode 100644 envs/unicycle1_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml create mode 100644 envs/unicycle1_v1/kink_0.yaml create mode 100644 envs/unicycle1_v1/kink_0/idbastar_v0_db_solution_v0.yaml create mode 100644 envs/unicycle1_v1/kink_0/idbastar_v0_opt_solution_v0.yaml create mode 100644 envs/unicycle1_v1/kink_0/idbastar_v0_solution_v0.yaml create mode 100644 envs/unicycle1_v1/kink_0/rrt_to_v0_guess_v0.yaml create mode 100644 envs/unicycle1_v1/kink_0/rrt_to_v0_solution_v0.yaml create mode 100644 envs/unicycle1_v1/motions/tmp_motions_unicycle1_v1.bin.sp.bin.small.msgpack create mode 100644 envs/unicycle1_v2/motions/tmp_motions_unicycle1_v2.bin.sp.bin.small.msgpack create mode 100644 envs/unicycle1_v2/wall_0.yaml create mode 100644 envs/unicycle1_v2/wall_0/idbastar_v0_db_solution_v0.yaml create mode 100644 envs/unicycle1_v2/wall_0/idbastar_v0_opt_solution_v0.yaml create mode 100644 envs/unicycle1_v2/wall_0/idbastar_v0_solution_v0.yaml create mode 100644 envs/unicycle1_v2/wall_0/rrt_to_v0_guess_v0.yaml create mode 100644 envs/unicycle2_v0/bugtrap_0/idbastar_v0_db_solution_v0.yaml create mode 100644 envs/unicycle2_v0/bugtrap_0/idbastar_v0_opt_solution_v0.yaml create mode 100644 envs/unicycle2_v0/bugtrap_0/idbastar_v0_solution_v0.yaml create mode 100644 envs/unicycle2_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml create mode 100644 envs/unicycle2_v0/kink_0/idbastar_v0_db_solution_v0.yaml create mode 100644 envs/unicycle2_v0/kink_0/idbastar_v0_opt_solution_v0.yaml create mode 100644 envs/unicycle2_v0/kink_0/idbastar_v0_solution_v0.yaml create mode 100644 envs/unicycle2_v0/kink_0/rrt_to_v0_guess_v0.yaml create mode 100644 envs/unicycle2_v0/kink_0/rrt_to_v0_solution_v0.yaml create mode 100644 envs/unicycle2_v0/parallelpark_0/idbastar_v0_db_solution_v0.yaml create mode 100644 envs/unicycle2_v0/parallelpark_0/idbastar_v0_opt_solution_v0.yaml create mode 100644 envs/unicycle2_v0/parallelpark_0/idbastar_v0_solution_v0.yaml create mode 100644 envs/unicycle2_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml create mode 100644 envs/unicycle2_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml diff --git a/envs/acrobot_v0/swing_down/idbastar_v0_db_solution_v0.yaml b/envs/acrobot_v0/swing_down/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..809386e --- /dev/null +++ b/envs/acrobot_v0/swing_down/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,574 @@ +time_stamp: 652.157 +cost: 2.76 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [3.14159,0,0,0] +goal: [0,0,0,0] +max_jump: 0.275866 +max_collision: 0 +goal_distance: 0.226269 +start_distance: 0.114786 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 277 +states: + - [2.97969,-0.00859291,-0.108829,-0.0998433] + - 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+max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 0 +states: +num_actions: 0 +actions: diff --git a/envs/acrobot_v0/swing_down/idbastar_v0_solution_v0.yaml b/envs/acrobot_v0/swing_down/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..15ed589 --- /dev/null +++ b/envs/acrobot_v0/swing_down/idbastar_v0_solution_v0.yaml @@ -0,0 +1,675 @@ +time_stamp: 6881.27 +cost: 3.26 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [3.14159,0,0,0] +goal: [0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00467145 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 327 +states: + - [3.14159,0,0,0] + - [-3.14159,0,-0.0725843,0.23227] + - [3.14087,0.0023227,-0.141749,0.453599] + - [3.13945,0.00685869,-0.207662,0.664486] + - [3.13737,0.0135035,-0.270479,0.865409] + - [3.13467,0.0221576,-0.330348,1.05682] + - 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--git a/envs/acrobot_v0/swing_down/rrt_to_v0_guess_v0.yaml b/envs/acrobot_v0/swing_down/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..8270e70 --- /dev/null +++ b/envs/acrobot_v0/swing_down/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,31 @@ +time_stamp: 1 +cost: 0.392699 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [-3.14159,0,0,0] +goal: [0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 3 +states: + - [-3.14159,0,0,0] + - [-0.0747619,0,0,0] + - [0,0,0,0] +num_actions: 2 +actions: + - [0] + - [0] +num_times: 3 +times: + - 0 + - 0.383354 + - 0.392699 diff --git a/envs/acrobot_v0/swing_down/rrt_to_v0_solution_v0.yaml b/envs/acrobot_v0/swing_down/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..979868f --- /dev/null +++ b/envs/acrobot_v0/swing_down/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,823 @@ +time_stamp: 3.98656e-317 +cost: 4 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [3.14159,0,0,0] +goal: [0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.0037816 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 401 +states: + - [3.14159,0,0,0] + - [-3.14159,0,-0.0726859,0.232595] + - [3.14087,0.00232595,-0.141581,0.45306] + - [3.13945,0.00685655,-0.206879,0.661981] + - [3.13738,0.0134764,-0.268764,0.85992] + - [3.13469,0.0220756,-0.327408,1.04741] + - [3.13142,0.0325497,-0.382971,1.22495] + - [3.12759,0.0447992,-0.435602,1.39302] + - [3.12323,0.0587294,-0.485438,1.55207] + - [3.11838,0.0742501,-0.532604,1.70251] + - [3.11305,0.0912751,-0.577215,1.84474] + - [3.10728,0.109723,-0.619376,1.97913] + - [3.10109,0.129514,-0.659184,2.10602] + - [3.0945,0.150574,-0.696729,2.22576] + - [3.08753,0.172832,-0.732092,2.33864] + - [3.08021,0.196218,-0.765351,2.44497] + - [3.07255,0.220668,-0.796578,2.54502] + - 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new file mode 100644 index 0000000..b2fd8fa --- /dev/null +++ b/envs/acrobot_v0/swing_down_easy/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,256 @@ +time_stamp: 92.6878 +cost: 1.17 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [1.55,0,0,0] +goal: [0,0,0,0] +max_jump: 0.26223 +max_collision: 0 +goal_distance: 0.199413 +start_distance: 0.147605 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 118 +states: + - [1.4168,-0.0317775,-0.201383,-0.255827] + - [1.41478,-0.0343356,-0.289508,-0.206236] + - [1.41189,-0.036398,-0.376631,-0.159754] + - [1.40812,-0.0379955,-0.462746,-0.116366] + - [1.40349,-0.0391592,-0.547848,-0.0760524] + - [1.39801,-0.0399197,-0.63193,-0.038796] + - [1.39169,-0.0403077,-0.714986,-0.00457691] + - [1.38454,-0.0403535,-0.797009,0.0266258] + - [1.37657,-0.0400872,-0.877992,0.0548346] + - [1.36779,-0.0395389,-0.957927,0.0800736] + - [1.35822,-0.0387381,-1.03681,0.102369] + - 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+cost: 1e+08 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [] +goal: [] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 0 +states: +num_actions: 0 +actions: diff --git a/envs/acrobot_v0/swing_down_easy/idbastar_v0_solution_v0.yaml b/envs/acrobot_v0/swing_down_easy/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..165dbd9 --- /dev/null +++ b/envs/acrobot_v0/swing_down_easy/idbastar_v0_solution_v0.yaml @@ -0,0 +1,461 @@ +time_stamp: 2126.87 +cost: 2.19 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [1.55,0,0,0] +goal: [0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00727931 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 220 +states: + - [1.55,0,0,0] + - [1.55,0,-0.539471,1.49092] + - [1.54461,0.0149092,-1.03176,2.83084] + - 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[-4.85005] + - [-4.78809] + - [-4.77444] + - [-4.79655] + - [-4.8437] +info: "ddp_iterations=20;ddp_time=20.165099" diff --git a/envs/acrobot_v0/swing_down_easy/rrt_to_v0_guess_v0.yaml b/envs/acrobot_v0/swing_down_easy/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..d9ed813 --- /dev/null +++ b/envs/acrobot_v0/swing_down_easy/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,28 @@ +time_stamp: 0 +cost: 0.19375 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [1.55,0,0,0] +goal: [0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 2 +states: + - [1.55,0,0,0] + - [0,0,0,0] +num_actions: 1 +actions: + - [0] +num_times: 2 +times: + - 0 + - 0.19375 diff --git a/envs/acrobot_v0/swing_up_empty/idbastar_v0_db_solution_v0.yaml b/envs/acrobot_v0/swing_up_empty/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..be4bb93 --- /dev/null +++ b/envs/acrobot_v0/swing_up_empty/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,682 @@ +time_stamp: 1548.5 +cost: 3.3 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0] +goal: [3.14159,0,0,0] +max_jump: 0.286295 +max_collision: 0 +goal_distance: 0.239587 +start_distance: 0.170841 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 331 +states: + - [-0.19516,-0.0239034,0.297361,-0.0744877] + - [-0.192186,-0.0246483,0.328967,-0.128584] + - [-0.188896,-0.0259342,0.36179,-0.187217] + - [-0.185279,-0.0278063,0.395778,-0.250256] + - [-0.181321,-0.0303089,0.430875,-0.317567] + - [-0.177012,-0.0334846,0.467026,-0.38901] + - [-0.172342,-0.0373747,0.504171,-0.464441] + - [-0.1673,-0.0420191,0.542251,-0.543707] + - [-0.161878,-0.0474561,0.581205,-0.626652] + - [-0.156065,-0.0537227,0.620967,-0.71311] + - [-0.149856,-0.0608538,0.661473,-0.802911] + - [-0.143241,-0.0688829,0.702654,-0.895875] + - 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-0,0 +1,867 @@ +time_stamp: 4216.25 +cost: 4.22 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0] +goal: [3.14159,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00245169 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 423 +states: + - [0,0,0,0] + - [0,0,-0.061675,0.19736] + - [-0.00061675,0.0019736,-0.123148,0.394073] + - [-0.00184823,0.00591433,-0.184341,0.589923] + - [-0.00369164,0.0118136,-0.245179,0.784696] + - [-0.00614343,0.0196605,-0.30558,0.978173] + - [-0.00919923,0.0294423,-0.365461,1.17013] + - [-0.0128538,0.0411436,-0.424732,1.36034] + - [-0.0171012,0.054747,-0.483296,1.54856] + - [-0.0219341,0.0702326,-0.541048,1.73453] + - [-0.0273446,0.0875779,-0.597872,1.91798] + - [-0.0333233,0.106758,-0.653643,2.09862] + - [-0.0398598,0.127744,-0.708222,2.27613] + - [-0.046942,0.150505,-0.76146,2.45019] + - [-0.0545566,0.175007,-0.813191,2.62042] + - 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- [0.79901] + - [0.880671] + - [0.960583] + - [1.0384] + - [1.11378] + - [1.18637] + - [1.25583] +info: "ddp_iterations=55;ddp_time=87.800879" diff --git a/envs/acrobot_v0/swing_up_empty/idbastar_v0_solution_v0.yaml b/envs/acrobot_v0/swing_up_empty/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..0e7535c --- /dev/null +++ b/envs/acrobot_v0/swing_up_empty/idbastar_v0_solution_v0.yaml @@ -0,0 +1,867 @@ +time_stamp: 4216.25 +cost: 4.22 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0] +goal: [3.14159,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00245169 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 423 +states: + - [0,0,0,0] + - [0,0,-0.061675,0.19736] + - [-0.00061675,0.0019736,-0.123148,0.394073] + - [-0.00184823,0.00591433,-0.184341,0.589923] + - [-0.00369164,0.0118136,-0.245179,0.784696] + - [-0.00614343,0.0196605,-0.30558,0.978173] + - 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+u_bounds_feas: 0 +start: [0,0,0,0] +goal: [3.14159,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 3 +states: + - [0,0,0,0] + - [-2.02217,-0.209118,0,0] + - [3.14159,0,0,0] +num_actions: 2 +actions: + - [0] + - [0] +num_times: 3 +times: + - 0 + - 0.252771 + - 0.392699 diff --git a/envs/acrobot_v0/swing_up_empty/rrt_to_v0_solution_v0.yaml b/envs/acrobot_v0/swing_up_empty/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..6c2114d --- /dev/null +++ b/envs/acrobot_v0/swing_up_empty/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,743 @@ +time_stamp: 1.68417e-316 +cost: 3.6 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0] +goal: [3.14159,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000728224 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 361 +states: + - [0,0,0,0] + - 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- [-0.845166] diff --git a/envs/acrobot_v0/swing_up_obs/idbastar_v0_opt_solution_v0.yaml b/envs/acrobot_v0/swing_up_obs/idbastar_v0_opt_solution_v0.yaml new file mode 100644 index 0000000..7300c12 --- /dev/null +++ b/envs/acrobot_v0/swing_up_obs/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,1159 @@ +time_stamp: 3404.74 +cost: 5.68 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0] +goal: [3.14159,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00121059 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 569 +states: + - [0,0,0,0] + - [0,0,0.0138586,-0.0443476] + - [0.000138586,-0.000443476,0.0297827,-0.0953048] + - [0.000436413,-0.00139652,0.047732,-0.152749] + - [0.000913733,-0.00292401,0.0676634,-0.21655] + - [0.00159037,-0.00508952,0.0895314,-0.286571] + - [0.00248568,-0.00795523,0.113287,-0.362667] + - [0.00361855,-0.0115819,0.13888,-0.444684] + - 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[-0.980548] + - [-0.949286] + - [-0.91724] + - [-0.884232] + - [-0.850108] + - [-0.81474] + - [-0.778033] + - [-0.739923] + - [-0.700378] + - [-0.659401] + - [-0.617032] + - [-0.573321] + - [-0.528367] + - [-0.482296] + - [-0.435243] + - [-0.387368] + - [-0.338846] + - [-0.289867] + - [-0.240625] + - [-0.19133] + - [-0.142178] + - [-0.0933818] + - [-0.0451456] + - [0.00232895] + - [0.0488463] + - [0.0942211] + - [0.138266] + - [0.180813] + - [0.221702] + - [0.260783] + - [0.297912] + - [0.332966] + - [0.365823] + - [0.39637] + - [0.424516] + - [0.450169] + - [0.473247] + - [0.493682] + - [0.511413] + - [0.526386] + - [0.538549] + - [0.547867] + - [0.554309] + - [0.557845] +info: "ddp_iterations=132;ddp_time=334.937905" diff --git a/envs/acrobot_v0/swing_up_obs/rrt_to_v0_guess_v0.yaml b/envs/acrobot_v0/swing_up_obs/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..f66dfce --- /dev/null +++ b/envs/acrobot_v0/swing_up_obs/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,40 @@ +time_stamp: 2 +cost: 0.792816 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0,0,0,0] +goal: [-3.14159,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 6 +states: + - [0,0,0,0] + - [1.23901,-0.166321,0,0] + - [1.6439,1.15492,0,0] + - [2.8353,1.35494,0,0] + - [2.83801,-0.61797,0,0] + - [-3.14159,0,0,0] +num_actions: 5 +actions: + - [0] + - [0] + - [0] + - [0] + - [0] +num_times: 6 +times: + - 0 + - 0.154876 + - 0.320031 + - 0.468956 + - 0.71557 + - 0.792816 diff --git a/envs/acrobot_v0/swing_up_obs/rrt_to_v0_solution_v0.yaml b/envs/acrobot_v0/swing_up_obs/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..09a3f31 --- /dev/null +++ b/envs/acrobot_v0/swing_up_obs/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,661 @@ +time_stamp: 2.01563e-316 +cost: 3.19 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0] +goal: [3.14159,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.0011154 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 320 +states: + - [0,0,0,0] + - [0,0,-0.0779261,0.249364] + - [-0.000779261,0.00249364,-0.158662,0.507719] + - [-0.00236588,0.00757083,-0.241968,0.774337] + - [-0.00478556,0.0153142,-0.327597,1.04847] + - [-0.00806153,0.0257989,-0.415289,1.32936] + - [-0.0122144,0.0390925,-0.504767,1.61619] + - [-0.0172621,0.0552544,-0.595732,1.90814] + - [-0.0232194,0.0743358,-0.687854,2.2043] + - [-0.0300979,0.0963787,-0.780767,2.50371] + - [-0.0379056,0.121416,-0.874063,2.80536] + - [-0.0466462,0.149469,-0.96728,3.1081] + - [-0.056319,0.18055,-1.0599,3.41073] + - [-0.0669181,0.214658,-1.15134,3.71189] + - [-0.0784315,0.251777,-1.24095,4.0101] + - [-0.090841,0.291878,-1.328,4.30376] + - [-0.104121,0.334915,-1.41168,4.59109] + - [-0.118238,0.380826,-1.49111,4.87018] + - [-0.133149,0.429528,-1.56535,5.13896] + - [-0.148802,0.480918,-1.63338,5.39526] + - [-0.165136,0.53487,-1.69418,5.63683] + - [-0.182078,0.591239,-1.74668,5.86139] + - [-0.199545,0.649852,-1.78989,6.06675] + - [-0.217444,0.71052,-1.82287,6.25089] + - [-0.235672,0.773029,-1.84482,6.41213] + - [-0.254121,0.83715,-1.85511,6.54917] + - [-0.272672,0.902642,-1.85335,6.66129] + - [-0.291205,0.969255,-1.83935,6.74834] + - [-0.309599,1.03674,-1.81321,6.81081] + - [-0.327731,1.10485,-1.77522,6.8498] + - [-0.345483,1.17334,-1.72588,6.86689] + - [-0.362742,1.24201,-1.66584,6.86408] + - [-0.3794,1.31065,-1.59582,6.84359] + - [-0.395359,1.37909,-1.51659,6.80778] + - [-0.410524,1.44717,-1.42889,6.75899] + - [-0.424813,1.51476,-1.33343,6.69945] + - [-0.438148,1.58175,-1.23087,6.63123] + - [-0.450456,1.64806,-1.12177,6.55616] + - [-0.461674,1.71363,-1.00663,6.47585] + - [-0.47174,1.77838,-0.885882,6.39168] + - [-0.480599,1.8423,-0.759898,6.30479] + - [-0.488198,1.90535,-0.629018,6.21611] + - [-0.494488,1.96751,-0.49356,6.12635] + - [-0.499424,2.02877,-0.35385,6.03608] + - [-0.502962,2.08913,-0.210239,5.94567] + - [-0.505065,2.14859,-0.0631308,5.85535] + - [-0.505696,2.20714,0.0869933,5.76523] + - [-0.504826,2.2648,0.239551,5.67525] + - [-0.502431,2.32155,0.393833,5.58524] + - [-0.498492,2.3774,0.548985,5.49494] + - [-0.493002,2.43235,0.70399,5.40392] + - [-0.485962,2.48639,0.857659,5.3117] + - [-0.477386,2.53951,1.00864,5.21766] + - [-0.4673,2.59168,1.15541,5.12114] + - [-0.455745,2.6429,1.29636,5.02141] + - [-0.442782,2.69311,1.4298,4.91773] + - [-0.428484,2.74229,1.55403,4.80935] + - [-0.412943,2.79038,1.66748,4.69563] + - [-0.396269,2.83734,1.76874,4.57598] + - [-0.378581,2.8831,1.85671,4.45] + - [-0.360014,2.9276,1.93065,4.31744] + - [-0.340708,2.97077,1.99025,4.17825] + - [-0.320805,3.01255,2.03563,4.03257] + - [-0.300449,3.05288,2.06736,3.88072] + - [-0.279775,3.09169,2.08641,3.72318] + - [-0.258911,3.12892,2.09401,3.56052] + - [-0.237971,-3.11866,2.09164,3.39342] + - [-0.217055,-3.08473,2.08087,3.22254] + 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b/envs/acrobot_v0/swing_up_obs_hard/idbastar_v0_solution_v0.yaml @@ -0,0 +1,1119 @@ +time_stamp: 17729.4 +cost: 5.48 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0] +goal: [3.14159,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000980218 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 549 +states: + - [0,0,0,0] + - [0,0,0.00966814,-0.0309381] + - [9.66814e-05,-0.000309381,0.0200043,-0.064014] + - [0.000296725,-0.000949521,0.0309798,-0.0991402] + - [0.000606523,-0.00194092,0.0425658,-0.136229] + - [0.00103218,-0.00330322,0.0547334,-0.175194] + - [0.00157952,-0.00505516,0.0674536,-0.215948] + - [0.00225405,-0.00721464,0.0806972,-0.258403] + - [0.00306102,-0.00979866,0.0944353,-0.302472] + - [0.00400538,-0.0128234,0.108638,-0.348068] + - [0.00509176,-0.0163041,0.123277,-0.395104] + - [0.00632453,-0.0202551,0.138321,-0.443492] + - [0.00770774,-0.02469,0.153742,-0.493146] + - 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[-0.849434] + - [-0.786962] + - [-0.7246] + - [-0.662372] + - [-0.600308] + - [-0.538441] + - [-0.476811] + - [-0.415461] + - [-0.354439] + - [-0.293797] + - [-0.233589] + - [-0.173877] + - [-0.114726] + - [-0.0561997] + - [0.00163319] + - [0.0586916] + - [0.114905] + - [0.17019] + - [0.224461] + - [0.27763] + - [0.329604] + - [0.380283] + - [0.429568] + - [0.477355] + - [0.523537] + - [0.567999] + - [0.610623] + - [0.651292] + - [0.689887] + - [0.726287] + - [0.760373] +info: "ddp_iterations=149;ddp_time=354.333690" diff --git a/envs/acrobot_v0/swing_up_obs_hard/rrt_to_v0_guess_v0.yaml b/envs/acrobot_v0/swing_up_obs_hard/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..4eb8bf8 --- /dev/null +++ b/envs/acrobot_v0/swing_up_obs_hard/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,46 @@ +time_stamp: 5 +cost: 1.02927 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0,0,0,0] +goal: [-3.14159,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 8 +states: + - [0,0,0,0] + - [0.220336,0.460793,0,0] + - [0.297723,2.80046,0,0] + - [0.695195,-2.93964,0,0] + - [1.93193,-2.40379,0,0] + - [-2.75174,-2.0544,0,0] + - [-2.53528,-0.888827,0,0] + - [-3.14159,0,0,0] +num_actions: 7 +actions: + - [0] + - [0] + - [0] + - [0] + - [0] + - [0] + - [0] +num_times: 8 +times: + - 0 + - 0.0575991 + - 0.350057 + - 0.417943 + - 0.572535 + - 0.772474 + - 0.918171 + - 1.02927 diff --git a/envs/acrobot_v0/swing_up_obs_hard/rrt_to_v0_solution_v0.yaml b/envs/acrobot_v0/swing_up_obs_hard/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..5c92210 --- /dev/null +++ b/envs/acrobot_v0/swing_up_obs_hard/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,609 @@ +time_stamp: 1.77479e-316 +cost: 2.93 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0] +goal: [3.14159,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00863994 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 294 +states: + - [0,0,0,0] + - [0,0,0.167746,-0.536789] + - [0.00167746,-0.00536789,0.333032,-1.0657] + - [0.00500778,-0.0160249,0.495554,-1.58587] + - [0.00996332,-0.0318836,0.65498,-2.09637] + - [0.0165131,-0.0528473,0.810919,-2.59622] + - [0.0246223,-0.0788096,0.962899,-3.08429] + - [0.0342513,-0.109652,1.11035,-3.55932] + - [0.0453548,-0.145246,1.25258,-4.01984] + - [0.0578806,-0.185444,1.38878,-4.46419] + - [0.0717684,-0.230086,1.51801,-4.8905] + - [0.0869485,-0.278991,1.63919,-5.29665] + - [0.10334,-0.331957,1.75112,-5.68032] + - [0.120852,-0.388761,1.85253,-6.03899] + - [0.139377,-0.44915,1.94204,-6.36998] + - [0.158797,-0.51285,2.01827,-6.67059] + - [0.17898,-0.579556,2.0799,-6.93818] + - [0.199779,-0.648938,2.12571,-7.1704] + - [0.221036,-0.720642,2.15475,-7.36538] + - [0.242584,-0.794296,2.16634,-7.52201] + - [0.264247,-0.869516,2.16022,-7.64006] + - [0.285849,-0.945916,2.13654,-7.72037] + - [0.307215,-1.02312,2.0959,-7.76483] + - [0.328174,-1.10077,2.03923,-7.77627] + - [0.348566,-1.17853,1.96777,-7.75824] + - [0.368244,-1.25611,1.88289,-7.71471] + - [0.387072,-1.33326,1.78602,-7.64983] + - [0.404933,-1.40976,1.67854,-7.56763] + - [0.421718,-1.48544,1.56172,-7.47185] + - [0.437335,-1.56015,1.43667,-7.36582] + - [0.451702,-1.63381,1.30434,-7.25241] + - [0.464745,-1.70634,1.1655,-7.13398] + - [0.4764,-1.77768,1.02083,-7.01247] + - [0.486609,-1.8478,0.870845,-6.88939] + - [0.495317,-1.91669,0.716032,-6.76586] + - [0.502477,-1.98435,0.556828,-6.64272] + - [0.508046,-2.05078,0.393678,-6.5205] + - [0.511983,-2.11599,0.227071,-6.39949] + - [0.514253,-2.17998,0.0575817,-6.27978] + - [0.514829,-2.24278,-0.114094,-6.16126] + - [0.513688,-2.30439,-0.287106,-6.04363] + - [0.510817,-2.36483,-0.460416,-5.92644] + - [0.506213,-2.42409,-0.632777,-5.80908] + - [0.499885,-2.48218,-0.802726,-5.69082] + - [0.491858,-2.53909,-0.968587,-5.57079] + - 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[0.42179,-0.0862541] + - [0.424214,-0.0966323] + - [0.42702,-0.107426] diff --git a/envs/car1_v0/bugtrap_0/idbastar_v0_opt_solution_v0.yaml b/envs/car1_v0/bugtrap_0/idbastar_v0_opt_solution_v0.yaml new file mode 100644 index 0000000..5bb3dd4 --- /dev/null +++ b/envs/car1_v0/bugtrap_0/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,407 @@ +time_stamp: 3512.42 +cost: 19.2 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [3.4,3,3.14,3.14] +goal: [5.2,3,1.55,1.55] +max_jump: 0 +max_collision: 0 +goal_distance: 5.96944e-05 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 193 +states: + - [3.4,3,3.14,3.14] + - [3.3527,3.00008,3.13646,3.14] + - [3.30553,3.00032,3.13356,3.13967] + - [3.25847,3.0007,3.13128,3.13909] + - [3.21149,3.00118,3.12957,3.13836] + - [3.16455,3.00174,3.12842,3.13753] + - [3.11764,3.00236,3.12778,3.13668] + - [3.07074,3.00301,3.12765,3.13584] + - [3.02385,3.00366,3.12801,3.13507] + - 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b/envs/car1_v0/bugtrap_0/idbastar_v0_solution_v0.yaml @@ -0,0 +1,403 @@ +time_stamp: 5881.16 +cost: 19 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [3.4,3,3.14,3.14] +goal: [5.2,3,1.55,1.55] +max_jump: 0 +max_collision: 0 +goal_distance: 7.64813e-05 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 191 +states: + - [3.4,3,3.14,3.14] + - [3.35,3.00008,3.13555,3.14] + - [3.3,3.00038,3.1319,3.13955] + - [3.25,3.00087,3.12899,3.13879] + - [3.20001,3.0015,3.1268,3.13781] + - [3.15001,3.00224,3.12528,3.13671] + - [3.10002,3.00305,3.12443,3.13557] + - [3.05003,3.00391,3.1242,3.13445] + - [3.00003,3.00478,3.1246,3.13343] + - [2.95004,3.00563,3.12561,3.13254] + - [2.90005,3.00643,3.12723,3.13185] + - [2.85005,3.00715,3.12946,3.13139] + - [2.80006,3.00775,3.13231,3.1312] + - [2.75006,3.00822,3.13579,3.13131] + - [2.70006,3.00851,3.13991,3.13176] + - [2.65006,3.00859,-3.13849,3.13257] + - 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a/envs/car1_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml b/envs/car1_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..5f1a84c --- /dev/null +++ b/envs/car1_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,52 @@ +time_stamp: 26 +cost: 25.1677 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [3.4,3,3.14,3.14] +goal: [5.2,3,1.55,1.55] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 10 +states: + - [3.4,3,3.14,3.14] + - [1.66078,3.20877,-2.70984,-2.71844] + - [0.0990978,2.27597,-2.64853,-2.57815] + - [0.524081,0.841282,-3.04037,3.11951] + - [1.22808,0.276859,2.69786,-3.13588] + - [2.20888,0.215922,1.97684,1.7275] + - [3.53387,0.0894604,1.56478,1.19841] + - [4.87577,0.455328,1.45061,1.96918] + - [5.73348,2.25469,1.68595,1.75287] + - [5.2,3,1.55,1.55] +num_actions: 9 +actions: + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] +num_times: 10 +times: + - 0 + - 3.5034 + - 7.14152 + - 10.1341 + - 11.9388 + - 13.9042 + - 16.5662 + - 19.348 + - 23.3346 + - 25.1677 diff --git a/envs/car1_v0/kink_0/idbastar_v0_db_solution_v0.yaml b/envs/car1_v0/kink_0/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..c48d970 --- /dev/null +++ b/envs/car1_v0/kink_0/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,632 @@ +time_stamp: 4635.94 +cost: 30.5 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0.5,4,1.55,1.55] +goal: [5.5,4,1.55,1.55] +max_jump: 0.147715 +max_collision: 0 +goal_distance: 0.295543 +start_distance: 0.09706 +x_bound_distance: 0 +u_bound_distance: 2e-06 +num_states: 306 +states: + - [0.5,4,1.54747,1.74159] + - [0.499767,3.99,1.54776,1.74544] + - [0.499536,3.98001,1.54851,1.74937] + - [0.499314,3.97001,1.54971,1.75336] + - [0.499103,3.96001,1.55135,1.75741] + - [0.498908,3.95001,1.55343,1.7615] + - 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[0.5,0.0393542] + - [0.5,0.0339889] + - [0.5,0.0270194] + - [0.5,0.0181391] + - [0.5,0.0069942] + - [0.5,-0.00682482] + - [0.5,-0.0238022] + - [0.5,-0.0445319] + - [0.5,-0.069776] + - [0.5,-0.100594] +info: "ddp_iterations=26;ddp_time=835.831200" diff --git a/envs/car1_v0/kink_0/idbastar_v0_solution_v0.yaml b/envs/car1_v0/kink_0/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..80257cd --- /dev/null +++ b/envs/car1_v0/kink_0/idbastar_v0_solution_v0.yaml @@ -0,0 +1,309 @@ +time_stamp: 49956.7 +cost: 14.3 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0.5,4,1.55,1.55] +goal: [5.5,4,1.55,1.55] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000738122 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 144 +states: + - [0.5,4,1.55,1.55] + - [0.499792,3.99,1.54029,1.55] + - [0.499487,3.98001,1.52981,1.55019] + - [0.499077,3.97002,1.51853,1.5506] + - [0.498555,3.96003,1.50643,1.55124] + - 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[0.5,0.851935] + - [0.5,1.0472] + - [0.5,0.851977] + - [0.5,0.424472] + - [0.5,0.341502] + - [0.5,0.34105] + - [0.5,0.341197] + - [0.5,0.341271] + - [0.5,0.341341] + - [0.5,0.341405] + - [0.5,0.341462] + - [0.5,0.341512] + - [0.5,0.341555] + - [0.5,0.341591] + - [0.5,0.34162] + - [0.5,0.34164] + - [0.5,0.341654] + - [0.5,0.341659] + - [0.5,0.341657] + - [0.5,0.341647] + - [0.5,0.341629] + - [0.5,0.341604] + - [0.5,0.341571] + - [0.5,0.341531] + - [0.5,0.341484] + - [0.5,0.341429] + - [0.5,0.341296] + - [0.5,0.333715] + - [0.5,-0.987672] + - [0.5,-1.0472] + - [-0.1,0.375341] + - [-0.1,0.29022] +info: "ddp_iterations=26;ddp_time=471.832398" diff --git a/envs/car1_v0/kink_0/rrt_to_v0_guess_v0.yaml b/envs/car1_v0/kink_0/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..bb7408c --- /dev/null +++ b/envs/car1_v0/kink_0/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,49 @@ +time_stamp: 2 +cost: 23.1739 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0.5,4,1.55,1.55] +goal: [5.5,4,1.55,1.55] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 9 +states: + - [0.5,4,1.55,1.55] + - [0.158208,2.43341,0.683546,0.678888] + - [0.770523,1.72816,-1.15904,-0.555039] + - [1.04414,0.090413,-0.597294,-1.23566] + - [2.88472,0.369758,0.0630056,-0.674825] + - [3.0254,0.402926,1.32001,1.40054] + - [4.69993,0.379153,1.45192,1.61553] + - [5.22182,2.74105,1.5159,1.57278] + - [5.5,4,1.55,1.55] +num_actions: 8 +actions: + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] +num_times: 9 +times: + - 0 + - 3.20689 + - 5.07484 + - 8.39572 + - 12.119 + - 12.4081 + - 15.7575 + - 20.5952 + - 23.1739 diff --git a/envs/car1_v0/kink_0/rrt_to_v0_solution_v0.yaml b/envs/car1_v0/kink_0/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..db42b73 --- /dev/null +++ b/envs/car1_v0/kink_0/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,331 @@ +time_stamp: 1.17865e-316 +cost: 15.4 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0.5,4,1.55,1.55] +goal: [5.5,4,1.55,1.55] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00268757 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 155 +states: + - [0.5,4,1.55,1.55] + - [0.499945,3.99737,1.55327,1.55] + - [0.499925,3.99622,1.55442,1.54999] + - [0.499943,3.99729,1.55364,1.55] + - [0.499999,4.00059,1.5523,1.55003] + - [0.500074,4.00464,1.55154,1.55004] + - [0.500148,4.00845,1.55135,1.55006] + - [0.500196,4.01096,1.55165,1.55006] + - [0.500213,4.01183,1.55191,1.55007] + - [0.500184,4.0103,1.55111,1.55006] + - [0.500025,4.00223,1.5437,1.55004] + - [0.499754,3.99223,1.53096,1.55017] + - [0.499356,3.98224,1.51472,1.55055] + - [0.498796,3.97226,1.49478,1.55127] + - [0.498036,3.96228,1.47181,1.5524] + - [0.497048,3.95233,1.44444,1.55401] + - [0.495788,3.94241,1.41097,1.5562] + - 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a/envs/car1_v0/parallelpark_0/idbastar_v0_db_solution_v0.yaml b/envs/car1_v0/parallelpark_0/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..9cb89b4 --- /dev/null +++ b/envs/car1_v0/parallelpark_0/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,296 @@ +time_stamp: 90.2129 +cost: 13.7 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0.7,0.6,0,0] +goal: [1.9,0.2,0,0] +max_jump: 0.143067 +max_collision: 0 +goal_distance: 0.29563 +start_distance: 0.142622 +x_bound_distance: 0 +u_bound_distance: 2e-06 +num_states: 138 +states: + - [0.7,0.6,0.140566,0.144678] + - [0.749507,0.607005,0.0601407,0.144267] + - [0.799416,0.61001,-0.0115532,0.135864] + - [0.849413,0.609433,-0.0762461,0.121176] + - [0.897968,0.605723,-0.132117,0.102073] + - [0.944735,0.599509,-0.180176,0.0801773] + - [0.990048,0.591255,-0.222534,0.0564642] + - [1.03419,0.581267,-0.260676,0.0315388] + - [1.0773,0.569766,-0.489013,-0.0412199] + - 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[0.377383,-0.298975] + - [0.381184,-0.303173] + - [0.380671,-0.301225] + - [0.374948,-0.292082] + - [0.364692,-0.27662] + - [0.351381,-0.256707] + - [0.336557,-0.234277] + - [0.321485,-0.21089] + - [0.307141,-0.187694] + - [0.294112,-0.165334] + - [0.282672,-0.144049] + - [0.272891,-0.12381] + - [0.264702,-0.104402] + - [0.257997,-0.0855189] + - [0.252678,-0.0668128] + - [0.248811,-0.0479952] + - [0.246419,-0.0286054] + - [0.245739,-0.00815342] + - [0.250069,0.0148445] + - [0.241065,0.0357976] + - [0.238718,0.0551244] + - [0.244977,0.0762121] + - [0.253294,0.0985564] + - [0.264154,0.122872] + - [0.279854,0.151841] + - [0.315017,0.202026] + - [0.382761,0.290616] + - [0.5,0.450807] + - [0.5,1.0472] + - [0.5,1.0472] + - [0.5,0.474012] + - [0.458915,0.365915] + - [0.33034,0.217025] + - [0.293182,0.166903] + - [0.272628,0.131924] + - [0.258111,0.101033] + - [0.247996,0.0719111] + - [0.241998,0.0430529] + - [0.240651,0.0126796] + - [0.246106,-0.0223147] + - [0.268397,-0.0723926] + - [0.5,-0.378663] + - [0.5,-1.0472] + - [-0.00233771,0.00243866] + - [-0.1,0.0862155] + - [-0.1,0.0770686] + - [-0.1,0.0682867] + - [-0.1,0.0598562] + - [-0.1,0.0517636] + - [-0.1,0.0439965] + - [-0.1,0.0365435] + - [-0.1,0.0293938] + - [-0.1,0.0225378] + - [-0.1,0.0159663] + - [-0.1,0.00967088] + - [-0.1,0.00364373] + - [-0.1,-0.00212252] + - [-0.1,-0.00763478] + - [-0.1,-0.0128995] + - [-0.1,-0.0179229] + - [-0.1,-0.0227107] + - [-0.1,-0.0272684] + - [-0.1,-0.0316012] + - [-0.1,-0.0357143] + - [-0.1,-0.0396123] + - [-0.1,-0.0432999] + - [-0.1,-0.0467815] + - [-0.1,-0.0500614] + - [-0.1,-0.0531438] + - [-0.1,-0.0560325] + - [-0.1,-0.0587316] +info: "ddp_iterations=35;ddp_time=164.451474" diff --git a/envs/car1_v0/parallelpark_0/idbastar_v0_solution_v0.yaml b/envs/car1_v0/parallelpark_0/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..c5b99ad --- /dev/null +++ b/envs/car1_v0/parallelpark_0/idbastar_v0_solution_v0.yaml @@ -0,0 +1,105 @@ +time_stamp: 3740.62 +cost: 4.1 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0.7,0.6,0,0] +goal: [1.9,0.2,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.0095421 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 42 +states: + - [0.7,0.6,0,0] + - [0.75,0.6,0.0109289,0] + - [0.799997,0.600546,-0.000107617,0.00109287] + - [0.849997,0.600541,-0.0290179,0.000972824] + - [0.899976,0.59909,-0.0734085,-0.0020258] + - [0.949841,0.595423,-0.131753,-0.00915801] + - [0.999408,0.588855,-0.203026,-0.0213868] + - [1.04838,0.578773,-0.286523,-0.039451] + - [1.09634,0.564642,-0.381796,-0.0639076] + - [1.14274,0.546013,-0.488787,-0.0951638] + - [1.18689,0.522535,-0.607977,-0.133518] + - [1.22793,0.493974,-0.739131,-0.179203] + - [1.26488,0.460292,-0.876931,-0.232316] + - [1.29686,0.421853,-1.00946,-0.292405] + - [1.32347,0.379526,-1.12437,-0.358122] + - [1.34506,0.334426,-1.21301,-0.427465] + - [1.36257,0.287593,-1.28396,-0.498186] + - [1.37672,0.239635,-1.34628,-0.568923] + - [1.38785,0.19089,-1.35613,-0.639063] + - [1.3985,0.142038,-1.278,-0.70478] + - [1.41293,0.0941659,-0.931585,-0.759014] + - [1.44276,0.0540376,-0.585174,-0.776186] + - [1.48444,0.0264204,-0.238764,-0.7572] + - [1.53302,0.0145953,0.0851735,-0.707648] + - [1.58284,0.0188489,0.159657,-0.636414] + - [1.6322,0.0267978,0.234441,-0.564953] + - [1.68084,0.0384128,0.309417,-0.49326] + - [1.72846,0.053638,0.384565,-0.421338] + - [1.77481,0.0723957,0.459862,-0.349192] + - [1.81962,0.0945869,0.535285,-0.276829] + - [1.86262,0.120091,0.610798,-0.204254] + - [1.90358,0.148767,0.684492,-0.131478] + - [1.94232,0.180381,0.587183,-0.0586393] + - [1.98394,0.208082,0.240773,0.00154627] + - [1.97423,0.205698,0.17149,-0.00319275] + - [1.96438,0.203991,0.102208,-0.00666867] + - [1.95443,0.202971,0.0329262,-0.00884191] + - [1.94444,0.202642,-0.0363559,-0.00967703] + - [1.93444,0.203005,-0.0730075,-0.00914352] + - [1.92447,0.203735,-0.0779641,-0.00786711] + - [1.9145,0.204513,-0.0693626,-0.00646632] + - [1.90452,0.205206,-8.05295e-05,-0.00520922] +num_actions: 41 +actions: + - [0.5,0.0545905] + - [0.5,-0.0551269] + - [0.5,-0.143557] + - [0.5,-0.218412] + - [0.5,-0.283843] + - [0.5,-0.342337] + - [0.5,-0.395489] + - [0.5,-0.444562] + - [0.5,-0.491219] + - [0.5,-0.537435] + - [0.5,-0.580421] + - [0.5,-0.603305] + - [0.5,-0.585202] + - [0.5,-0.521492] + - [0.5,-0.417196] + - [0.5,-0.340926] + - [0.5,-0.30203] + - [0.5,-0.0492153] + - [0.5,0.372431] + - [0.5,1.0472] + - [0.5,1.0472] + - [0.5,1.0472] + - [0.5,1.01768] + - [0.5,0.356503] + - [0.5,0.357824] + - [0.5,0.358667] + - [0.5,0.359417] + - [0.5,0.360071] + - [0.5,0.360627] + - [0.5,0.361014] + - [0.5,0.353036] + - [0.5,-0.452826] + - [0.5,-1.0472] + - [-0.1,1.0472] + - [-0.1,1.0472] + - [-0.1,1.0472] + - [-0.1,1.0472] + - [-0.1,0.741742] + - [-0.1,0.123287] + - [-0.1,-0.211811] + - [-0.1,-1.0472] +info: "ddp_iterations=50;ddp_time=231.923898" diff --git a/envs/car1_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml b/envs/car1_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..6e2ddc9 --- /dev/null +++ b/envs/car1_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,31 @@ +time_stamp: 1 +cost: 4.94319 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0.7,0.6,0,0] +goal: [1.9,0.2,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 3 +states: + - [0.7,0.6,0,0] + - [1.71639,1.37762,0.53911,-0.00194387] + - [1.9,0.2,0,0] +num_actions: 2 +actions: + - [0,0] + - [0,0] +num_times: 3 +times: + - 0 + - 2.55949 + - 4.94319 diff --git a/envs/car1_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml b/envs/car1_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..17cebd2 --- /dev/null +++ b/envs/car1_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,119 @@ +time_stamp: 1.23291e-316 +cost: 4.8 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0.7,0.6,0,0] +goal: [1.9,0.2,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00808279 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 49 +states: + - [0.7,0.6,0,0] + - [0.74409,0.6,0.067515,0] + - [0.780443,0.602458,0.0948646,0.00491609] + - [0.814382,0.605687,0.108372,0.011041] + - [0.847629,0.609305,0.11303,0.0175408] + - [0.881251,0.613121,0.109976,0.0239933] + - [0.916668,0.617032,0.0976174,0.0301133] + - [0.957169,0.620998,0.0673816,0.0356033] + - [1.00599,0.624293,0.00250955,0.0387128] + - [1.05599,0.624418,-0.0933531,0.0350933] + - [1.10577,0.619758,-0.375576,0.0222839] + - [1.15229,0.601417,-0.721986,-0.0164607] + - [1.18981,0.568373,-0.854183,-0.0813041] + - [1.22249,0.530861,-0.93623,-0.150773] + - [1.24986,0.493687,-1.00163,-0.216057] + - [1.27441,0.455313,-1.06616,-0.280495] + - [1.29608,0.416071,-1.12965,-0.34391] + - [1.31491,0.376204,-1.19208,-0.406281] + - [1.33094,0.335899,-1.2535,-0.467653] + - [1.34442,0.294866,-1.31452,-0.528759] + - [1.35296,0.26229,-1.34695,-0.576402] + - [1.35737,0.242914,-1.35368,-0.604084] + - [1.36138,0.224726,-1.35792,-0.629465] + - [1.36462,0.209723,-1.35946,-0.6499] + - [1.36954,0.186776,-1.35957,-0.680482] + - [1.38003,0.137887,-1.27067,-0.74329] + - [1.39481,0.090122,-0.924256,-0.793617] + - [1.42493,0.0502134,-0.577845,-0.806643] + - [1.46681,0.0229024,-0.231435,-0.783963] + - [1.51548,0.0114337,0.059759,-0.731479] + - [1.56539,0.0144199,0.136492,-0.660356] + - [1.61493,0.0212233,0.210866,-0.588841] + - [1.66382,0.0316887,0.285349,-0.517125] + - [1.7118,0.0457633,0.359938,-0.445218] + - [1.75859,0.0633741,0.434614,-0.373124] + - [1.80394,0.0844271,0.509356,-0.300851] + - [1.8476,0.108808,0.58414,-0.228408] + - [1.88931,0.136382,0.658764,-0.155804] + - [1.92884,0.166989,0.713762,-0.0830611] + - [1.96664,0.199723,0.367351,-0.0115473] + - [1.98426,0.206503,0.236554,0.00241926] + - [1.97454,0.20416,0.167272,-0.00222077] + - [1.96468,0.202495,0.0979898,-0.00559441] + - [1.95472,0.201516,0.0287076,-0.00766239] + - [1.94473,0.201229,-0.0405745,-0.00838963] + - [1.93474,0.201635,-0.0660814,-0.00774605] + - [1.92476,0.202295,-0.0730262,-0.00658] + - [1.91479,0.203025,-0.0693188,-0.00525206] + - [1.90481,0.203718,-3.67081e-05,-0.0039716] +num_actions: 48 +actions: + - [0.440905,0.36561] + - [0.364351,0.185503] + - [0.340925,0.0987258] + - [0.334433,0.0348063] + - [0.338382,-0.0225597] + - [0.356323,-0.0864913] + - [0.406951,-0.183653] + - [0.489338,-0.320034] + - [0.5,-0.446962] + - [0.5,-0.954282] + - [0.5,-1.0472] + - [0.5,-0.584058] + - [0.497488,-0.39107] + - [0.461599,-0.340438] + - [0.455563,-0.340326] + - [0.448294,-0.340279] + - [0.440875,-0.340273] + - [0.433792,-0.3402] + - [0.43189,-0.339544] + - [0.336763,-0.236214] + - [0.198716,-0.0845057] + - [0.186253,-0.0568874] + - [0.153486,-0.0249695] + - [0.2347,-0.00116139] + - [0.5,0.418274] + - [0.5,1.0472] + - [0.5,1.0472] + - [0.5,1.0472] + - [0.5,0.968965] + - [0.5,0.366347] + - [0.5,0.356023] + - [0.5,0.3565] + - [0.5,0.35697] + - [0.5,0.357349] + - [0.5,0.357637] + - [0.5,0.357823] + - [0.5,0.357124] + - [0.5,0.268355] + - [0.5,-1.0472] + - [0.188789,-1.0472] + - [-0.1,1.0472] + - [-0.1,1.0472] + - [-0.1,1.0472] + - [-0.1,1.0472] + - [-0.1,0.567661] + - [-0.1,0.171907] + - [-0.1,-0.0924212] + - [-0.1,-1.0472] +info: "ddp_iterations=50;ddp_time=206.840604" diff --git a/envs/multirotor2d_v0_ERASE_ME/empty_0.yaml b/envs/multirotor2d_v0_ERASE_ME/empty_0.yaml new file mode 100644 index 0000000..d10346b --- /dev/null +++ b/envs/multirotor2d_v0_ERASE_ME/empty_0.yaml @@ -0,0 +1,9 @@ +name: quad2d_v0-empty_0 +environment: + min: [-1, -1] + max: [1, 2] + obstacles: [] +robots: + - type: quad2d_v0 + start: [0, 0, 0, 0, 0, 0] + goal: [0, 1, 0, 0, 0, 0] diff --git a/envs/multirotor2d_v0_ERASE_ME/empty_1.yaml b/envs/multirotor2d_v0_ERASE_ME/empty_1.yaml new file mode 100644 index 0000000..8103205 --- /dev/null +++ b/envs/multirotor2d_v0_ERASE_ME/empty_1.yaml @@ -0,0 +1,9 @@ +name: quad2d_v0-empty_1 +environment: + min: [-1, -1] + max: [2, 2] + obstacles: [] +robots: + - type: quad2d_v0 + start: [0, 0, 0, 0, 0, 0] + goal: [1, 1, 0, 0, 0, 0] diff --git a/envs/multirotor2d_v0_ERASE_ME/fall_through.yaml b/envs/multirotor2d_v0_ERASE_ME/fall_through.yaml new file mode 100644 index 0000000..4aaf089 --- /dev/null +++ b/envs/multirotor2d_v0_ERASE_ME/fall_through.yaml @@ -0,0 +1,35 @@ +name: fall_through-quad2d_v0 +environment: + min: [0.0, 0.0] + max: [6, 6] + obstacles: + # difficult: + - type: box + center: [1, 3] + size: [3.4, .3] + - type: box + center: [5, 3] + size: [3.4, .3] + + # easy: + # - type: box + # center: [1, 3] + # size: [3.2,.3] + # - type: box + # center: [5, 3] + # size: [3.2,.3] + + # - type: box + # center: [5, 3] + # size: [.4,.4] + # - type: box + # center: [3, 2] + # size: [.4,.4] + # - type: box + # center: [1, 3] + # size: [.4,.4] +robots: + - type: quad2d_v0 + start: [1., 4, 0., 0., 0., 0.] # x,y,theta,v,w + goal: [4., 1., 0., 0., 0., 0] # x,y,theta,v,w + # goal: [3,3.,1.57,0.,0., 0] # x,y,theta,v,w diff --git a/envs/multirotor2d_v0_ERASE_ME/quad2d_recovery_obs.yaml b/envs/multirotor2d_v0_ERASE_ME/quad2d_recovery_obs.yaml new file mode 100644 index 0000000..12020a5 --- /dev/null +++ b/envs/multirotor2d_v0_ERASE_ME/quad2d_recovery_obs.yaml @@ -0,0 +1,17 @@ +name: quad2d_v0-recovery_obstacles +environment: + #original + min: [-1, -2.0] + max: [2, 3] + # #visualization + # min: [-1, -2.5] + # max: [2.5, 3] + obstacles: + - type: box + center: [0, 1.5] + size: [2, .3] +robots: + - type: quad2d_v0 + # start: [0., 1., 3.14, 0., 0., 0.] # x,y,theta,v,w + start: [0., 1., -3.14, 0., 0., 0.] # x,y,theta,v,w + goal: [0., 2, 0., 0., 0., 0] # x,y,theta,v,w diff --git a/envs/multirotor2d_v0_ERASE_ME/quad2d_recovery_wo_obs.yaml b/envs/multirotor2d_v0_ERASE_ME/quad2d_recovery_wo_obs.yaml new file mode 100644 index 0000000..e17c785 --- /dev/null +++ b/envs/multirotor2d_v0_ERASE_ME/quad2d_recovery_wo_obs.yaml @@ -0,0 +1,9 @@ +name: quad2d-recovery +environment: + min: [-1, -2] + max: [2, 3] + obstacles: [] +robots: + - type: quad2d_v0 + start: [0., 1., 3.14, 0., 0., 0.] # x,y,theta,v,w + goal: [1., 1., 0., 0., 0., 0] # x,y,theta,v,w diff --git a/envs/multirotor2d_v0_ERASE_ME/quad_bugtrap.yaml b/envs/multirotor2d_v0_ERASE_ME/quad_bugtrap.yaml new file mode 100644 index 0000000..a06a765 --- /dev/null +++ b/envs/multirotor2d_v0_ERASE_ME/quad_bugtrap.yaml @@ -0,0 +1,24 @@ +name: quad2d_v0-bugtrap +environment: + min: [0.0, 0.0] + max: [6, 6] + obstacles: + - type: box + center: [4.5, 3] + size: [0.2, 3.2] + - type: box + center: [3, 1.5] + size: [3.2, 0.2] + - type: box + center: [3, 4.5] + size: [3.2, 0.2] + - type: box + center: [1.5, 4.05] + size: [0.2, 1.1] + - type: box + center: [1.5, 1.95] + size: [0.2, 1.1] +robots: + - type: quad2d_v0 + start: [3.8, 3, 0, 0, 0, 0] + goal: [5.2, 3, 0, 0, 0, 0] diff --git a/envs/multirotor2d_v0_ERASE_ME/quad_obs_column.yaml b/envs/multirotor2d_v0_ERASE_ME/quad_obs_column.yaml new file mode 100644 index 0000000..3c3c2d6 --- /dev/null +++ b/envs/multirotor2d_v0_ERASE_ME/quad_obs_column.yaml @@ -0,0 +1,12 @@ +name: quad2d_v0-column +environment: + min: [0., 0.] + max: [6., 5.] + obstacles: + - type: box + center: [3, 1] + size: [.4, 4] +robots: + - type: quad2d_v0 + start: [2., 1., 0., 0., 0., 0.] # x,y,theta,v,w + goal: [4., 1., 0., 0., 0., 0] # x,y,theta,v,w diff --git a/envs/multirotor2d_v0_ERASE_ME/trajectories/quad2d_recovery_good_init_guess.yaml b/envs/multirotor2d_v0_ERASE_ME/trajectories/quad2d_recovery_good_init_guess.yaml new file mode 100644 index 0000000..7a4cf7a --- /dev/null +++ b/envs/multirotor2d_v0_ERASE_ME/trajectories/quad2d_recovery_good_init_guess.yaml @@ -0,0 +1,813 @@ +feasible: 1 +cost: 4 +result: + - states: + - [1, 4, 3, 0, 0, 0] + - [1, 4, 3, -0.00898934, -0.161063, -2.1658] + - [0.99991, 3.99839, 2.97834, -0.017976, -0.322078, -4.11502] + - [0.99973, 3.99517, 2.93719, -0.0283237, -0.482836, -5.86932] + - [0.999447, 3.99034, 2.8785, -0.0412452, -0.643068, -7.44819] + - [0.999035, 3.98391, 2.80402, -0.0563855, -0.797137, -8.6843] + - [0.998471, 3.97594, 2.71717, -0.0674198, -0.926385, -8.95033] + - [0.997797, 3.96667, 2.62767, -0.0782014, -1.04802, -8.94713] + - [0.997015, 3.95619, 2.5382, -0.0900758, -1.16678, -8.87526] + - [0.996114, 3.94453, 2.44945, -0.103452, -1.28389, -8.79082] + - [0.995079, 3.93169, 2.36154, -0.118387, -1.39956, -8.70902] + - [0.993895, 3.91769, 2.27445, -0.134811, -1.51379, -8.63378] + - [0.992547, 3.90255, 2.18811, -0.152614, -1.62648, -8.566] + - [0.991021, 3.88629, 2.10245, -0.171668, -1.73756, -8.50575] + - [0.989305, 3.86891, 2.01739, -0.191841, -1.84695, -8.45289] + - [0.987386, 3.85044, 1.93286, -0.212996, -1.95456, -8.40721] + - [0.985256, 3.8309, 1.84879, -0.234992, -2.06034, -8.36848] + - [0.982906, 3.81029, 1.76511, -0.257687, -2.16423, -8.33649] + - [0.980329, 3.78865, 1.68174, -0.280933, -2.26618, -8.31102] + - [0.97752, 3.76599, 1.59863, -0.304584, -2.36616, -8.29185] + - [0.974474, 3.74233, 1.51571, -0.328491, -2.46413, -8.27887] + - [0.971189, 3.71769, 1.43292, -0.352512, -2.56008, -8.27221] + - [0.967664, 3.69209, 1.3502, -0.376544, -2.65398, -8.27347] + - [0.963899, 3.66555, 1.26747, -0.400695, -2.74576, -8.2915] + - [0.959892, 3.63809, 1.18455, -0.426087, -2.83496, -8.37118] + - [0.955631, 3.60974, 1.10084, -0.458671, -2.91883, -8.73462] + - [0.951044, 3.58055, 1.01349, -0.540516, -2.97433, -9.00848] + - [0.945639, 3.55081, 0.92341, -0.634009, -3.01309, -8.68736] + - [0.939299, 3.52068, 0.836536, -0.727264, -3.03956, -8.16733] + - [0.932026, 3.49028, 0.754863, -0.816255, -3.05614, -7.5964] + - [0.923864, 3.45972, 0.678899, -0.89946, -3.06454, -7.02773] + - [0.914869, 3.42908, 0.608622, -0.976382, -3.06598, -6.47722] + - [0.905105, 3.39842, 0.54385, -1.04676, -3.06167, -5.95874] + - [0.894638, 3.3678, 0.484262, -1.11061, -3.05267, -5.47894] + - [0.883532, 3.33727, 0.429473, -1.16814, -3.03978, -5.0371] + - [0.87185, 3.30687, 0.379102, -1.21965, -3.02368, -4.63138] + - [0.859654, 3.27664, 0.332788, -1.26544, -3.00494, -4.26003] + - [0.846999, 3.24659, 0.290188, -1.30575, -2.98435, -3.93129] + - [0.833942, 3.21674, 0.250875, -1.34112, -2.96175, -3.62151] + - [0.820531, 3.18713, 0.21466, -1.37182, -2.93753, -3.33183] + - [0.806813, 3.15775, 0.181342, -1.39815, -2.91207, -3.06408] + - [0.792831, 3.12863, 0.150701, -1.42039, -2.88565, -2.81786] + - [0.778627, 3.09977, 0.122522, -1.43886, -2.85845, -2.59133] + - [0.764239, 3.07119, 0.096609, -1.45382, -2.83062, -2.382] + - [0.7497, 3.04288, 0.072789, -1.46557, -2.8022, -2.18565] + - [0.735045, 3.01486, 0.0509325, -1.47435, -2.77303, -1.99157] + - [0.720301, 2.98713, 0.0310169, -1.48035, -2.74392, -1.82418] + - [0.705498, 2.95969, 0.0127751, -1.48384, -2.71462, -1.67047] + - [0.690659, 2.93255, -0.00392963, -1.48502, -2.68518, -1.5291] + - [0.675809, 2.90569, -0.0192207, -1.48409, -2.65566, -1.3989] + - [0.660968, 2.87914, -0.0332097, -1.48122, -2.62609, -1.27881] + - [0.646156, 2.85288, -0.0459978, -1.47657, -2.59648, -1.16791] + - [0.63139, 2.82691, -0.0576769, -1.47029, -2.56687, -1.06533] + - [0.616687, 2.80124, -0.0683302, -1.46254, -2.53727, -0.97033] + - [0.602062, 2.77587, -0.0780335, -1.45343, -2.50768, -0.88218] + - [0.587528, 2.75079, -0.0868553, -1.44308, -2.47811, -0.800136] + - [0.573097, 2.72601, -0.0948567, -1.43161, -2.44855, -0.723141] + - [0.558781, 2.70153, -0.102088, -1.41912, -2.419, -0.650827] + - [0.54459, 2.67734, -0.108596, -1.40572, -2.38955, -0.585744] + - [0.530532, 2.65344, -0.114454, -1.3915, -2.3602, -0.527169] + - [0.516617, 2.62984, -0.119725, -1.37654, -2.33094, -0.474453] + - [0.502852, 2.60653, -0.12447, -1.36092, -2.30177, -0.427007] + - [0.489243, 2.58351, -0.12874, -1.34471, -2.27268, -0.384307] + - [0.475796, 2.56079, -0.132583, -1.32795, -2.24366, -0.345876] + - [0.462516, 2.53835, -0.136042, -1.31072, -2.21472, -0.311288] + - [0.449409, 2.5162, -0.139155, -1.29306, -2.18585, -0.280159] + - [0.436478, 2.49434, -0.141956, -1.27501, -2.15704, -0.252144] + - [0.423728, 2.47277, -0.144478, -1.25661, -2.12828, -0.226929] + - [0.411162, 2.45149, -0.146747, -1.23789, -2.09958, -0.204236] + - [0.398783, 2.43049, -0.148789, -1.2189, -2.07094, -0.183813] + - [0.386594, 2.40978, -0.150628, -1.19966, -2.04233, -0.165431] + - [0.374598, 2.38936, -0.152282, -1.18019, -2.01378, -0.148888] + - [0.362796, 2.36922, -0.153771, -1.16051, -1.98526, -0.133999] + - [0.351191, 2.34937, -0.155111, -1.14066, -1.95678, -0.120599] + - [0.339784, 2.3298, -0.156317, -1.12064, -1.92833, -0.10854] + - [0.328578, 2.31052, -0.157402, -1.10048, -1.89992, -0.0976856] + - [0.317573, 2.29152, -0.158379, -1.08018, -1.87153, -0.087917] + - [0.306771, 2.27281, -0.159258, -1.05977, -1.84318, -0.0791253] + - [0.296173, 2.25437, -0.160049, -1.03926, -1.81485, -0.0712128] + - [0.285781, 2.23623, -0.160762, -1.01865, -1.78654, -0.0640915] + - [0.275594, 2.21836, -0.161402, -0.997957, -1.75826, -0.0576824] + - [0.265615, 2.20078, -0.161979, -0.97719, -1.73, -0.0519141] + - [0.255843, 2.18348, -0.162498, -0.956356, -1.70176, -0.0467227] + - [0.246279, 2.16646, -0.162966, -0.935464, -1.67354, -0.0420504] + - [0.236924, 2.14972, -0.163386, -0.914519, -1.64533, -0.0378454] + - [0.227779, 2.13327, -0.163765, -0.893527, -1.61714, -0.0340609] + - [0.218844, 2.1171, -0.164105, -0.872493, -1.58897, -0.0306548] + - [0.210119, 2.10121, -0.164412, -0.851423, -1.56082, -0.0275893] + - [0.201605, 2.0856, -0.164688, -0.830321, -1.53268, -0.0248304] + - [0.193302, 2.07027, -0.164936, -0.80919, -1.50455, -0.0223473] + - [0.18521, 2.05523, -0.165159, -0.788035, -1.47644, -0.0201126] + - [0.177329, 2.04047, -0.165361, -0.766857, -1.44833, -0.0181013] + - [0.169661, 2.02598, -0.165542, -0.745661, -1.42025, -0.0162912] + - [0.162204, 2.01178, -0.165705, -0.724447, -1.39217, -0.0146621] + - [0.15496, 1.99786, -0.165851, -0.70322, -1.36411, -0.0131959] + - [0.147927, 1.98422, -0.165983, -0.681981, -1.33605, -0.0118763] + - [0.141108, 1.97086, -0.166102, -0.660731, -1.30801, -0.0106887] + - [0.1345, 1.95778, -0.166209, -0.639472, -1.27998, -0.00961979] + - [0.128106, 1.94498, -0.166305, -0.618206, -1.25196, -0.00865781] + - [0.121924, 1.93246, -0.166392, -0.596935, -1.22395, -0.00779203] + - [0.115954, 1.92022, -0.166469, -0.575659, -1.19595, -0.00701283] + - [0.110198, 1.90826, -0.16654, -0.554379, -1.16796, -0.00631154] + - [0.104654, 1.89658, -0.166603, -0.533097, -1.13998, -0.00568039] + - [0.0993229, 1.88518, -0.166659, -0.511813, -1.11201, -0.00511235] + - [0.0942048, 1.87406, -0.166711, -0.490528, -1.08404, -0.00460112] + - [0.0892995, 1.86322, -0.166757, -0.469243, -1.05609, -0.004141] + - [0.084607, 1.85266, -0.166798, -0.448272, -1.03001, 0.0605585] + - [0.0801243, 1.84236, -0.166192, -0.427105, -1.00277, 0.078253] + - [0.0758533, 1.83233, -0.16541, -0.405966, -0.975197, 0.0832018] + - [0.0717936, 1.82258, -0.164578, -0.384916, -0.947532, 0.084627] + - [0.0679444, 1.8131, -0.163732, -0.364154, -0.92092, 0.122542] + - [0.0643029, 1.80389, -0.162506, -0.343408, -0.893726, 0.136929] + - [0.0608688, 1.79496, -0.161137, -0.322797, -0.866367, 0.144758] + - [0.0576409, 1.78629, -0.159689, -0.302358, -0.83895, 0.150534] + - [0.0546173, 1.7779, -0.158184, -0.282104, -0.811504, 0.155462] + - [0.0517962, 1.76979, -0.156629, -0.262045, -0.784036, 0.159874] + - [0.0491758, 1.76195, -0.155031, -0.242187, -0.756545, 0.163867] + - [0.0467539, 1.75438, -0.153392, -0.222534, -0.729032, 0.16748] + - [0.0445286, 1.74709, -0.151717, -0.203093, -0.701495, 0.170731] + - [0.0424976, 1.74008, -0.15001, -0.183868, -0.673933, 0.173637] + - [0.040659, 1.73334, -0.148274, -0.164861, -0.646345, 0.176211] + - [0.0390103, 1.72687, -0.146511, -0.146078, -0.618731, 0.178471] + - [0.0375496, 1.72069, -0.144727, -0.127522, -0.591091, 0.180441] + - [0.0362743, 1.71478, -0.142922, -0.109194, -0.563425, 0.182182] + - [0.0351824, 1.70914, -0.1411, -0.0912397, -0.536714, 0.217418] + - [0.03427, 1.70377, -0.138926, -0.0734267, -0.509341, 0.22721] + - [0.0335357, 1.69868, -0.136654, -0.0558675, -0.481767, 0.23021] + - [0.0329771, 1.69386, -0.134352, -0.0385921, -0.454116, 0.2313] + - [0.0325911, 1.68932, -0.132039, -0.0216087, -0.426418, 0.231758] + - [0.0323751, 1.68506, -0.129721, -0.00491975, -0.398682, 0.231921] + - [0.0323259, 1.68107, -0.127402, 0.0114738, -0.37091, 0.231882] + - [0.0324406, 1.67736, -0.125083, 0.0275718, -0.343104, 0.231668] + - [0.0327163, 1.67393, -0.122767, 0.0433741, -0.315264, 0.231292] + - [0.0331501, 1.67078, -0.120454, 0.0588812, -0.287389, 0.230759] + - [0.0337389, 1.6679, -0.118146, 0.0740935, -0.259482, 0.230076] + - [0.0344798, 1.66531, -0.115846, 0.0890117, -0.231541, 0.229246] + - [0.0353699, 1.66299, -0.113553, 0.103637, -0.203568, 0.228274] + - [0.0364063, 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mode 100644 index 0000000..9860663 --- /dev/null +++ b/envs/quad2d_v0/empty_0/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,230 @@ +time_stamp: 35.8316 +cost: 1.04 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0,0,0] +goal: [0,1,0,0,0,0] +max_jump: 0.178614 +max_collision: 0 +goal_distance: 0.493435 +start_distance: 0.0540643 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 105 +states: + - [-8.62193e-08,-7.94121e-08,0.0326291,-7.96965e-08,4.53157e-08,0.188748] + - [-8.70162e-08,-7.89589e-08,0.0345166,-0.00416053,0.0293622,0.188748] + - [-4.16923e-05,0.000293543,0.036404,-0.00856155,0.0587162,0.188748] + - [-0.000127308,0.000880705,0.0382915,-0.0132031,0.0880617,0.188748] + - [-0.000259339,0.00176132,0.040179,-0.0180831,0.117343,0.190632] + - [-0.00044017,0.00293475,0.0420853,-0.0232054,0.14666,0.190966] + - [-0.000672224,0.00440135,0.043995,-0.0285709,0.175977,0.190966] + - 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+ - [0.141716,0.151143] + - [0.163756,0.173807] + - [0.185376,0.196133] + - [0.206699,0.218084] + - [0.227857,0.239635] + - [0.248999,0.260781] + - [0.270301,0.281565] + - [0,0.0733007] + - [0,0.0561846] + - [0,0.0431202] + - [0,0.0333104] diff --git a/envs/quad2d_v0/empty_0/idbastar_v0_opt_solution_v0.yaml b/envs/quad2d_v0/empty_0/idbastar_v0_opt_solution_v0.yaml new file mode 100644 index 0000000..830de5a --- /dev/null +++ b/envs/quad2d_v0/empty_0/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,219 @@ +time_stamp: 96.3347 +cost: 0.98 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0,0,0] +goal: [0,1,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00344725 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0.000189239 +num_states: 99 +states: + - [0,0,0,0,0,0] + - [0,0,0,0,0.029425,2.70228e-08] + - [0,0.00029425,2.70228e-10,0,0.0588499,5.7742e-08] + - 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+goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0,0,0] +goal: [0,1,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00454158 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 97 +states: + - [0,0,0,0,0,0] + - [0,0,0,0,0.0294272,-1.61411e-09] + - [0,0.000294272,-1.61409e-11,0,0.0588543,-3.10789e-09] + - [0,0.000882815,-4.72196e-11,2.0584e-12,0.0882813,-4.48252e-09] + - [2.0584e-14,0.00176563,-9.20446e-11,8.08016e-12,0.117708,-5.73933e-09] + - [1.01386e-13,0.00294271,-1.49438e-10,1.98183e-11,0.147135,-6.87975e-09] + - [2.99568e-13,0.00441406,-2.18235e-10,3.88756e-11,0.176561,-7.90535e-09] + - [6.88324e-13,0.00617967,-2.97289e-10,6.67063e-11,0.205988,-8.81786e-09] + - [1.35539e-12,0.00823955,-3.85468e-10,1.04618e-10,0.235414,-9.6191e-09] + - [2.40157e-12,0.0105937,-4.81659e-10,1.53776e-10,0.26484,-1.0311e-08] + - [3.93933e-12,0.0132421,-5.84769e-10,2.152e-10,0.294266,-1.08957e-08] + - 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+feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0,0,0,0,0,0] +goal: [0,1,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 2 +states: + - [0,0,0,0,0,0] + - [0,1,0,0,0,0] +num_actions: 1 +actions: + - [1,1] +num_times: 2 +times: + - 0 + - 0.25 diff --git a/envs/quad2d_v0/empty_0/rrt_to_v0_solution_v0.yaml b/envs/quad2d_v0/empty_0/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..831fdf8 --- /dev/null +++ b/envs/quad2d_v0/empty_0/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,217 @@ +time_stamp: 1.73484e-316 +cost: 0.97 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0,0,0] +goal: [0,1,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00392481 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 98 +states: + - [0,0,0,0,0,0] + - 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1.04 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0,0,0] +goal: [0,1,0,0,0,0] +max_jump: 0.178614 +max_collision: 0 +goal_distance: 0.493434 +start_distance: 0.0540642 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 105 +states: + - [4.48209e-08,-8.59977e-08,0.032629,-6.8502e-08,7.05814e-08,0.188748] + - [4.41359e-08,-8.52919e-08,0.0345165,-0.00416051,0.0293622,0.188748] + - [-4.1561e-05,0.000293537,0.036404,-0.00856153,0.0587162,0.188748] + - [-0.000127176,0.000880699,0.0382915,-0.0132031,0.0880617,0.188748] + - [-0.000259207,0.00176132,0.040179,-0.0180831,0.117343,0.190632] + - [-0.000440038,0.00293474,0.0420853,-0.0232053,0.14666,0.190966] + - [-0.000672092,0.00440135,0.0439949,-0.0285709,0.175977,0.190966] + - [-0.000957801,0.00616112,0.0459046,-0.0341798,0.205284,0.190966] + - [-0.0012996,0.00821396,0.0478143,-0.0400319,0.234579,0.190983] + - 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"ddp_iterations=13;ddp_time=11.699991" diff --git a/envs/quad2d_v0/empty_1/idbastar_v0_solution_v0.yaml b/envs/quad2d_v0/empty_1/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..457271a --- /dev/null +++ b/envs/quad2d_v0/empty_1/idbastar_v0_solution_v0.yaml @@ -0,0 +1,279 @@ +time_stamp: 901.234 +cost: 1.28 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0,0,0] +goal: [1,1,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00558281 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 129 +states: + - [0,0,0,0,0,0] + - [0,0,0,0,0.00929435,-0.684428] + - [0,9.29435e-05,-0.00684428,0,0.0238771,-1.18904] + - [0,0.000331715,-0.0187346,0.000801602,0.0428954,-1.54274] + - [8.01602e-06,0.000760669,-0.034162,0.00306555,0.0656244,-1.76964] + - [3.86716e-05,0.00141691,-0.0518584,0.00730058,0.0914452,-1.88967] + - [0.000111677,0.00233137,-0.0707551,0.0138659,0.119832,-1.91913] + - 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+x_bound_distance: -1 +u_bound_distance: -1 +num_states: 2 +states: + - [0,0,0,0,0,0] + - [1,1,0,0,0,0] +num_actions: 1 +actions: + - [1,1] +num_times: 2 +times: + - 0 + - 0.353553 diff --git a/envs/quad2d_v0/empty_1/rrt_to_v0_solution_v0.yaml b/envs/quad2d_v0/empty_1/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..240cafa --- /dev/null +++ b/envs/quad2d_v0/empty_1/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,303 @@ +time_stamp: 1.41327e-316 +cost: 1.4 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0,0,0] +goal: [1,1,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00400161 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 141 +states: + - [0,0,0,0,0,0] + - [0,0,0,0,0.0136576,-0.535985] + - [0,0.000136576,-0.00535985,0,0.0311945,-0.940066] + - [0,0.000448522,-0.0147605,0.000637035,0.0519464,-1.23477] + - [6.37035e-06,0.000967986,-0.0271082,0.00243062,0.0753497,-1.43894] + - 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b/envs/quad2d_v0/empty_1/run_0_out.yaml.trajraw-0.yaml @@ -0,0 +1,324 @@ +time_stamp: 31.5783 +cost: 1.51 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0,0,0] +goal: [1,1,0,0,0,0] +max_jump: 0.235713 +max_collision: 0 +goal_distance: 0.457363 +start_distance: 0.0451736 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 152 +states: + - [-7.7837e-08,-8.05597e-08,-0.0800843,2.28827e-08,6.20971e-08,-0.0256566] + - [-7.76082e-08,-7.99388e-08,-0.0803409,0.0102023,0.0290213,-0.0256566] + - [0.000101945,0.000290133,-0.0805975,0.0204371,0.05804,-0.0256566] + - [0.000306316,0.000870533,-0.080854,0.0307046,0.087056,-0.0256566] + - [0.000613362,0.00174109,-0.0811106,0.0410047,0.116069,-0.0256566] + - [0.00102341,0.00290179,-0.0813672,0.0513374,0.14508,-0.0256566] + - [0.00153678,0.00435259,-0.0816237,0.0617027,0.174088,-0.0256566] + - [0.00215381,0.00609347,-0.0818803,0.0721006,0.203094,-0.0256566] + - 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file mode 100644 index 0000000..7e20c4a --- /dev/null +++ b/envs/quad2d_v0/fall_through/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,834 @@ +time_stamp: 38815.3 +cost: 4.06 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [1,4,0,0,0,0] +goal: [4,1,0,0,0,0] +max_jump: 0.2207 +max_collision: 0 +goal_distance: 0.400407 +start_distance: 0.0567549 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 407 +states: + - [1,4,0.00922203,-8.55103e-08,2.48352e-08,-0.260719] + - [1,4,0.00661484,-0.00117038,0.0287983,-0.282015] + - [0.999988,4.00029,0.00379469,-0.00200963,0.0575697,-0.304313] + - [0.999968,4.00086,0.000751561,-0.00249095,0.0863111,-0.327694] + - [0.999943,4.00173,-0.00252538,-0.00258625,0.115019,-0.352242] + - [0.999917,4.00288,-0.0060478,-0.00226611,0.14369,-0.378042] + - [0.999895,4.00431,-0.00982822,-0.00149967,0.172319,-0.405175] + - [0.99988,4.00604,-0.01388,-0.000254546,0.200904,-0.433726] + - 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b/envs/quad2d_v0/fall_through/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,40 @@ +time_stamp: 4 +cost: 1.53751 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [1,4,0,0,0,0] +goal: [4,1,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 6 +states: + - [1,4,0,0,0,0] + - [2.59377,4.11341,1.61522,0,0,0] + - [3.04235,3.43041,1.51521,0,0,0] + - [2.47398,1.33287,1.41222,0,0,0] + - [3.75302,1.05387,0.228562,0,0,0] + - [4,1,0,0,0,0] +num_actions: 5 +actions: + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] +num_times: 6 +times: + - 0 + - 0.39945 + - 0.603733 + - 1.14703 + - 1.47431 + - 1.53751 diff --git a/envs/quad2d_v0/fall_through/rrt_to_v0_solution_v0.yaml b/envs/quad2d_v0/fall_through/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..c490a57 --- /dev/null +++ b/envs/quad2d_v0/fall_through/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,1335 @@ +time_stamp: 1.43378e-316 +cost: 6.56 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [1,4,0,0,0,0] +goal: [4,1,0,0,0,0] +max_jump: 0 +max_collision: 0.00478698 +goal_distance: 0.000690141 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0.00992632 +num_states: 657 +states: + - [1,4,0,0,0,0] + - [1,4,0,0,-0.0138474,-0.519062] + - [1,3.99986,-0.00519062,0,-0.0287044,-0.90351] + - [1,3.99957,-0.0142257,0.000437117,-0.0425923,-1.18033] + - [1,3.99915,-0.026029,0.00165543,-0.0550565,-1.37183] + - [1.00002,3.9986,-0.0397474,0.00392752,-0.0658856,-1.49655] + - [1.00006,3.99794,-0.0547128,0.00746561,-0.0750182,-1.56943] + - [1.00013,3.99719,-0.0704071,0.0124292,-0.0824874,-1.60241] + - [1.00026,3.99636,-0.0864312,0.0189317,-0.0883852,-1.60493] + - [1.00045,3.99548,-0.102481,0.0270458,-0.0928397,-1.58444] + - [1.00072,3.99455,-0.118325,0.0368097,-0.0959972,-1.54678] + - 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"ddp_iterations=47;ddp_time=585.577931" diff --git a/envs/quad2d_v0/quad2d_recovery_obs/idbastar_v0_db_solution_v0.yaml b/envs/quad2d_v0/quad2d_recovery_obs/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..322fda8 --- /dev/null +++ b/envs/quad2d_v0/quad2d_recovery_obs/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,918 @@ +time_stamp: 10672.1 +cost: 4.48 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,1,-3.14,0,0,0] +goal: [0,2,0,0,0,0] +max_jump: 0.388197 +max_collision: 0 +goal_distance: 0.427644 +start_distance: 0.21628 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 449 +states: + - [9.85516e-08,1,-2.86968,6.42989e-08,-8.0377e-08,0.405601] + - [9.91946e-08,1,-2.86562,0.0171257,-0.159522,2.57361] + - [0.000171356,0.998405,-2.83989,0.0345003,-0.318975,4.74162] + - [0.00051636,0.995215,-2.79247,0.053448,-0.477959,6.90963] + - [0.00105084,0.990435,-2.72338,0.0639862,-0.605008,7.95706] + - 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b/envs/quad2d_v0/quad2d_recovery_obs/idbastar_v0_opt_solution_v0.yaml new file mode 100644 index 0000000..cc535f1 --- /dev/null +++ b/envs/quad2d_v0/quad2d_recovery_obs/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,939 @@ +time_stamp: 11068.7 +cost: 4.58 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,1,-3.14,0,0,0] +goal: [0,2,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.0038247 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0.000366338 +num_states: 459 +states: + - [0,1,-3.14,0,0,0] + - [0,1,-3.14,0.000101523,-0.161844,2.16853] + - [1.01523e-06,0.998382,-3.11831,0.000190743,-0.315964,4.07427] + - [2.92266e-06,0.995222,-3.07757,0.00119561,-0.457225,5.54316] + - [1.48788e-05,0.99065,-3.02214,0.00323563,-0.587146,6.62832] + - [4.72351e-05,0.984778,-2.95586,0.00583766,-0.706926,7.3717] + - [0.000105612,0.977709,-2.88214,0.00818652,-0.817526,7.80513] + - 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[0.925482,1.12008] + - [0.877524,1.13739] + - [0.826484,1.16615] +info: "ddp_iterations=66;ddp_time=142.975566" diff --git a/envs/quad2d_v0/quad2d_recovery_obs/rrt_to_v0_guess_v0.yaml b/envs/quad2d_v0/quad2d_recovery_obs/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..b37bec3 --- /dev/null +++ b/envs/quad2d_v0/quad2d_recovery_obs/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,55 @@ +time_stamp: 1 +cost: 2.71617 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0,1,-3.14,0,0,0] +goal: [0,2,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 11 +states: + - [0,1,-3.14,0,0,0] + - [0.804814,-0.417985,-1.76927,0,0,0] + - [0.0393851,-0.903658,-1.63384,0,0,0] + - [0.229909,-0.67712,0.0952206,0,0,0] + - [1.26834,-0.546871,0.850588,0,0,0] + - [1.67072,1.19744,0.944229,0,0,0] + - [1.87315,1.85926,-0.396725,0,0,0] + - [1.67386,2.43878,1.01372,0,0,0] + - [0.956572,2.05,1.7181,0,0,0] + - [-0.351678,2.46453,2.08189,0,0,0] + - [0,2,0,0,0,0] +num_actions: 10 +actions: + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] +num_times: 11 +times: + - 0 + - 0.407616 + - 0.634243 + - 0.850375 + - 1.11202 + - 1.55955 + - 1.73257 + - 1.90887 + - 2.11284 + - 2.45593 + - 2.71617 diff --git a/envs/quad2d_v0/quad2d_recovery_wo_obs/idbastar_v0_db_solution_v0.yaml b/envs/quad2d_v0/quad2d_recovery_wo_obs/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..165f68c --- /dev/null +++ b/envs/quad2d_v0/quad2d_recovery_wo_obs/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,680 @@ +time_stamp: 438.334 +cost: 3.29 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,1,3.14,0,0,0] +goal: [1,1,0,0,0,0] +max_jump: 0.23262 +max_collision: 0 +goal_distance: 0.421197 +start_distance: 0.217873 +x_bound_distance: 0 +u_bound_distance: 0 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b/envs/quad2d_v0/quad2d_recovery_wo_obs/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..1bf8ef2 --- /dev/null +++ b/envs/quad2d_v0/quad2d_recovery_wo_obs/idbastar_v0_solution_v0.yaml @@ -0,0 +1,645 @@ +time_stamp: 11888.3 +cost: 3.11 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,1,3.14,0,0,0] +goal: [1,1,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00266324 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0.00054964 +num_states: 312 +states: + - [0,1,3.14,0,0,0] + - [0,1,3.14,-0.000101514,-0.161839,2.16896] + - [-1.01514e-06,0.998382,-3.1215,-0.000203029,-0.323678,4.33753] + - [-3.04543e-06,0.995145,-3.07812,0.000758752,-0.469629,5.96618] + - [4.54209e-06,0.990449,-3.01846,0.00284332,-0.600527,7.08493] + - [3.29752e-05,0.984443,-2.94761,0.00519299,-0.717612,7.73671] + - [8.49052e-05,0.977267,-2.87024,0.00640148,-0.821864,7.95118] + - 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0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0,1,3.14,0,0,0] +goal: [1,1,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 2 +states: + - [0,1,3.14,0,0,0] + - [1,1,0,0,0,0] +num_actions: 1 +actions: + - [1,1] +num_times: 2 +times: + - 0 + - 0.3925 diff --git a/envs/quad2d_v0/quad_bugtrap/idbastar_v0_db_solution_v0.yaml b/envs/quad2d_v0/quad_bugtrap/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..5701f85 --- /dev/null +++ b/envs/quad2d_v0/quad_bugtrap/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,952 @@ +time_stamp: 36283.1 +cost: 4.65 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [3.8,3,0,0,0,0] +goal: [5.2,3,0,0,0,0] +max_jump: 0.245794 +max_collision: 0 +goal_distance: 0.484446 +start_distance: 0.142231 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 466 +states: + - 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[1.3,1.3] + - [1.3,1.3] + - [1.3,1.3] diff --git a/envs/quad2d_v0/quad_bugtrap/idbastar_v0_opt_solution_v0.yaml b/envs/quad2d_v0/quad_bugtrap/idbastar_v0_opt_solution_v0.yaml new file mode 100644 index 0000000..42a0696 --- /dev/null +++ b/envs/quad2d_v0/quad_bugtrap/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,1053 @@ +time_stamp: 36845.8 +cost: 5.15 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [3.8,3,0,0,0,0] +goal: [5.2,3,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00407391 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 9.58036e-06 +num_states: 516 +states: + - [3.8,3,0,0,0,0] + - [3.8,3,0,0,-0.0155098,0.531644] + - [3.8,2.99984,0.00531644,0,-0.0308211,0.942642] + - [3.8,2.99954,0.0147429,-0.000445119,-0.0451969,1.2547] + - [3.8,2.99908,0.0272899,-0.00170101,-0.0581165,1.48571] + - [3.79998,2.9985,0.0421469,-0.00407524,-0.0692378,1.65042] + - 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b/envs/quad2d_v0/quad_bugtrap/idbastar_v0_solution_v0.yaml @@ -0,0 +1,1053 @@ +time_stamp: 36845.8 +cost: 5.15 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [3.8,3,0,0,0,0] +goal: [5.2,3,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00407391 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 9.58036e-06 +num_states: 516 +states: + - [3.8,3,0,0,0,0] + - [3.8,3,0,0,-0.0155098,0.531644] + - [3.8,2.99984,0.00531644,0,-0.0308211,0.942642] + - [3.8,2.99954,0.0147429,-0.000445119,-0.0451969,1.2547] + - [3.8,2.99908,0.0272899,-0.00170101,-0.0581165,1.48571] + - [3.79998,2.9985,0.0421469,-0.00407524,-0.0692378,1.65042] + - [3.79994,2.99781,0.0586512,-0.00782741,-0.0783645,1.76104] + - [3.79986,2.99703,0.0762615,-0.0131736,-0.0854162,1.82764] + - [3.79973,2.99617,0.0945379,-0.0202884,-0.0904023,1.85859] + - [3.79952,2.99527,0.113124,-0.0293061,-0.0934001,1.8608] + - 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- [1.29997,1.29991] + - [1.29997,1.29991] + - [1.29997,1.29991] + - [1.29996,1.29991] + - [1.29996,1.29991] + - [1.29996,1.29992] + - [1.29996,1.29992] + - [1.29996,1.29993] + - [1.29996,1.29993] + - [1.29995,1.29993] + - [1.29995,1.29994] + - [1.29995,1.29994] + - [1.29994,1.29995] + - [1.29994,1.29996] + - [1.29993,1.29996] + - [1.29993,1.29997] + - [1.29992,1.29998] + - [1.29992,1.29998] + - [1.29991,1.29999] + - [1.29991,1.3] + - [1.29504,1.30001] + - [1.2701,1.30001] +info: "ddp_iterations=42;ddp_time=159.720003" diff --git a/envs/quad2d_v0/quad_bugtrap/rrt_to_v0_guess_v0.yaml b/envs/quad2d_v0/quad_bugtrap/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..3a17907 --- /dev/null +++ b/envs/quad2d_v0/quad_bugtrap/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,46 @@ +time_stamp: 161 +cost: 2.68639 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [3.8,3,0,0,0,0] +goal: [5.2,3,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 8 +states: + - [3.8,3,0,0,0,0] + - [2.88341,2.82568,0.367313,0,0,0] + - [0.79915,3.2771,0.530002,0,0,0] + - [1.26079,5.16775,1.52514,0,0,0] + - [3.02807,5.45884,1.22912,0,0,0] + - [4.57372,5.04723,1.74404,0,0,0] + - [5.24723,4.42632,1.77081,0,0,0] + - [5.2,3,0,0,0,0] +num_actions: 7 +actions: + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] +num_times: 8 +times: + - 0 + - 0.233256 + - 0.766401 + - 1.25295 + - 1.70072 + - 2.1006 + - 2.32961 + - 2.68639 diff --git a/envs/quad2d_v0/quad_obs_column/idbastar_v0_db_solution_v0.yaml b/envs/quad2d_v0/quad_obs_column/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..17945d2 --- /dev/null +++ b/envs/quad2d_v0/quad_obs_column/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,622 @@ +time_stamp: 9660.32 +cost: 3 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [2,1,0,0,0,0] +goal: [4,1,0,0,0,0] +max_jump: 0.247911 +max_collision: 0 +goal_distance: 0.44543 +start_distance: 0.0350648 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 301 +states: + - [2,1,0.0687957,-9.32335e-09,-9.09272e-08,0.00333378] + - [2,1,0.0688291,-0.00875649,0.0289814,-0.00166932] + - [1.99991,1.00029,0.0688124,-0.0175272,0.058107,-0.00175271] + - [1.99974,1.00087,0.0687948,-0.0262959,0.0872352,-0.00175271] + - [1.99947,1.00174,0.0687773,-0.0350624,0.116364,-0.00175271] + - [1.99912,1.00291,0.0687598,-0.0438266,0.145492,-0.00175271] + - [1.99869,1.00436,0.0687423,-0.0525885,0.174619,-0.00181942] + - [1.99816,1.00611,0.0687241,-0.0613481,0.203745,-0.00191948] + - [1.99755,1.00815,0.0687049,-0.0700865,0.232597,-0.0113587] + - [1.99685,1.01047,0.0685913,-0.0788412,0.261721,-0.0115254] + - [1.99606,1.01309,0.068476,-0.0875703,0.290683,-0.0172623] + - [1.99518,1.016,0.0683034,-0.0962775,0.319542,-0.0265347] + - [1.99422,1.01919,0.0680381,-0.104964,0.348422,-0.0351234] + - [1.99317,1.02267,0.0676868,-0.113619,0.377323,-0.043095] + - [1.99203,1.02645,0.0672559,-0.122229,0.40624,-0.0506497] + - [1.99081,1.03051,0.0667494,-0.130785,0.435164,-0.0580543] + - [1.9895,1.03486,0.0661688,-0.139276,0.464084,-0.065759] + - [1.98811,1.0395,0.0655113,-0.147688,0.492928,-0.0762155] + - [1.98663,1.04443,0.0647491,-0.156015,0.521747,-0.087706] + - [1.98507,1.04965,0.063872,-0.164244,0.550557,-0.0997134] + - [1.98343,1.05516,0.0628749,-0.172361,0.579367,-0.112004] + - [1.98171,1.06095,0.0617549,-0.180351,0.608184,-0.124279] + - [1.9799,1.06703,0.0605121,-0.188197,0.636968,-0.13802] + - [1.97802,1.0734,0.0591319,-0.195885,0.665767,-0.151562] + - [1.97606,1.08006,0.0576162,-0.203398,0.694572,-0.165237] + - [1.97403,1.087,0.0559639,-0.210718,0.723379,-0.179263] + - [1.97192,1.09424,0.0541712,-0.217827,0.752178,-0.193938] + - [1.96974,1.10176,0.0522319,-0.224709,0.780985,-0.208781] + - 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[1.29998,1.29991] + - [1.29998,1.29991] + - [1.29998,1.29991] + - [1.29998,1.29991] + - [1.29998,1.29992] + - [1.29998,1.29992] + - [1.29998,1.29992] + - [1.29998,1.29992] + - [1.29998,1.29993] + - [1.29998,1.29993] + - [1.29997,1.29993] + - [1.29997,1.29994] + - [1.29997,1.29994] + - [1.29997,1.29995] + - [1.29997,1.29995] + - [1.29996,1.29995] +info: "ddp_iterations=37;ddp_time=91.400463" diff --git a/envs/quad2d_v0/quad_obs_column/idbastar_v0_solution_v0.yaml b/envs/quad2d_v0/quad_obs_column/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..3ead418 --- /dev/null +++ b/envs/quad2d_v0/quad_obs_column/idbastar_v0_solution_v0.yaml @@ -0,0 +1,685 @@ +time_stamp: 40510.3 +cost: 3.31 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [2,1,0,0,0,0] +goal: [4,1,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00453609 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 5e-05 +num_states: 332 +states: 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[1.29997,1.29343] + - [1.29998,1.29336] + - [1.29998,1.29331] + - [1.29998,1.29327] + - [1.29998,1.29325] + - [1.29998,1.29327] + - [1.29999,1.29332] + - [1.29999,1.29342] + - [1.29999,1.2936] + - [1.29999,1.29386] + - [1.29999,1.29423] + - [1.3,1.29474] + - [1.3,1.29542] + - [1.3,1.29632] + - [1.3,1.29748] + - [1.3,1.29897] + - [1.30001,1.2999] + - [1.30001,1.2999] + - [1.30001,1.2999] + - [1.30001,1.2999] + - [1.30001,1.2999] + - [1.30001,1.29991] + - [1.30001,1.29991] + - [1.30001,1.29991] + - [1.30001,1.29991] + - [1.30001,1.29991] + - [1.30001,1.29991] + - [1.30001,1.29992] + - [1.30001,1.29992] + - [1.30001,1.29992] + - [1.30001,1.29993] + - [1.30001,1.29993] + - [1.30001,1.29993] + - [1.30001,1.29994] + - [1.3,1.29994] + - [1.3,1.29994] + - [1.3,1.29995] + - [1.3,1.29995] + - [1.29999,1.29996] +info: "ddp_iterations=50;ddp_time=142.486844" diff --git a/envs/quad2d_v0/quad_obs_column/rrt_to_v0_guess_v0.yaml b/envs/quad2d_v0/quad_obs_column/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..09075b3 --- /dev/null +++ b/envs/quad2d_v0/quad_obs_column/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,40 @@ +time_stamp: 4 +cost: 2.0029 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [2,1,0,0,0,0] +goal: [4,1,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 6 +states: + - [2,1,0,0,0,0] + - [1.39436,2.36132,0.592471,0,0,0] + - [1.97375,3.80041,0.592886,0,0,0] + - [4.29326,3.4353,0.163642,0,0,0] + - [4.63262,2.61472,0.0655916,0,0,0] + - [4,1,0,0,0,0] +num_actions: 5 +actions: + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] +num_times: 6 +times: + - 0 + - 0.372492 + - 0.760327 + - 1.34734 + - 1.56934 + - 2.0029 diff --git a/envs/quad2d_v0/quad_obs_column/rrt_to_v0_solution_v0.yaml b/envs/quad2d_v0/quad_obs_column/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..74ccfd3 --- /dev/null +++ b/envs/quad2d_v0/quad_obs_column/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,683 @@ +time_stamp: 9.61358e-317 +cost: 3.3 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [2,1,0,0,0,0] +goal: [4,1,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00554411 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 5.26941e-05 +num_states: 331 +states: + - [2,1,0,0,0,0] + - [2,1,0,0,0.0294242,-3.09207e-05] + - [2,1.00029,-3.09207e-07,0,0.0588484,-6.90158e-05] + - [2,1.00088,-9.99366e-07,3.94314e-08,0.0882724,-0.000113767] + - [2,1.00177,-2.13703e-06,1.66874e-07,0.117696,-0.000164666] + - [2,1.00294,-3.78369e-06,4.39397e-07,0.14712,-0.000221219] + - [2,1.00441,-5.99588e-06,9.21908e-07,0.176544,-0.000282941] + - [2,1.00618,-8.82528e-06,1.68652e-06,0.205968,-0.00034936] + - [2,1.00824,-1.23189e-05,2.81196e-06,0.235392,-0.000420015] + - [2,1.01059,-1.6519e-05,4.38291e-06,0.264815,-0.000494458] + - [2,1.01324,-2.14636e-05,6.48947e-06,0.294239,-0.00057225] + - [2,1.01618,-2.71861e-05,9.22659e-06,0.323662,-0.000652966] + - [2,1.01942,-3.37158e-05,1.26935e-05,0.353086,-0.00073619] + - [2,1.02295,-4.10777e-05,1.6993e-05,0.382509,-0.00082152] + - [2,1.02678,-4.92929e-05,2.22314e-05,0.411932,-0.000908564] + - [2,1.0309,-5.83785e-05,2.85173e-05,0.441355,-0.000996941] + - [2,1.03531,-6.83479e-05,3.5962e-05,0.470779,-0.00108628] + - [2,1.04002,-7.92107e-05,4.46779e-05,0.500202,-0.00117623] + - [2,1.04502,-9.09731e-05,5.47791e-05,0.529625,-0.00126644] + - [2,1.05031,-0.000103637,6.63802e-05,0.559048,-0.00135658] + - [2,1.05591,-0.000117203,7.95964e-05,0.58847,-0.00144632] + - [2,1.06179,-0.000131666,9.45408e-05,0.617879,-0.00202639] + - [2,1.06797,-0.00015193,0.000111322,0.647229,-0.00459585] + - [2.00001,1.07444,-0.000197889,0.000130678,0.676532,-0.00873749] + - [2.00001,1.08121,-0.000285264,0.000155883,0.705799,-0.0141105] + - [2.00001,1.08826,-0.000426369,0.000192208,0.735038,-0.0204374] + - [2.00001,1.09561,-0.000630742,0.000246492,0.764255,-0.027493] + - [2.00001,1.10326,-0.000905672,0.000326786,0.793456,-0.0350952] + - [2.00002,1.11119,-0.00125662,0.000442068,0.822645,-0.0430979] + - [2.00002,1.11942,-0.0016876,0.000602012,0.851826,-0.0513838] + - [2.00003,1.12794,-0.00220144,0.000816802,0.881001,-0.0598602] + - [2.00004,1.13675,-0.00280004,0.00109698,0.910172,-0.0684537] + - [2.00005,1.14585,-0.00348458,0.00145334,0.939341,-0.0771072] + - [2.00006,1.15524,-0.00425565,0.00189682,0.968509,-0.0857768] + - [2.00008,1.16493,-0.00511342,0.00243843,0.997677,-0.0944291] + - [2.0001,1.1749,-0.00605771,0.00308922,1.02685,-0.103039] + - [2.00013,1.18517,-0.00708811,0.00386019,1.05602,-0.11159] + - [2.00017,1.19573,-0.00820401,0.00476231,1.08519,-0.120068] + - [2.00022,1.20658,-0.00940469,0.00580648,1.11436,-0.128466] + - [2.00028,1.21773,-0.0106894,0.00700348,1.14353,-0.13678] + - [2.00035,1.22916,-0.0120572,0.00836401,1.17271,-0.145007] + - [2.00043,1.24089,-0.0135072,0.00989865,1.20188,-0.153147] + - [2.00053,1.25291,-0.0150387,0.0116179,1.23105,-0.161202] + - [2.00065,1.26522,-0.0166507,0.0135321,1.26023,-0.169175] + - [2.00078,1.27782,-0.0183425,0.0156514,1.2894,-0.177069] + - [2.00094,1.29072,-0.0201132,0.0179862,1.31857,-0.184888] + - [2.00112,1.3039,-0.021962,0.0205463,1.34774,-0.192636] + - [2.00133,1.31738,-0.0238884,0.0233418,1.37691,-0.200316] + - [2.00156,1.33115,-0.0258916,0.0263824,1.40607,-0.207934] + - [2.00182,1.34521,-0.0279709,0.029678,1.43523,-0.215493] + - [2.00212,1.35956,-0.0301258,0.0332383,1.46438,-0.222997] + - [2.00245,1.3742,-0.0323558,0.0370728,1.49352,-0.23045] + - [2.00282,1.38914,-0.0346603,0.0411911,1.52266,-0.237855] + - [2.00323,1.40437,-0.0370389,0.0456027,1.55179,-0.245217] + - [2.00369,1.41988,-0.039491,0.0503169,1.58091,-0.252537] + - [2.00419,1.43569,-0.0420164,0.0553431,1.61002,-0.259821] + - 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b/envs/quad2dpole_v0/down/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..cec87bb --- /dev/null +++ b/envs/quad2dpole_v0/down/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,28 @@ +time_stamp: 0 +cost: 0.628 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0,0,0,3.14,0,0,0,0] +goal: [0,0,0,0,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 2 +states: + - [0,0,0,3.14,0,0,0,0] + - [0,0,0,0,0,0,0,0] +num_actions: 1 +actions: + - [1,1] +num_times: 2 +times: + - 0 + - 0.628 diff --git a/envs/quad2dpole_v0/down/rrt_to_v0_solution_v0.yaml b/envs/quad2dpole_v0/down/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..d665ab7 --- /dev/null +++ b/envs/quad2dpole_v0/down/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,1155 @@ +time_stamp: 4.42054e-317 +cost: 5.66 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,3.14,0,0,0,0] +goal: [0,0,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000501148 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 567 +states: + - [0,0,0,3.14,0,0,0,0] + - [0,0,0,3.14,-1.56616e-05,0.000236858,-0.00306126,0.00288898] + - [-1.56616e-07,2.36858e-06,-3.06126e-05,3.14003,-3.13237e-05,0.000476745,-0.00573136,0.0053868] + - [-4.69854e-07,7.13603e-06,-8.79262e-05,3.14008,-4.36919e-05,0.000721779,-0.00803554,0.00752181] + - [-9.06773e-07,1.43538e-05,-0.000168282,3.14016,-4.98943e-05,0.00097354,-0.00999793,0.00932085] + - [-1.40572e-06,2.40892e-05,-0.000268261,3.14025,-4.74536e-05,0.00123316,-0.0116416,0.0108093] + - [-1.88025e-06,3.64208e-05,-0.000384677,3.14036,-3.4261e-05,0.00150139,-0.0129884,0.012011] + - [-2.22286e-06,5.14346e-05,-0.000514561,3.14048,-8.55119e-06,0.00177866,-0.0140596,0.0129486] + - [-2.30837e-06,6.92213e-05,-0.000655157,3.14061,3.11217e-05,0.00206517,-0.0148749,0.0136435] + - 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b/envs/quad2dpole_v0/move_with_down/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..2cc7a6e --- /dev/null +++ b/envs/quad2dpole_v0/move_with_down/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,302 @@ +time_stamp: 56.0654 +cost: 1.4 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0,0,0,0,0] +goal: [1,0,0,0,0,0,0,0] +max_jump: 0.346081 +max_collision: 0 +goal_distance: 0.635729 +start_distance: 0.321524 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 141 +states: + - [8.10407e-08,-6.64306e-08,-0.0768499,-0.340322,-2.56978e-08,-5.04715e-08,-0.0232749,-0.541417] + - [8.07838e-08,-6.69353e-08,-0.0770827,-0.345736,0.00607056,0.036822,-0.0999155,-0.415659] + - [6.07864e-05,0.000368153,-0.0780818,-0.349893,0.0121386,0.0737374,-0.176556,-0.289151] + - [0.000182172,0.00110553,-0.0798474,-0.352784,0.0183193,0.110726,-0.253197,-0.162068] + - 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b/envs/quad2dpole_v0/move_with_down/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,507 @@ +time_stamp: 550.087 +cost: 2.42 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0,0,0,0,0] +goal: [1,0,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00577538 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 243 +states: + - [0,0,0,0,0,0,0,0] + - [0,0,0,0,0,0.0238714,-0.0698795,0.0698795] + - [0,0.000238714,-0.000698795,0.000698795,0,0.0386797,-0.134566,0.134566] + - [0,0.000625511,-0.00204446,0.00204446,8.05213e-05,0.0453332,-0.194582,0.194501] + - [8.05213e-07,0.00107884,-0.00399027,0.00398947,0.000299598,0.0446477,-0.250392,0.250092] + - [3.80119e-06,0.00152532,-0.00649419,0.00649039,0.000698181,0.0373568,-0.302419,0.30172] + - [1.0783e-05,0.00189889,-0.00951838,0.0095076,0.00130439,0.0241211,-0.35104,0.349736] + - 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--- /dev/null +++ b/envs/quad2dpole_v0/move_with_down/idbastar_v0_solution_v0.yaml @@ -0,0 +1,505 @@ +time_stamp: 1798.8 +cost: 2.41 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0,0,0,0,0] +goal: [1,0,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00600744 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 242 +states: + - [0,0,0,0,0,0,0,0] + - [0,0,0,0,0,0.025674,-0.0709122,0.0709122] + - [0,0.00025674,-0.000709122,0.000709122,0,0.0419529,-0.136442,0.136442] + - [0,0.000676269,-0.00207354,0.00207354,8.26521e-05,0.0498125,-0.197148,0.197065] + - [8.26521e-07,0.00117439,-0.00404502,0.00404419,0.000307121,0.0501252,-0.25353,0.253223] + - [3.89774e-06,0.00167565,-0.00658032,0.00657642,0.000714889,0.0436695,-0.306035,0.30532] + - [1.10466e-05,0.00211234,-0.00964067,0.00962963,0.00133424,0.031138,-0.35506,0.353726] + - 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b/envs/quad2dpole_v0/move_with_down/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,28 @@ +time_stamp: 0 +cost: 0.333333 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0,0,0,0,0,0,0,0] +goal: [1,0,0,0,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 2 +states: + - [0,0,0,0,0,0,0,0] + - [1,0,0,0,0,0,0,0] +num_actions: 1 +actions: + - [1,1] +num_times: 2 +times: + - 0 + - 0.333333 diff --git a/envs/quad2dpole_v0/move_with_down/rrt_to_v0_solution_v0.yaml b/envs/quad2dpole_v0/move_with_down/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..93f40c4 --- /dev/null +++ b/envs/quad2dpole_v0/move_with_down/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,495 @@ +time_stamp: 1.19229e-316 +cost: 2.36 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0,0,0,0,0] +goal: [1,0,0,0,0,0,0,0] 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+feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,3.14,0,0,0,0] +goal: [1,0,0,3.14,0,0,0,0] +max_jump: 0.394529 +max_collision: 0 +goal_distance: 0.704875 +start_distance: 0.382939 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 380 +states: + - [-4.14022e-08,8.78607e-08,0.068514,2.82311,9.23946e-08,1.7981e-08,-0.200668,0.750516] + - [-4.04783e-08,8.80405e-08,0.0665074,2.83062,-0.010318,0.00785613,-0.140442,0.654082] + - [-0.00010322,7.86494e-05,0.0651029,2.83716,-0.020647,0.0185832,-0.0785478,0.555825] + - [-0.00030969,0.000264481,0.0643175,2.84271,-0.0309828,0.0315027,-0.0153732,0.456291] + - [-0.000619518,0.000579509,0.0641637,2.84728,-0.0413379,0.0460023,0.0487324,0.355944] + - [-0.0010329,0.00103953,0.0646511,2.85084,-0.0517383,0.061533,0.113455,0.255173] + - [-0.00155028,0.00165486,0.0657856,2.85339,-0.06222,0.0776074,0.178516,0.154301] + - 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[0.0473719,1.86432] + - [0,1.94771] + - [0,2.04003] + - [0,2.14267] + - [0,2.2571] +info: "ddp_iterations=8;ddp_time=65.153836" diff --git a/envs/quad2dpole_v0/move_with_up/rrt_to_v0_guess_v0.yaml b/envs/quad2dpole_v0/move_with_up/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..c4b6542 --- /dev/null +++ b/envs/quad2dpole_v0/move_with_up/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,28 @@ +time_stamp: 6 +cost: 0.333333 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0,0,0,3.14,0,0,0,0] +goal: [1,0,0,3.14,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 2 +states: + - [0,0,0,3.14,0,0,0,0] + - [1,0,0,3.14,0,0,0,0] +num_actions: 1 +actions: + - [1,1] +num_times: 2 +times: + - 0 + - 0.333333 diff --git a/envs/quad2dpole_v0/move_with_up/rrt_to_v0_solution_v0.yaml b/envs/quad2dpole_v0/move_with_up/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..897e05d --- /dev/null +++ b/envs/quad2dpole_v0/move_with_up/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,635 @@ +time_stamp: 1.7619e-316 +cost: 3.06 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,3.14,0,0,0,0] +goal: [1,0,0,3.14,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00715581 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 307 +states: + - [0,0,0,3.14,0,0,0,0] + - [0,0,0,3.14,-1.41497e-05,-0.00925608,0.0427522,-0.0429078] + - [-1.41497e-07,-9.25608e-05,0.000427522,3.13957,-2.82834e-05,-0.0186133,0.079959,-0.0802701] + - [-4.24331e-07,-0.000278694,0.00122711,3.13877,-8.43953e-05,-0.0276035,0.111956,-0.112466] + - [-1.26828e-06,-0.000554728,0.00234667,3.13764,-0.000219994,-0.0358766,0.139067,-0.139855] + - [-3.46822e-06,-0.000913494,0.00373734,3.13625,-0.000468913,-0.0431826,0.161601,-0.162784] + - 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[1.5454,0.749742] + - [1.62755,0.60952] + - [1.71696,0.46154] + - [1.81474,0.306561] + - [1.9222,0.145544] + - [2.04104,0] + - [2.17386,0] + - [2.32357,0] +info: "ddp_iterations=9;ddp_time=53.748969" diff --git a/envs/quad2dpole_v0/up/rrt_to_v0_guess_v0.yaml b/envs/quad2dpole_v0/up/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..4b2b8c3 --- /dev/null +++ b/envs/quad2dpole_v0/up/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,28 @@ +time_stamp: 1 +cost: 0.628 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0,0,0,0,0,0,0,0] +goal: [0.6,0,0,3.14,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 2 +states: + - [0,0,0,0,0,0,0,0] + - [0.6,0,0,3.14,0,0,0,0] +num_actions: 1 +actions: + - [1,1] +num_times: 2 +times: + - 0 + - 0.628 diff --git a/envs/quad2dpole_v0/up/rrt_to_v0_solution_v0.yaml b/envs/quad2dpole_v0/up/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..70123e2 --- /dev/null +++ b/envs/quad2dpole_v0/up/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,769 @@ +time_stamp: 1.93339e-316 +cost: 3.73 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0,0,0,0,0] +goal: [0.6,0,0,3.14,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00973758 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 374 +states: + - [0,0,0,0,0,0,0,0] + - [0,0,0,0,0,0.0147889,-0.0646759,0.0646759] + - [0,0.000147889,-0.000646759,0.000646759,0,0.0236454,-0.125953,0.125953] + - [0,0.000384343,-0.00190629,0.00190629,7.2141e-05,0.0269475,-0.184048,0.183976] + - [7.2141e-07,0.000653818,-0.00374677,0.00374605,0.000273877,0.0250531,-0.239166,0.238892] + - [3.46018e-06,0.000904349,-0.00613843,0.00613497,0.000650355,0.0183004,-0.291501,0.29085] + - [9.96373e-06,0.00108735,-0.00905344,0.00904347,0.00123648,0.00700828,-0.341235,0.339999] + - 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+u_bounds_feas: 0 +start: [0,0,0,0.1,0,0,0,0] +goal: [0,2,0,3.14,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 6 +states: + - [0,0,0,0.1,0,0,0,0] + - [0.948773,0.570607,-0.41301,1.28254,0,0,0,0] + - [1.39958,2.10823,-1.45192,1.22053,0,0,0,0] + - [1.82226,2.19776,0.808007,1.0124,0,0,0,0] + - [0.692705,1.79331,1.03381,2.01062,0,0,0,0] + - [0,2,0,3.14,0,0,0,0] +num_actions: 5 +actions: + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] +num_times: 6 +times: + - 0 + - 0.369047 + - 0.903163 + - 1.35515 + - 1.75507 + - 1.99604 diff --git a/envs/quad2dpole_v0/window/idbastar_v0_db_solution_v0.yaml b/envs/quad2dpole_v0/window/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..b4edf35 --- /dev/null +++ b/envs/quad2dpole_v0/window/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,950 @@ +time_stamp: 24594.2 +cost: 4.64 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,1,0,0,0,0,0,0] +goal: [3.5,1,0,3.14,0,0,0,0] +max_jump: 0.399629 +max_collision: 0 +goal_distance: 0.778569 +start_distance: 0.307681 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 465 +states: + - [5.43862e-08,1,0.0361349,0.16093,1.2655e-08,4.79227e-08,0.303666,0.742075] + - [5.45128e-08,1,0.0391715,0.168351,-0.00223229,0.0201097,0.37178,0.653006] + - [-2.22683e-05,1.0002,0.0428893,0.174881,-0.00461258,0.0345779,0.436633,0.567289] + - [-6.83942e-05,1.00055,0.0472557,0.180554,-0.00720268,0.0435855,0.498334,0.484976] + - [-0.000140421,1.00098,0.052239,0.185403,-0.0100495,0.0473136,0.556991,0.406095] + - [-0.000240916,1.00146,0.0578089,0.189464,-0.0131869,0.0459438,0.612713,0.33065] + - [-0.000372786,1.00192,0.063936,0.192771,-0.0166374,0.0396589,0.665609,0.258627] + - [-0.00053916,1.00231,0.0705921,0.195357,-0.0204133,0.0286403,0.715789,0.18999] + - [-0.000743293,1.0026,0.07775,0.197257,-0.0245187,0.0130689,0.763359,0.124691] + - 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+start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 6 +states: + - [0,1,0,0,0,0,0,0] + - [1.37548,1.13087,1.00001,-0.904861,0,0,0,0] + - [1.44773,2.19794,0.167063,-1.75415,0,0,0,0] + - [2.74348,2.60429,1.07498,-2.49644,0,0,0,0] + - [3.69927,2.21997,-0.375508,-2.31592,0,0,0,0] + - [3.5,1,0,3.14,0,0,0,0] +num_actions: 5 +actions: + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] +num_times: 6 +times: + - 0 + - 0.460565 + - 0.817071 + - 1.26973 + - 1.61311 + - 2.02516 diff --git a/envs/quad2dpole_v0/window_easy/idbastar_v0_db_solution_v0.yaml b/envs/quad2dpole_v0/window_easy/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..77a204a --- /dev/null +++ b/envs/quad2dpole_v0/window_easy/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,1018 @@ +time_stamp: 34830.5 +cost: 4.98 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0,0,0,0,0] +goal: [3,0,0,3.14,0,0,0,0] +max_jump: 0.398669 +max_collision: 0 +goal_distance: 0.715968 +start_distance: 0.321524 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 499 +states: + - [3.21205e-08,5.45503e-08,-0.0768499,-0.340322,-3.38917e-08,-2.60471e-08,-0.0232748,-0.541417] + - [3.17816e-08,5.42899e-08,-0.0770826,-0.345736,0.00607054,0.036822,-0.0999154,-0.415659] + - [6.07372e-05,0.000368275,-0.0780818,-0.349893,0.0121385,0.0737374,-0.176556,-0.289151] + - [0.000182123,0.00110565,-0.0798473,-0.352784,0.0183192,0.110726,-0.253197,-0.162068] + - [0.000365315,0.00221291,-0.0823793,-0.354405,0.0247274,0.147768,-0.329837,-0.0345849] + - [0.000612588,0.0036906,-0.0856777,-0.354751,0.0314774,0.184842,-0.406478,0.0931215] + - [0.000927363,0.00553901,-0.0897424,-0.35382,0.0386834,0.221924,-0.483119,0.220876] + - [0.0013142,0.00775826,-0.0945736,-0.351611,0.0464591,0.258991,-0.559759,0.348501] + - [0.00177879,0.0103482,-0.100171,-0.348126,0.0549179,0.296018,-0.6364,0.475822] + - 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b/envs/quad2dpole_v0/window_easy/idbastar_v0_opt_solution_v0.yaml new file mode 100644 index 0000000..97b13f2 --- /dev/null +++ b/envs/quad2dpole_v0/window_easy/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,843 @@ +time_stamp: 36928.5 +cost: 4.1 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0,0,0,0,0,0] +goal: [3,0,0,3.14,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00312147 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 411 +states: + - [0,0,0,0,0,0,0,0] + - [0,0,0,0,0,0.0330964,0.0154336,-0.0154336] + - [0,0.000330964,0.000154336,-0.000154336,0,0.0653873,0.0308263,-0.0308263] + - [0,0.000984838,0.000462599,-0.000462599,-2.19995e-05,0.0968718,0.0461249,-0.0461029] + - [-2.19995e-07,0.00195356,0.000923848,-0.000923628,-8.75298e-05,0.127551,0.0612791,-0.0611916] + - [-1.09529e-06,0.00322906,0.00153664,-0.00153554,-0.000217581,0.157427,0.0762407,-0.0760232] + - 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-1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 8 +states: + - [0,0,0,0,0,0,0,0] + - [0.599228,1.51308,0.00375144,-0.108714,0,0,0,0] + - [0.904574,1.66377,-2.1011,-1.30858,0,0,0,0] + - [3.2386,2.28633,-2.08948,-0.748266,0,0,0,0] + - [3.48063,0.769382,-1.07332,-0.879901,0,0,0,0] + - [3.39289,0.688956,-1.49973,-2.316,0,0,0,0] + - [2.92288,0.459875,-1.67201,-2.50642,0,0,0,0] + - [3,0,0,3.14,0,0,0,0] +num_actions: 7 +actions: + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] +num_times: 8 +times: + - 0 + - 0.542472 + - 0.963442 + - 1.76865 + - 2.2807 + - 2.56792 + - 2.7422 + - 3.07661 diff --git a/envs/quad2dpole_v0/window_hard/idbastar_v0_db_solution_v0.yaml b/envs/quad2dpole_v0/window_hard/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..a44649d --- /dev/null +++ b/envs/quad2dpole_v0/window_hard/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,918 @@ +time_stamp: 11428.4 +cost: 4.48 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,1,0,0,0,0,0,0] +goal: [4,1,0,3.14,0,0,0,0] +max_jump: 0.399629 +max_collision: 0 +goal_distance: 0.783683 +start_distance: 0.307681 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 449 +states: + - [1.93294e-08,1,0.0361349,0.16093,-3.59707e-08,3.85485e-08,0.303666,0.742075] + - [1.89697e-08,1,0.0391715,0.168351,-0.00223234,0.0201097,0.37178,0.653006] + - [-2.23044e-05,1.0002,0.0428893,0.174881,-0.00461264,0.0345779,0.436633,0.567289] + - [-6.84307e-05,1.00055,0.0472557,0.180554,-0.00720273,0.0435855,0.498334,0.484976] + - [-0.000140458,1.00098,0.052239,0.185403,-0.0100496,0.0473135,0.556991,0.406095] + - [-0.000240954,1.00146,0.0578089,0.189464,-0.013187,0.0459438,0.612713,0.33065] + - [-0.000372824,1.00192,0.063936,0.192771,-0.0166375,0.0396589,0.66561,0.258627] + - [-0.000539198,1.00231,0.0705921,0.195357,-0.0204134,0.0286403,0.715789,0.18999] + - 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+ - [1.38096,1.39276] + - [1.32521,1.436] + - [1.26395,1.48254] + - [1.19704,1.53266] + - [1.12435,1.58666] + - [1.04582,1.64491] + - [0.961429,1.70785] + - [0.871224,1.77598] + - [0.775319,1.84988] + - [0.673908,1.93025] + - [0.567278,2.01788] + - [0.455818,2.11371] + - [0.34003,2.21885] + - [0.220541,2.33457] +info: "ddp_iterations=9;ddp_time=37.318821" diff --git a/envs/quad2dpole_v0/window_hard/idbastar_v0_solution_v0.yaml b/envs/quad2dpole_v0/window_hard/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..c8c9c04 --- /dev/null +++ b/envs/quad2dpole_v0/window_hard/idbastar_v0_solution_v0.yaml @@ -0,0 +1,919 @@ +time_stamp: 15802.1 +cost: 4.48 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,1,0,0,0,0,0,0] +goal: [4,1,0,3.14,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00533105 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 449 +states: + - [0,1,0,0,0,0,0,0] + - 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[1.39491,1.15905] + - [1.40776,1.14666] + - [1.42084,1.13439] + - [1.43414,1.12227] + - [1.44765,1.11037] + - [1.46134,1.09873] + - [1.4752,1.08741] + - [1.4892,1.07646] + - [1.50331,1.06593] + - [1.51751,1.05588] + - [1.53176,1.04635] + - [1.54601,1.0374] + - [1.56021,1.02908] + - [1.57433,1.02145] + - [1.58829,1.01455] + - [1.60204,1.00845] + - [1.61551,1.0032] + - [1.62861,0.998854] + - [1.64128,0.99546] + - [1.6534,0.993076] + - [1.66489,0.991757] + - [1.67564,0.991557] + - [1.68553,0.99253] + - [1.69443,0.994732] + - [1.70221,0.998218] + - [1.70873,1.00304] + - [1.71382,1.00926] + - [1.71732,1.01693] + - [1.71905,1.02611] + - [1.71883,1.03686] + - [1.71646,1.04923] + - [1.71173,1.06329] + - [1.70441,1.0791] + - [1.69429,1.09673] + - [1.68113,1.11624] + - [1.66467,1.13771] + - [1.64467,1.16123] + - [1.62087,1.18687] + - [1.59301,1.21473] + - [1.56083,1.24493] + - [1.52408,1.27757] + - [1.48248,1.31279] + - [1.43582,1.35075] + - [1.38385,1.39162] + - [1.32636,1.43561] + - [1.26318,1.48295] + - [1.19415,1.53392] + - [1.11915,1.58885] + - [1.03812,1.6481] + - [0.951047,1.71213] + - [0.857988,1.78145] + - [0.759072,1.85667] + - [0.654514,1.93851] + - [0.544628,2.02779] + - [0.429832,2.12549] + - [0.310668,2.23276] + - [0.187808,2.35094] +info: "ddp_iterations=9;ddp_time=35.379007" diff --git a/envs/quad2dpole_v0/window_hard/rrt_to_v0_guess_v0.yaml b/envs/quad2dpole_v0/window_hard/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..8776a01 --- /dev/null +++ b/envs/quad2dpole_v0/window_hard/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,49 @@ +time_stamp: 21 +cost: 3.02145 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0,1,0,0,0,0,0,0] +goal: [4,1,0,3.14,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 9 +states: + - [0,1,0,0,0,0,0,0] + - [1.03099,2.18734,-0.121893,-0.856461,0,0,0,0] + - [1.6501,1.87302,-2.11542,0.225889,0,0,0,0] + - [1.95551,2.41691,-2.38301,1.3947,0,0,0,0] + - [4.00357,2.20291,-2.94373,0.405579,0,0,0,0] + - [4.59701,2.45626,2.55351,1.61998,0,0,0,0] + - [4.52337,2.44942,0.444201,2.75481,0,0,0,0] + - [4.01872,1.05184,0.0158878,3.12622,0,0,0,0] + - [4,1,0,3.14,0,0,0,0] +num_actions: 8 +actions: + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] + - [1,1] +num_times: 9 +times: + - 0 + - 0.524161 + - 0.922866 + - 1.15663 + - 1.84303 + - 2.08591 + - 2.50777 + - 3.00308 + - 3.02145 diff --git a/envs/quadrotor_v0/empty_0_easy/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v0/empty_0_easy/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..8bd540a --- /dev/null +++ b/envs/quadrotor_v0/empty_0_easy/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,22 @@ +time_stamp: -0.015768 +cost: 0 +feasible: 0 +traj_feas: 1 +goal_feas: 0 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,0,0,0,1,0,0,0,0,0,0] +goal: [0,0,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 1 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 1 +states: + - [0,0,1,0,0,0,1,0,0,0,0,0,0] +num_actions: 0 +actions: diff --git a/envs/quadrotor_v0/empty_0_easy/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v0/empty_0_easy/idbastar_v0_opt_solution_v0.yaml new file mode 100644 index 0000000..9f504be --- /dev/null +++ b/envs/quadrotor_v0/empty_0_easy/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,317 @@ +time_stamp: 217.701 +cost: 1.47 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,0,0,0,1,0,0,0,0,0,0] +goal: [0,0,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000468337 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 148 +states: + - [0,0,1,0,0,0,1,0,0,0,0,0,0] + - [0,0,1,0,0,0,1,0,0,0.0277195,-0.000182128,-0.0019174,0.000882332] + - [0,0,1.00028,-9.10642e-07,-9.58702e-06,4.41166e-06,1,0,0,0.0550885,-0.000358816,-0.00361806,0.00194394] + - [0,0,1.00083,-2.70474e-06,-2.76773e-05,1.41314e-05,1,-2.39903e-06,2.27866e-07,0.082107,-0.00053029,-0.0051084,0.00318471] + - [-2.39903e-08,2.27866e-09,1.00165,-5.35626e-06,-5.32193e-05,3.00549e-05,1,-9.30553e-06,9.02697e-07,0.108775,-0.00069573,-0.00639555,0.00460451] + - [-1.17046e-07,1.13056e-08,1.00274,-8.83518e-06,-8.51971e-05,5.30774e-05,1,-2.25484e-05,2.23513e-06,0.135093,-0.000852906,-0.00748787,0.00620317] + - [-3.4253e-07,3.36569e-08,1.00409,-1.31004e-05,-0.000122636,8.40933e-05,1,-4.36888e-05,4.42631e-06,0.16106,-0.000997863,-0.00839531,0.00798056] + - [-7.79418e-07,7.792e-08,1.0057,-1.8091e-05,-0.000164613,0.000123996,1,-7.40334e-05,7.66523e-06,0.186676,-0.00112465,-0.00912984,0.00993649] + - [-1.51975e-06,1.54572e-07,1.00757,-2.37168e-05,-0.000210262,0.000173678,1,-0.000114467,1.21038e-05,0.211388,0.000491326,-0.0114311,0.00860202] + - [-2.66442e-06,2.7561e-07,1.00968,-2.12593e-05,-0.000267416,0.00021669,1,-0.000165955,1.79024e-05,0.235724,0.00218395,-0.0136325,0.00728455] + - [-4.32397e-06,4.54635e-07,1.01204,-1.03345e-05,-0.000335575,0.000253117,1,-0.000231237,2.30781e-05,0.259684,0.00396041,-0.0157482,0.00598401] + - [-6.63634e-06,6.85416e-07,1.01463,9.47742e-06,-0.000414311,0.000283045,1,-0.00031333,2.55855e-05,0.283899,0.00398648,-0.015942,0.00865354] + - [-9.76965e-06,9.4127e-07,1.01747,2.94144e-05,-0.000494015,0.00032632,1,-0.000414392,2.3245e-05,0.307764,0.00406933,-0.016035,0.0115013] + - [-1.39136e-05,1.17372e-06,1.02055,4.97588e-05,-0.000574185,0.000383834,1,-0.000533875,1.60917e-05,0.330597,0.00609577,-0.0179314,0.0102576] + - [-1.92523e-05,1.33464e-06,1.02386,8.02426e-05,-0.000663833,0.000435135,1,-0.000673092,3.9734e-06,0.35373,0.0043215,-0.0158668,0.0132654] + - [-2.59832e-05,1.37437e-06,1.02739,0.000101841,-0.000743163,0.00050147,1,-0.000833573,-1.54961e-05,0.376511,0.00245832,-0.0135741,0.0164369] + - [-3.4319e-05,1.21941e-06,1.03116,0.000114105,-0.000811035,0.000583657,0.999999,-0.00101271,-4.01354e-05,0.39894,0.000479368,-0.0110333,0.0197702] + - [-4.4446e-05,8.18057e-07,1.03515,0.000116454,-0.000866212,0.000682503,0.999999,-0.00120762,-6.76746e-05,0.421016,-0.00164406,-0.00822289,0.0232635] + - [-5.65223e-05,1.41312e-07,1.03936,0.000108161,-0.000907345,0.000798809,0.999999,-0.00141385,-9.55434e-05,0.441967,0.000458012,-0.0095503,0.0220884] + - [-7.06608e-05,-8.14123e-07,1.04378,0.000110389,-0.000955107,0.000909247,0.999999,-0.00162919,-0.000121388,0.462543,0.00249115,-0.0107101,0.0209278] + - [-8.69527e-05,-2.028e-06,1.0484,0.000122794,-0.00100866,0.00101389,0.999999,-0.00185515,-0.000147711,0.482743,0.00443282,-0.0116892,0.0197818] + - [-0.000105504,-3.50511e-06,1.05323,0.000144917,-0.00106709,0.00111282,0.999999,-0.0020947,-0.000177121,0.503407,0.00147519,-0.00765731,0.0239011] + - [-0.000126451,-5.27632e-06,1.05826,0.000152208,-0.00110539,0.00123232,0.999999,-0.00234737,-0.000211721,0.523717,-0.00174664,-0.00327778,0.0281735] + - [-0.000149925,-7.39354e-06,1.0635,0.000143339,-0.00112181,0.00137318,0.999998,-0.00260832,-0.000247981,0.543673,-0.00525698,0.00146659,0.0325976] + - [-0.000176008,-9.87335e-06,1.06894,0.000116862,-0.00111454,0.00153614,0.999998,-0.00287033,-0.000281825,0.562371,-0.00391757,0.00138957,0.0315116] + - [-0.000204711,-1.26916e-05,1.07456,9.70876e-05,-0.00110764,0.00169368,0.999998,-0.0031298,-0.000309434,0.580693,-0.00277377,0.00155145,0.0304347] + - [-0.000236009,-1.57859e-05,1.08037,8.30371e-05,-0.00109992,0.00184583,0.999998,-0.00338684,-0.000332403,0.598639,-0.00182634,0.00194448,0.0293709] + - [-0.000269878,-1.911e-05,1.08636,7.37259e-05,-0.00109022,0.00199268,0.999997,-0.00364126,-0.000352082,0.61621,-0.00106898,0.00255255,0.02832] + - [-0.00030629,-2.26308e-05,1.09252,6.82012e-05,-0.00107748,0.00213427,0.999997,-0.00389262,-0.000369584,0.633406,-0.000489991,0.00335406,0.0272818] + - [-0.000345217,-2.63266e-05,1.09885,6.55685e-05,-0.00106073,0.00227068,0.999997,-0.00414024,-0.000385788,0.650226,-7.38593e-05,0.00432367,0.0262564] + - [-0.000386619,-3.01845e-05,1.10535,6.50109e-05,-0.00103912,0.00240196,0.999997,-0.0043832,-0.000401361,0.66667,0.0001972,0.00543391,0.0252436] + - [-0.000430451,-3.41981e-05,1.11202,6.58004e-05,-0.00101196,0.00252818,0.999996,-0.00462044,-0.000416775,0.68274,0.000342245,0.00665609,0.0242435] + - [-0.000476655,-3.83659e-05,1.11885,6.73049e-05,-0.000978678,0.0026494,0.999996,-0.00485071,-0.000432333,0.698433,0.000380698,0.00796141,0.023256] + - [-0.000525163,-4.26892e-05,1.12583,6.89891e-05,-0.000938874,0.00276569,0.999996,-0.00507267,-0.000448188,0.713752,0.000331633,0.00932163,0.0222811] + - [-0.000575889,-4.71711e-05,1.13297,7.04137e-05,-0.000892269,0.0028771,0.999995,-0.00528489,-0.000464372,0.728695,0.000213228,0.0107098,0.0213187] + - [-0.000628738,-5.18148e-05,1.14026,7.12307e-05,-0.000838725,0.0029837,0.999995,-0.0054859,-0.000480818,0.743263,4.2371e-05,0.0121004,0.0203687] + - [-0.000683597,-5.6623e-05,1.14769,7.11766e-05,-0.00077823,0.00308554,0.999995,-0.00567422,-0.000497377,0.757455,-0.000165606,0.0134702,0.0194311] + - [-0.000740339,-6.15967e-05,1.15526,7.00651e-05,-0.000710889,0.0031827,0.999995,-0.00584836,-0.000513846,0.771272,-0.000397084,0.014798,0.0185059] + - [-0.000798823,-6.67352e-05,1.16298,6.77785e-05,-0.000636912,0.00327524,0.999994,-0.0060069,-0.000529981,0.784713,-0.000640224,0.0160648,0.0175929] + - [-0.000858892,-7.2035e-05,1.17082,6.42583e-05,-0.000556605,0.0033632,0.999994,-0.00614846,-0.000545514,0.797779,-0.000884962,0.017254,0.0166923] + - 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b/envs/quadrotor_v0/empty_0_easy/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..1760c99 --- /dev/null +++ b/envs/quadrotor_v0/empty_0_easy/idbastar_v0_solution_v0.yaml @@ -0,0 +1,285 @@ +time_stamp: 1524.09 +cost: 1.31 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,0,0,0,1,0,0,0,0,0,0] +goal: [0,0,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.0027563 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 1.85553e-05 +num_states: 132 +states: + - [0,0,1,0,0,0,1,0,0,0,0,0,0] + - [0,0,1,0,0,0,1,0,0,0.0124646,-7.24622e-09,7.30251e-09,-0.118288] + - [0,0,1.00012,-3.62311e-11,3.65126e-11,-0.000591441,1,0,0,0.025019,-1.26211e-08,1.27488e-08,-0.23595] + - [0,0,1.00037,-9.93419e-11,1.00251e-10,-0.00177119,0.999998,8.09182e-12,8.01995e-12,0.0376627,-1.61508e-08,1.63847e-08,-0.352988] + - 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[9.17734e-05,0.913689,9.17734e-05,0.913689] + - [9.03356e-05,0.917278,9.03356e-05,0.917278] + - [8.88973e-05,0.92089,8.88973e-05,0.92089] + - [8.74583e-05,0.924526,8.74583e-05,0.924526] + - [8.60188e-05,0.928185,8.60188e-05,0.928185] + - [8.45787e-05,0.931866,8.45787e-05,0.931866] + - [8.31379e-05,0.93557,8.31379e-05,0.93557] + - [8.16966e-05,0.939296,8.16966e-05,0.939296] + - [8.02548e-05,0.943044,8.02548e-05,0.943044] + - [7.88123e-05,0.946814,7.88123e-05,0.946814] + - [7.73693e-05,0.950607,7.73693e-05,0.950607] + - [7.59257e-05,0.954421,7.59257e-05,0.954421] +info: "ddp_iterations=86;ddp_time=79.206889" diff --git a/envs/quadrotor_v0/empty_0_easy/rrt_to_v0_guess_v0.yaml b/envs/quadrotor_v0/empty_0_easy/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..b4b6967 --- /dev/null +++ b/envs/quadrotor_v0/empty_0_easy/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,28 @@ +time_stamp: 1 +cost: 0.25 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0,0,1,0,0,0,1,0,0,0,0,0,0] +goal: [0,0,2,0,0,0,1,0,0,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 2 +states: + - [0,0,1,0,0,0,1,0,0,0,0,0,0] + - [0,0,2,0,0,0,1,0,0,0,0,0,0] +num_actions: 1 +actions: + - [1,1,1,1] +num_times: 2 +times: + - 0 + - 0.25 diff --git a/envs/quadrotor_v0/empty_0_easy/rrt_to_v0_solution_v0.yaml b/envs/quadrotor_v0/empty_0_easy/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..a550440 --- /dev/null +++ b/envs/quadrotor_v0/empty_0_easy/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,217 @@ +time_stamp: 1.96813e-316 +cost: 0.97 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,0,0,0,1,0,0,0,0,0,0] +goal: [0,0,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.0037077 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 5.62153e-05 +num_states: 98 +states: + - [0,0,1,0,0,0,1,0,0,0,0,0,0] + - [0,0,1,0,0,0,1,0,0,0.0294252,-1.44377e-09,-1.93932e-12,-1.15753e-11] + - [0,0,1.00029,-7.21885e-12,-9.6966e-15,-5.78767e-14,1,0,0,0.0588503,-2.70914e-09,-4.63948e-11,-2.30328e-11] + - [0,0,1.00088,-2.07646e-11,-2.4167e-13,-1.73041e-13,1,-2.47312e-15,1.84117e-12,0.0882753,-3.80475e-09,-1.3081e-10,-3.43722e-11] + - [-2.47312e-17,1.84117e-14,1.00177,-3.97883e-11,-8.95718e-13,-3.44901e-13,1,-6.41111e-14,7.13717e-12,0.1177,-4.73904e-09,-2.52665e-10,-4.55935e-11] + - [-6.65842e-16,8.97833e-14,1.00294,-6.34835e-11,-2.15904e-12,-5.72869e-13,1,-2.92564e-13,1.72852e-11,0.147125,-5.52027e-09,-4.09482e-10,-5.66968e-11] + - [-3.59148e-15,2.62635e-13,1.00441,-9.10849e-11,-4.20645e-12,-8.56353e-13,1,-8.43227e-13,3.34766e-11,0.17655,-6.15652e-09,-5.98819e-10,-6.7682e-11] + - [-1.20237e-14,5.97401e-13,1.00618,-1.21868e-10,-7.20055e-12,-1.19476e-12,1,-1.91608e-12,5.67078e-11,0.205974,-6.65569e-09,-8.18281e-10,-7.8549e-11] + - 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mode 100644 index 0000000..483b697 --- /dev/null +++ b/envs/quadrotor_v0/empty_1_easy/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,22 @@ +time_stamp: 0.859704 +cost: 0 +feasible: 0 +traj_feas: 1 +goal_feas: 0 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,0,0,0,1,0,0,0,0,0,0] +goal: [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 1.22474 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 1 +states: + - [0,0,1,0,0,0,1,0,0,0,0,0,0] +num_actions: 0 +actions: diff --git a/envs/quadrotor_v0/empty_1_easy/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v0/empty_1_easy/idbastar_v0_opt_solution_v0.yaml new file mode 100644 index 0000000..e399aa8 --- /dev/null +++ b/envs/quadrotor_v0/empty_1_easy/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,479 @@ +time_stamp: 809.92 +cost: 2.28 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,0,0,0,1,0,0,0,0,0,0] +goal: [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000240761 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 229 +states: + - [0,0,1,0,0,0,1,0,0,0,0,0,0] + - [0,0,1,0,0,0,1,0,0,0.00804725,-0.108375,0.12129,0.124949] + - [0,0,1.00008,-0.000541874,0.000606451,0.000624747,0.999999,0,0,0.0165376,-0.192558,0.217404,0.251981] + - [0,0,1.00025,-0.00150458,0.00169355,0.00188465,0.999996,0.000129705,0.000116039,0.0254349,-0.255393,0.291074,0.380767] + - [1.29705e-06,1.16039e-06,1.0005,-0.00278105,0.00314936,0.00378844,0.999984,0.000492758,0.000439808,0.034701,-0.299632,0.344941,0.511001] + - [6.22463e-06,5.55847e-06,1.00085,-0.00427765,0.00487545,0.0063433,0.999959,0.00116885,0.0010414,0.0442971,-0.327901,0.381525,0.642408] + - [1.79131e-05,1.59725e-05,1.00129,-0.00591349,0.00678629,0.00955497,0.999914,0.002216,0.00197198,0.0541837,-0.342673,0.403207,0.774736] + - 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[1.09365,0.626701,1.09909,0.702304] +info: "ddp_iterations=41;ddp_time=66.367626" diff --git a/envs/quadrotor_v0/empty_1_easy/idbastar_v0_solution_v0.yaml b/envs/quadrotor_v0/empty_1_easy/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..2383da2 --- /dev/null +++ b/envs/quadrotor_v0/empty_1_easy/idbastar_v0_solution_v0.yaml @@ -0,0 +1,293 @@ +time_stamp: 1112.49 +cost: 1.35 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,0,0,0,1,0,0,0,0,0,0] +goal: [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00244105 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 8.81159e-05 +num_states: 136 +states: + - [0,0,1,0,0,0,1,0,0,0,0,0,0] + - [0,0,1,0,0,0,1,0,0,0.00685101,-0.356594,0.423765,0.0757261] + - [0,0,1.00007,-0.00178297,0.00211882,0.00037863,0.999996,0,0,0.0176283,-0.474854,0.602242,0.174736] + - 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[1.00916,1.2999,1.08891,1.29597] + - [1.00914,1.28841,1.09144,1.28866] + - [1.00796,1.24399,1.092,1.25362] + - [1.00742,1.19991,1.09211,1.21847] + - [1.00754,1.15619,1.09177,1.18317] + - [1.00832,1.11289,1.091,1.14767] + - [1.00978,1.07007,1.08983,1.11195] + - [1.01192,1.02778,1.08828,1.07596] + - [0.99586,1.00498,1.06751,1.05859] + - [0.979613,0.983661,1.04562,1.04181] + - [0.964018,0.963051,1.02354,1.02478] + - [0.94907,0.943214,1.00133,1.00748] + - [0.934762,0.924221,0.979075,0.989937] + - [0.921085,0.906128,0.956883,0.972146] + - [0.916617,0.880396,0.943454,0.945526] + - [0.924221,0.844212,0.941772,0.907198] + - [0.93246,0.809047,0.940524,0.868572] + - [0.941288,0.774908,0.939827,0.829679] + - [0.950644,0.741782,0.939785,0.790552] + - [0.960453,0.709625,0.94049,0.751231] + - [0.970624,0.678365,0.942016,0.711756] + - [0.981048,0.647897,0.94441,0.672169] + - [0.991598,0.618084,0.947695,0.632508] + - [1.00213,0.58875,0.951859,0.592809] + - [1.01248,0.559688,0.95686,0.5531] + - [1.02248,0.530657,0.962618,0.513404] + - [1.03192,0.501382,0.969019,0.473732] + - [1.04062,0.471564,0.975914,0.434088] + - [1.04836,0.440879,0.983127,0.394465] + - [1.05493,0.408988,0.990452,0.354849] + - [1.06012,0.375545,0.997667,0.315215] + - [1.06374,0.3402,1.00454,0.275537] + - [1.06559,0.30262,1.01082,0.235783] + - [1.06553,0.262491,1.0163,0.195926] + - [1.06342,0.219538,1.02077,0.155944] + - [1.05918,0.173533,1.02407,0.115826] + - [1.05276,0.124315,1.02607,0.0755824] + - [1.04419,0.0718,1.02672,0.0352497] + - [1.0338,0.0203391,1.02629,9.97519e-05] + - [1.02336,9.91821e-05,1.02649,9.85033e-05] + - [1.01164,9.49347e-05,1.02677,0.00262997] + - [0.998597,9.17889e-05,1.02714,0.017651] + - [0.984245,8.8501e-05,1.02738,0.0358492] + - [0.968889,8.50821e-05,1.02775,0.057354] + - [0.952879,8.15463e-05,1.02854,0.0823068] + - [0.936605,7.79108e-05,1.03011,0.110868] + - [0.9205,7.41959e-05,1.03286,0.143225] + - [0.905044,7.04247e-05,1.03725,0.1796] + - [0.890757,6.66231e-05,1.04377,0.220264] + - [0.87821,6.28201e-05,1.05296,0.265541] +info: "ddp_iterations=63;ddp_time=61.136229" diff --git a/envs/quadrotor_v0/empty_1_easy/rrt_to_v0_guess_v0.yaml b/envs/quadrotor_v0/empty_1_easy/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..79adfc4 --- /dev/null +++ b/envs/quadrotor_v0/empty_1_easy/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,28 @@ +time_stamp: 2 +cost: 0.306186 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0,0,1,0,0,0,1,0,0,0,0,0,0] +goal: [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 2 +states: + - [0,0,1,0,0,0,1,0,0,0,0,0,0] + - [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0] +num_actions: 1 +actions: + - [1,1,1,1] +num_times: 2 +times: + - 0 + - 0.306186 diff --git a/envs/quadrotor_v0/empty_1_easy/rrt_to_v0_solution_v0.yaml b/envs/quadrotor_v0/empty_1_easy/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..e4d454e --- /dev/null +++ b/envs/quadrotor_v0/empty_1_easy/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,263 @@ +time_stamp: 1.40029e-316 +cost: 1.2 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,0,0,0,1,0,0,0,0,0,0] +goal: [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00151491 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 121 +states: + - [0,0,1,0,0,0,1,0,0,0,0,0,0] + - [0,0,1,0,0,0,1,0,0,0.0218365,-0.50624,0.493258,-0.0517845] + - [0,0,1.00022,-0.00253119,0.00246629,-0.000258922,0.999994,0,0,0.0457908,-0.870937,0.849301,-0.0891347] + - [0,0,1.00068,-0.00688577,0.00671269,-0.000704594,0.999954,0.00061152,0.000627289,0.0716315,-1.10915,1.08531,-0.113828] + - [6.1152e-06,6.27289e-06,1.00139,-0.012431,0.0121387,-0.00127382,0.999848,0.00229854,0.00235537,0.0990824,-1.2382,1.21556,-0.127365] + - [2.91006e-05,2.98266e-05,1.00238,-0.0186205,0.0182151,-0.00191089,0.999659,0.00538438,0.00550746,0.127866,-1.27448,1.254,-0.131228] + - [8.29444e-05,8.49012e-05,1.00366,-0.0249899,0.0244821,-0.0025674,0.999385,0.0100375,0.010246,0.157114,-1.27326,1.25527,-0.131181] + - [0.000183319,0.000187361,1.00523,-0.0313511,0.0307535,-0.00322378,0.99903,0.016294,0.0165995,0.186223,-1.27203,1.25653,-0.131134] + - [0.000346259,0.000353356,1.0071,-0.0377037,0.0370286,-0.00388005,0.998595,0.0241555,0.0245623,0.215152,-1.27077,1.25776,-0.131088] + - [0.000587814,0.000598979,1.00925,-0.0440468,0.043307,-0.00453624,0.99808,0.0336153,0.0341199,0.243752,-1.26219,1.25172,-0.131804] + - [0.000923967,0.000940178,1.01168,-0.050344,0.0495513,-0.00519617,0.997488,0.0446352,0.0452267,0.271572,-1.21869,1.21092,-0.136169] + - [0.00137032,0.00139245,1.0144,-0.0564225,0.0555862,-0.00587798,0.996841,0.0572052,0.0578654,0.298698,-1.14851,1.14358,-0.143324] + - 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[1.3,1.23294,1.26723,1.3] + - [1.3,1.24206,1.27434,1.3] + - [1.3,1.25146,1.28162,1.3] + - [1.3,1.26092,1.28902,1.3] + - [1.3,1.27028,1.29647,1.3] + - [1.3,1.27945,1.3,1.3] + - [1.3,1.28843,1.3,1.3] + - [1.3,1.29728,1.3,1.3] + - [1.3,1.3,1.3,1.3] + - [1.3,1.3,1.3,1.3] + - [1.3,1.3,1.3,1.3] + - [1.3,1.3,1.3,1.3] + - [1.3,1.3,1.3,1.3] + - [1.3,1.3,1.3,1.3] + - [1.3,1.3,1.3,1.3] + - [1.3,1.3,1.3,1.3] + - [1.3,1.3,1.3,1.3] diff --git a/envs/quadrotor_v0/quad_one_obs/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v0/quad_one_obs/idbastar_v0_opt_solution_v0.yaml new file mode 100644 index 0000000..23d93e2 --- /dev/null +++ b/envs/quadrotor_v0/quad_one_obs/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,1337 @@ +time_stamp: 2360.94 +cost: 6.57 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [1,1,3,0,0,0,1,0,0,0,0,0,0] +goal: [5,5,3,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000188391 +start_distance: 0 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a/envs/quadrotor_v0/quad_one_obs/idbastar_v0_solution_v0.yaml b/envs/quadrotor_v0/quad_one_obs/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..dba5372 --- /dev/null +++ b/envs/quadrotor_v0/quad_one_obs/idbastar_v0_solution_v0.yaml @@ -0,0 +1,621 @@ +time_stamp: 5415.76 +cost: 2.99 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [1,1,3,0,0,0,1,0,0,0,0,0,0] +goal: [5,5,3,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00118367 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 300 +states: + - [1,1,3,0,0,0,1,0,0,0,0,0,0] + - [1,1,3,0,0,0,1,0,0,-0.0548487,0.0593585,0.82784,-0.000502331] + - [1,1,2.99945,0.000296792,0.00413919,-2.51165e-06,0.999991,0,0,-0.108856,0.102654,1.52221,-0.000948984] + - [1,1,2.99836,0.000810043,0.01175,-7.12203e-06,0.999931,0.000375641,-2.69355e-05,-0.161581,0.131487,2.09247,-0.00135019] + - 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new file mode 100644 index 0000000..bc0b9ce --- /dev/null +++ b/envs/quadrotor_v0/quad_one_obs/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,49 @@ +time_stamp: 8 +cost: 2.97458 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [1,1,3,0,0,0,1,0,0,0,0,0,0] +goal: [5,5,3,0,0,0,1,0,0,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 9 +states: + - [1,1,3,0,0,0,1,0,0,0,0,0,0] + - [0.856807,2.1196,1.27959,0.0194439,-0.355653,-0.457155,0.814949,0,0,0,0,0,0] + - [1.33626,4.01101,1.24936,0.304325,-0.187378,-0.270226,0.89401,0,0,0,0,0,0] + - [3.16853,4.73016,0.333772,0.016366,0.310732,-0.547285,0.776953,0,0,0,0,0,0] + - [4.37491,4.2561,0.343454,0.403933,-0.557596,-0.590275,0.421307,0,0,0,0,0,0] + - [5.37696,4.34678,0.684797,0.0574097,-0.0479093,-0.87378,0.480539,0,0,0,0,0,0] + - [5.65558,5.05731,1.20992,-0.907151,0.17954,0.0721371,0.373682,0,0,0,0,0,0] + - [5.49911,4.40127,2.6264,0.0361812,0.542807,-0.707656,0.45086,0,0,0,0,0,0] + - [5,5,3,0,0,0,1,0,0,0,0,0,0] +num_actions: 8 +actions: + - [1,1,1,1] + - [1,1,1,1] + - [1,1,1,1] + - [1,1,1,1] + - [1,1,1,1] + - [1,1,1,1] + - [1,1,1,1] + - [1,1,1,1] +num_times: 9 +times: + - 0 + - 0.514406 + - 1.00227 + - 1.54499 + - 1.86904 + - 2.13466 + - 2.36627 + - 2.75848 + - 2.97458 diff --git a/envs/quadrotor_v0/quad_one_obs/rrt_to_v0_solution_v0.yaml b/envs/quadrotor_v0/quad_one_obs/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..50db9c3 --- /dev/null +++ b/envs/quadrotor_v0/quad_one_obs/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,739 @@ +time_stamp: 2.21642e-316 +cost: 3.58 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [1,1,3,0,0,0,1,0,0,0,0,0,0] +goal: [5,5,3,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000764272 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0.000495004 +num_states: 359 +states: + - [1,1,3,0,0,0,1,0,0,0,0,0,0] + - [1,1,3,0,0,0,1,0,0,0.0213798,-0.536623,-0.0769007,0.00807363] + - [1,1,3.00021,-0.00268311,-0.000384503,4.03681e-05,0.999996,0,0,0.0446083,-0.949856,-0.132022,0.013856] + - [1,1,3.00066,-0.00743233,-0.00104461,0.000109592,0.999972,-9.45888e-05,0.000659864,0.0694737,-1.25372,-0.16834,0.0176548] + - [0.999999,1.00001,3.00135,-0.0137005,-0.00188629,0.000197568,0.999904,-0.000354681,0.00250893,0.0957589,-1.462,-0.18868,0.0197663] + - [0.999996,1.00003,3.00231,-0.0210094,-0.00282963,0.000295521,0.999775,-0.00082927,0.00595094,0.123242,-1.58807,-0.195676,0.0204697] + - [0.999987,1.00009,3.00354,-0.0289472,-0.00380789,0.000395923,0.999574,-0.00154756,0.0112722,0.151701,-1.64461,-0.191755,0.020023] + - [0.999972,1.0002,3.00506,-0.0371657,-0.00476647,0.000492422,0.999298,-0.00252055,0.0186462,0.180815,-1.65052,-0.186093,0.0193933] + - 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-0,0 +1,22 @@ +time_stamp: 1.56412 +cost: 0 +feasible: 0 +traj_feas: 1 +goal_feas: 0 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0] +goal: [0,0.8,1,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 1.56358 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 1 +states: + - [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0] +num_actions: 0 +actions: diff --git a/envs/quadrotor_v0/recovery/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v0/recovery/idbastar_v0_opt_solution_v0.yaml new file mode 100644 index 0000000..7900a60 --- /dev/null +++ b/envs/quadrotor_v0/recovery/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,1249 @@ +time_stamp: 1130.95 +cost: 6.13 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0] +goal: [0,0.8,1,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000143176 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 6.56919e-05 +num_states: 614 +states: + - [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0] + - [0,0,1,-0.999048,0,0,0.0436194,0,0.00192042,-0.120051,1.47017,-1.46282,0.153563] + - [0,1.92042e-05,0.998799,-0.998674,0.000448042,0.00734048,0.0509608,0,0.00363459,-0.237744,2.78411,-2.76678,0.29069] + - [0,5.55502e-05,0.996422,-0.997669,0.00129662,0.0212215,0.0648477,-0.000253201,0.00539803,-0.353076,3.94601,-3.91065,0.411634] + - [-2.53201e-06,0.000109531,0.992891,-0.995585,0.00250005,0.0408263,0.0844857,-0.00088624,0.00734098,-0.466045,4.95957,-4.89464,0.516664] + - [-1.13944e-05,0.00018294,0.988231,-0.991877,0.0040149,0.0653178,0.109073,-0.00191619,0.00948607,-0.576657,5.82837,-5.72052,0.606098] + - [-3.05563e-05,0.000277801,0.982464,-0.985988,0.00580062,0.0938389,0.137796,-0.00326941,0.0117667,-0.684932,6.55606,-6.39152,0.680306] + - 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[0.116973,0.859887,0.118352,0.844533] + - [0.095136,0.857064,0.0927156,0.843501] + - [0.0734083,0.853843,0.0667741,0.842693] + - [0.0517885,0.850219,0.0405279,0.842125] + - [0.0302977,0.846194,0.0139991,0.841817] + - [0.0197148,0.842438,9.93736e-05,0.8424] + - [0.0211209,0.839051,9.80589e-05,0.843922] + - [0.0229572,0.835351,9.67312e-05,0.84573] + - [0.0252459,0.831336,9.53908e-05,0.847869] + - [0.0280131,0.827011,9.40383e-05,0.850381] + - [0.0312885,0.822389,9.26743e-05,0.853315] + - [0.0351061,0.817492,9.12997e-05,0.856717] + - [0.0395044,0.812348,8.99149e-05,0.860639] + - [0.0445273,0.806995,8.85209e-05,0.865132] +info: "ddp_iterations=77;ddp_time=153.198740" diff --git a/envs/quadrotor_v0/recovery/rrt_to_v0_guess_v0.yaml b/envs/quadrotor_v0/recovery/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..562aabf --- /dev/null +++ b/envs/quadrotor_v0/recovery/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,28 @@ +time_stamp: 1 +cost: 0.2 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0] +goal: [0,0.8,1,0,0,0,1,0,0,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 2 +states: + - [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0] + - [0,0.8,1,0,0,0,1,0,0,0,0,0,0] +num_actions: 1 +actions: + - [1,1,1,1] +num_times: 2 +times: + - 0 + - 0.2 diff --git a/envs/quadrotor_v0/recovery_with_obs/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v0/recovery_with_obs/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..d59c382 --- /dev/null +++ b/envs/quadrotor_v0/recovery_with_obs/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,22 @@ +time_stamp: 1.68824 +cost: 0 +feasible: 0 +traj_feas: 1 +goal_feas: 0 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0] +goal: [0,0,2.5,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 2.46358 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 1 +states: + - [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0] +num_actions: 0 +actions: diff --git a/envs/quadrotor_v0/recovery_with_obs/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v0/recovery_with_obs/idbastar_v0_opt_solution_v0.yaml new file mode 100644 index 0000000..e6b9a93 --- /dev/null +++ b/envs/quadrotor_v0/recovery_with_obs/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,1079 @@ +time_stamp: 1935.16 +cost: 5.28 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0] +goal: [0,0,2.5,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000305109 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 4.31965e-06 +num_states: 529 +states: + - [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0] + - 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+goal: [0,0,2.5,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00133995 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0.000203425 +num_states: 353 +states: + - [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0] + - [0,0,0.8,-0.999048,0,0,0.0436194,0,0.0027785,-0.129858,2.12784,-2.11738,0.222212] + - [0,2.7785e-05,0.798701,-0.998471,0.000648184,0.0106249,0.0542431,0,0.00555699,-0.259717,4.25907,-4.23098,0.444553] + - [0,8.33549e-05,0.796104,-0.996638,0.00194581,0.0318462,0.0754682,-0.000554199,0.00839611,-0.383864,6.00491,-5.95703,0.625908] + - [-5.54199e-06,0.000167316,0.792266,-0.992522,0.00377087,0.0616714,0.105273,-0.00170935,0.0111485,-0.5,7.19893,-7.14263,0.748661] + - [-2.26355e-05,0.000278801,0.787266,-0.985236,0.00594058,0.0972807,0.140751,-0.00299036,0.0133544,-0.608319,7.84653,-7.80117,0.813496] + - [-5.2539e-05,0.000412345,0.781182,-0.974385,0.00826413,0.135881,0.179004,-0.00355482,0.0141817,-0.709216,7.95002,-7.95001,0.820981] + - 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@@ -0,0 +1,764 @@ +time_stamp: 11.5962 +cost: 3.71 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [4,1,2,0,0,0,1,0,0,0,0,0,0] +goal: [4,5,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0.348235 +max_collision: 0 +goal_distance: 1.33537 +start_distance: 0.300409 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 372 +states: + - [4,1,2,-0.0976804,-0.0733124,-0.165776,-0.978572,8.11947e-08,-8.2468e-08,-3.56452e-08,-3.25023,-1.00544,-1.97575] + - [4,1,2,-0.0818688,-0.0666501,-0.156778,-0.981976,0.014404,-0.0136667,-0.0186422,-1.72196,0.247708,-1.69253] + - [4.00014,0.999863,1.99981,-0.0726502,-0.0672044,-0.149131,-0.983852,0.0260888,-0.0241068,-0.0437743,-0.825707,0.991434,-1.34127] + - [4.0004,0.999622,1.99938,-0.0673953,-0.0719501,-0.143165,-0.984777,0.0367482,-0.0326192,-0.0739729,-0.379487,1.3646,-0.942264] + - 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[1.01462,1.04503,1.02134,1.00401] + - [1.01449,1.04406,1.02108,1.00448] + - [1.01427,1.04232,1.02056,1.00537] + - [1.01394,1.03969,1.01973,1.00673] + - [1.01349,1.03602,1.01856,1.00864] + - [1.01292,1.03118,1.01699,1.01121] + - [1.01222,1.02504,1.015,1.01452] + - [1.01142,1.01747,1.01256,1.0187] + - [1.01054,1.00835,1.00966,1.02389] + - [1.00965,0.997613,1.00633,1.03024] + - [1.00882,0.985194,1.00261,1.03793] + - [1.00818,0.971081,0.998568,1.04719] + - [1.00788,0.955306,0.994333,1.05824] + - [1.00811,0.937951,0.990057,1.07135] + - [1.00908,0.919154,0.985934,1.0868] +info: "ddp_iterations=45;ddp_time=319.193869" diff --git a/envs/quadrotor_v0/window/idbastar_v0_solution_v0.yaml b/envs/quadrotor_v0/window/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..83c8cd5 --- /dev/null +++ b/envs/quadrotor_v0/window/idbastar_v0_solution_v0.yaml @@ -0,0 +1,521 @@ +time_stamp: 7287.86 +cost: 2.49 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [4,1,2,0,0,0,1,0,0,0,0,0,0] +goal: [4,5,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00205404 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 250 +states: + - [4,1,2,0,0,0,1,0,0,0,0,0,0] + - [4,1,2,0,0,0,1,0,0,-0.000829213,-0.78883,-1.03183,0.00137747] + - [4,1,1.99999,-0.00394412,-0.00515911,6.88729e-06,0.999979,0,0,-0.00165761,-1.41136,-1.83719,0.00267028] + - [4,1,1.99998,-0.0110004,-0.0143443,2.00612e-05,0.999837,-0.00101462,0.000775664,-0.00143132,-1.8853,-2.44097,0.0038711] + - [3.99999,1.00001,1.99996,-0.0204237,-0.0265449,3.8452e-05,0.999439,-0.00388736,0.00297862,0.000553223,-2.22804,-2.86751,0.00499375] + - [3.99995,1.00004,1.99997,-0.0315537,-0.0408692,6.05081e-05,0.998666,-0.0093224,0.00716,0.00465214,-2.45653,-3.14035,0.00606513] + - [3.99986,1.00011,2.00001,-0.0438132,-0.0565406,8.42468e-05,0.997438,-0.0178873,0.0137718,0.010912,-2.58709,-3.28209,0.007118] + - 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[1.0129,1.0156,1.01205,1.0146] + - [1.01326,1.01593,1.01242,1.01493] + - [1.01375,1.01638,1.01292,1.0154] + - [1.01436,1.01695,1.01354,1.016] + - [1.01511,1.01764,1.01429,1.01672] + - [1.01597,1.01843,1.01517,1.01758] + - [1.01697,1.01935,1.01618,1.01857] + - [1.01809,1.02037,1.01731,1.01969] + - [1.01934,1.02151,1.01858,1.02094] + - [1.02072,1.02276,1.01997,1.02232] + - [1.02223,1.02411,1.02148,1.02383] + - [1.02386,1.02558,1.02313,1.02547] + - [1.02563,1.02715,1.0249,1.02724] + - [1.02752,1.02883,1.0268,1.02913] + - [1.02954,1.03062,1.02882,1.03114] + - [1.0317,1.03251,1.03097,1.03328] + - [1.03398,1.03451,1.03324,1.03554] + - [1.03639,1.03662,1.03564,1.03792] + - [1.03893,1.03884,1.03817,1.0404] + - [1.04159,1.04117,1.04081,1.04299] + - [1.04439,1.04362,1.04359,1.04568] + - [1.0473,1.04618,1.04648,1.04846] + - [1.05034,1.04886,1.0495,1.05133] + - [1.0535,1.05168,1.05265,1.05428] + - [1.05678,1.05462,1.05592,1.05729] + - [1.06018,1.0577,1.05931,1.06035] + - [1.06369,1.06093,1.06283,1.06346] + - [1.06731,1.06431,1.06647,1.06661] + - [1.07103,1.06785,1.07024,1.06977] + - [1.07486,1.07157,1.07413,1.07293] + - [1.07879,1.07548,1.07815,1.07608] + - [1.0828,1.07958,1.08229,1.0792] + - [1.08691,1.08392,1.08657,1.08228] + - [1.0911,1.08847,1.09097,1.08527] + - [1.09537,1.09328,1.0955,1.08818] + - [1.09971,1.09836,1.10017,1.09099] + - [1.10412,1.10375,1.10497,1.09367] + - [1.10859,1.10946,1.10991,1.0962] + - [1.11312,1.11553,1.11499,1.09857] + - [1.11771,1.12197,1.12022,1.10075] + - [1.12234,1.12882,1.1256,1.10275] + - [1.12703,1.13609,1.13113,1.10453] + - [1.13176,1.1438,1.13683,1.10611] + - [1.13654,1.15196,1.1427,1.10747] + - [1.14137,1.16057,1.14874,1.10864] + - [1.14624,1.16962,1.15496,1.10961] + - [1.15116,1.17909,1.16133,1.11043] + - [1.15611,1.18892,1.16786,1.11111] + - [1.16108,1.19905,1.17451,1.11169] + - [1.16605,1.20937,1.18124,1.11223] + - [1.17098,1.21971,1.18799,1.11278] + - [1.17582,1.2299,1.19467,1.11338] + - [1.18049,1.23966,1.20114,1.11411] + - [1.18488,1.24867,1.20726,1.115] + - [1.18883,1.25652,1.21279,1.11611] + - [1.19217,1.26272,1.21748,1.11748] + - [1.19467,1.26666,1.22099,1.11913] + - [1.19604,1.26766,1.22294,1.12107] + - [1.19597,1.26494,1.22288,1.12332] + - [1.19412,1.25765,1.22032,1.12587] + - [1.19013,1.24489,1.21475,1.12877] + - [1.18368,1.22574,1.20568,1.13207] + - [1.1745,1.19936,1.19267,1.13593] + - [1.16249,1.16504,1.17543,1.1406] + - [1.14769,1.12227,1.15385,1.14654] + - [1.13048,1.07091,1.12814,1.15444] + - [1.11156,1.01123,1.09887,1.16532] + - [1.09212,0.944035,1.06708,1.18059] + - [1.0738,0.870694,1.03435,1.20209] + - [1.05878,0.79318,1.00274,1.23212] + - [1.04969,0.714025,0.974828,1.2734] +info: "ddp_iterations=12;ddp_time=48.448631" diff --git a/envs/quadrotor_v0/window/rrt_to_v0_guess_v0.yaml b/envs/quadrotor_v0/window/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..61b16af --- /dev/null +++ b/envs/quadrotor_v0/window/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,43 @@ +time_stamp: 5 +cost: 1.51772 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [4,1,2,0,0,0,1,0,0,0,0,0,0] +goal: [4,5,2,0,0,0,1,0,0,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 7 +states: + - [4,1,2,0,0,0,1,0,0,0,0,0,0] + - [2.79652,1.15622,2.25985,0.150751,0.0560067,-0.574946,0.802231,0,0,0,0,0,0] + - [2.2321,2.41705,1.84948,0.484371,-0.0113845,-0.596887,0.639516,0,0,0,0,0,0] + - [2.51288,3.39847,1.71032,0.0501354,-0.782455,-0.426835,0.450625,0,0,0,0,0,0] + - [3.26364,3.96731,1.51369,-0.708845,-0.547378,-0.442969,0.041153,0,0,0,0,0,0] + - [3.73225,4.73829,1.71166,-0.32787,-0.119993,-0.633075,0.690883,0,0,0,0,0,0] + - [4,5,2,0,0,0,1,0,0,0,0,0,0] +num_actions: 6 +actions: + - [1,1,1,1] + - [1,1,1,1] + - [1,1,1,1] + - [1,1,1,1] + - [1,1,1,1] + - [1,1,1,1] +num_times: 7 +times: + - 0 + - 0.310271 + - 0.670537 + - 0.928097 + - 1.16865 + - 1.39957 + - 1.51772 diff --git a/envs/quadrotor_v1/empty_0_easy.yaml b/envs/quadrotor_v1/empty_0_easy.yaml new file mode 100644 index 0000000..ab9d4c6 --- /dev/null +++ b/envs/quadrotor_v1/empty_0_easy.yaml @@ -0,0 +1,9 @@ +name: quadrotor_ompl-empty_0 +environment: + min: [-1, -1, .8] + max: [1, 1, 3] + obstacles: [] +robots: + - type: quad3d_omplapp + start: [0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0] + goal: [0, 0, 2, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0] diff --git a/envs/quadrotor_v1/empty_0_easy/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v1/empty_0_easy/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..529337d --- /dev/null +++ b/envs/quadrotor_v1/empty_0_easy/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,308 @@ +time_stamp: 34.3025 +cost: 1.43 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,0,0,0,1,0,0,0,0,0,0] +goal: [0,0,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0.385357 +max_collision: 0 +goal_distance: 0.776925 +start_distance: 0.307157 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 144 +states: + - [-8.30945e-08,6.52363e-08,1,-0.180712,-0.141386,-0.187645,-0.955061,-3.14827e-08,-4.81705e-08,2.24375e-08,2.83089,1.08148,-0.798423] + - [-8.34094e-08,6.47546e-08,1,-0.192629,-0.14991,-0.182785,-0.952371,0.0497196,-0.0429857,0.033556,2.43089,0.68148,-0.922715] + - [0.000497113,-0.000429792,1.00034,-0.202872,-0.156252,-0.17721,-0.950276,0.102099,-0.088912,0.065072,2.03089,0.28148,-1.00147] + - [0.0015181,-0.00131891,1.00099,-0.211476,-0.160394,-0.171139,-0.948822,0.156378,-0.137499,0.0948242,1.63089,-0.11852,-1.03762] + - [0.00308188,-0.00269391,1.00193,-0.218473,-0.162317,-0.164775,-0.948036,0.211817,-0.188473,0.123141,1.23089,-0.51852,-1.03475] + - [0.00520006,-0.00457864,1.00317,-0.223887,-0.161998,-0.158299,-0.947931,0.267699,-0.241557,0.15039,0.83089,-0.91852,-0.996932] + - [0.00787705,-0.00699422,1.00467,-0.227737,-0.159413,-0.151868,-0.948504,0.323323,-0.296469,0.176965,0.43089,-1.31852,-0.927771] + - [0.0111103,-0.00995891,1.00644,-0.230035,-0.154538,-0.145618,-0.949735,0.378001,-0.352916,0.203272,0.0308899,-1.71852,-0.830404] + - [0.0148903,-0.0134881,1.00847,-0.23078,-0.147348,-0.139667,-0.951589,0.431054,-0.41059,0.229721,-0.36911,-2.11852,-0.707594] + - [0.0192008,-0.017594,1.01077,-0.229968,-0.137818,-0.134119,-0.954009,0.481805,-0.469164,0.256707,-0.76911,-2.51852,-0.562216] + - [0.0240189,-0.0222856,1.01334,-0.22758,-0.125923,-0.129059,-0.956919,0.529577,-0.528291,0.284603,-1.16911,-2.91852,-0.39692] + - [0.0293147,-0.0275685,1.01618,-0.223591,-0.111641,-0.124559,-0.960223,0.573683,-0.587599,0.313744,-1.56911,-3.31852,-0.214175] + - [0.0350515,-0.0334445,1.01932,-0.217967,-0.0949527,-0.120676,-0.963801,0.613429,-0.646692,0.344413,-1.96911,-3.71852,-0.0167514] + - [0.0411858,-0.0399114,1.02276,-0.210666,-0.0758437,-0.117451,-0.967509,0.648103,-0.705146,0.376827,-2.36911,-4.04805,0.193517] + - [0.0476668,-0.0469629,1.02653,-0.201599,-0.054647,-0.11499,-0.971159,0.67698,-0.762509,0.411123,-2.76911,-4.28067,0.414455] + - [0.0544366,-0.054588,1.03064,-0.190662,-0.0318357,-0.113407,-0.974563,0.699421,-0.818279,0.447333,-3.16911,-4.42539,0.644017] + - [0.0614308,-0.0627708,1.03512,-0.177762,-0.00785169,-0.112788,-0.977557,0.714916,-0.871901,0.485387,-3.56911,-4.49081,0.880315] + - [0.06858,-0.0714898,1.03997,-0.162811,0.0168935,-0.113192,-0.979997,0.723075,-0.922781,0.525119,-3.96911,-4.48708,1.12166] + - [0.0758107,-0.0807176,1.04522,-0.145734,0.0420278,-0.114647,-0.981759,0.723627,-0.970301,0.566284,-4.30167,-4.42451,1.3666] + - [0.083047,-0.0904206,1.05088,-0.126798,0.0671833,-0.11717,-0.98269,0.716401,-1.01383,0.608563,-4.55801,-4.31243,1.6139] + - [0.090211,-0.100559,1.05697,-0.106323,0.0920261,-0.120772,-0.98267,0.701343,-1.05281,0.651553,-4.74375,-4.15969,1.86252] + - [0.0972244,-0.111087,1.06349,-0.084617,0.116265,-0.125463,-0.981622,0.678508,-1.08683,0.694784,-4.86423,-3.97179,2.11154] + - [0.10401,-0.121955,1.07043,-0.0619647,0.139635,-0.131249,-0.979508,0.648045,-1.11557,0.737749,-4.92416,-3.75966,2.36015] + - [0.11049,-0.133111,1.07781,-0.0386381,0.16193,-0.138132,-0.976322,0.610186,-1.13883,0.77993,-4.92928,-3.53015,2.60762] + - [0.116592,-0.144499,1.08561,-0.0148854,0.182979,-0.146112,-0.972085,0.565229,-1.15651,0.820824,-4.88508,-3.28954,2.85328] + - [0.122244,-0.156064,1.09382,0.00906911,0.202648,-0.155186,-0.966835,0.513521,-1.16864,0.859955,-4.79356,-3.0454,3.09645] + - [0.127379,-0.167751,1.10242,0.0330075,0.22084,-0.165353,-0.960624,0.455446,-1.17531,0.896895,-4.66349,-2.80088,3.3364] + - [0.131934,-0.179504,1.11139,0.0567544,0.237482,-0.176604,-0.953516,0.391406,-1.17673,0.931272,-4.50014,-2.56048,3.57118] + - [0.135848,-0.191271,1.1207,0.0801567,0.25253,-0.188924,-0.945575,0.321814,-1.17315,0.962776,-4.30857,-2.32806,3.80111] + - [0.139066,-0.203003,1.13033,0.125794,-0.297686,0.0471023,0.945167,0.247082,-1.16488,0.991167,-3.17065,0.416844,2.86237] + - [0.141537,-0.214651,1.14024,0.106424,-0.298195,0.0561607,0.94689,0.247082,-1.16488,0.893067,-3.06179,0.595374,2.69663] + - [0.144008,-0.2263,1.14917,0.087719,-0.297607,0.064667,0.948448,0.247082,-1.16488,0.794967,-2.95039,0.766458,2.53726] + - [0.146478,-0.237949,1.15712,0.0696881,-0.295981,0.072632,0.949876,0.247082,-1.16488,0.696867,-2.8367,0.92985,2.38407] + - [0.148949,-0.249598,1.16409,0.052338,-0.293372,0.0800671,0.951201,0.247082,-1.16488,0.598767,-2.72097,1.08532,2.23684] + - [0.15142,-0.261247,1.17008,0.0356735,-0.289835,0.0869842,0.952448,0.247082,-1.16488,0.500667,-2.60342,1.23268,2.09535] + - [0.153891,-0.272895,1.17508,0.0196979,-0.285425,0.0933957,0.953636,0.247082,-1.16488,0.402567,-2.48432,1.37173,1.95941] + - 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[0.348123,1.60878e-05,3.24806e-05,0.00140091] + - [0.327074,1.70638e-05,3.42196e-05,0.00150833] + - [0.306028,1.67506e-05,3.33629e-05,0.00160752] + - [0.284981,1.45784e-05,2.89474e-05,0.00169807] + - [0.263931,1.0744e-05,2.0762e-05,0.00177931] + - [0.242876,4.97622e-06,9.03754e-06,0.00185083] + - [0.221813,-2.59159e-06,-6.37297e-06,0.00191232] + - [0.200739,-1.15904e-05,-2.47863e-05,0.00196359] + - [0.179651,-2.18649e-05,-4.5965e-05,0.00200444] + - [0.158544,-3.34791e-05,-6.9531e-05,0.00203482] + - [0.137416,-4.58015e-05,-9.50748e-05,0.00205442] +info: "ddp_iterations=10;ddp_time=6.414501" diff --git a/envs/quadrotor_v1/empty_0_easy/idbastar_v0_solution_v0.yaml b/envs/quadrotor_v1/empty_0_easy/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..05a83a8 --- /dev/null +++ b/envs/quadrotor_v1/empty_0_easy/idbastar_v0_solution_v0.yaml @@ -0,0 +1,183 @@ +time_stamp: 205.908 +cost: 0.8 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 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-0,0 +1,28 @@ +time_stamp: 1 +cost: 0.25 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0,0,1,0,0,0,1,0,0,0,0,0,0] +goal: [0,0,2,0,0,0,1,0,0,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 2 +states: + - [0,0,1,0,0,0,1,0,0,0,0,0,0] + - [0,0,2,0,0,0,1,0,0,0,0,0,0] +num_actions: 1 +actions: + - [1,0,0,0] +num_times: 2 +times: + - 0 + - 0.25 diff --git a/envs/quadrotor_v1/empty_0_easy/rrt_to_v0_solution_v0.yaml b/envs/quadrotor_v1/empty_0_easy/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..693add4 --- /dev/null +++ b/envs/quadrotor_v1/empty_0_easy/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,217 @@ +time_stamp: 1.1057e-316 +cost: 0.97 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,0,0,0,1,0,0,0,0,0,0] +goal: [0,0,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 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b/envs/quadrotor_v1/empty_1_easy/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,368 @@ +time_stamp: 53.0468 +cost: 1.73 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,0,0,0,1,0,0,0,0,0,0] +goal: [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0.396838 +max_collision: 0 +goal_distance: 0.66374 +start_distance: 0.392059 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 174 +states: + - [2.45638e-08,9.58349e-08,1,-0.0409074,-0.065052,-0.115655,0.990312,4.1823e-08,9.37906e-08,9.98342e-08,1.16166,-2.31915,-5.9034] + - [2.4982e-08,9.67728e-08,1,-0.0345562,-0.0783785,-0.143969,0.985868,-0.0175669,0.0141367,0.0473122,0.955602,-1.91915,-5.69648] + - [-0.000175644,0.000141464,1.00047,-0.0289796,-0.0894728,-0.171272,0.980725,-0.0388436,0.0274838,0.0942028,0.743716,-1.51915,-5.49279] + - [-0.00056408,0.000416301,1.00142,-0.0241651,-0.0983167,-0.197579,0.975045,-0.0632072,0.040358,0.14065,0.529702,-1.11915,-5.29172] + - 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a/envs/quadrotor_v1/empty_1_easy/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v1/empty_1_easy/idbastar_v0_opt_solution_v0.yaml new file mode 100644 index 0000000..113348d --- /dev/null +++ b/envs/quadrotor_v1/empty_1_easy/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,283 @@ +time_stamp: 174.541 +cost: 1.3 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,0,0,0,1,0,0,0,0,0,0] +goal: [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000106066 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 131 +states: + - [0,0,1,0,0,0,1,0,0,0,0,0,0] + - [0,0,1,0,0,0,1,0,0,0.0265454,-0.146137,0.146137,1.11762e-08] + - [0,0,1.00027,-0.000730687,0.000730687,5.5881e-11,0.999999,0,0,0.0524685,-0.27679,0.27679,2.18571e-08] + - [0,0,1.00079,-0.00211463,0.00211463,1.65164e-10,0.999996,0.000180945,0.000180945,0.0781864,-0.392677,0.392677,3.2221e-08] + - 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[0.561245,0.399703,-0.399703,4.37973e-08] + - [0.537093,0.450139,-0.450139,4.4859e-08] + - [0.514655,0.502145,-0.502145,4.59068e-08] + - [0.494331,0.55565,-0.55565,4.68084e-08] + - [0.476524,0.610567,-0.610567,4.79792e-08] + - [0.461543,0.6668,-0.6668,4.86238e-08] +info: "ddp_iterations=5;ddp_time=4.862295" diff --git a/envs/quadrotor_v1/empty_1_easy/idbastar_v0_solution_v0.yaml b/envs/quadrotor_v1/empty_1_easy/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..0d3b222 --- /dev/null +++ b/envs/quadrotor_v1/empty_1_easy/idbastar_v0_solution_v0.yaml @@ -0,0 +1,233 @@ +time_stamp: 296.504 +cost: 1.05 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,0,0,0,1,0,0,0,0,0,0] +goal: [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000325676 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 106 +states: + - [0,0,1,0,0,0,1,0,0,0,0,0,0] + - 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+1,28 @@ +time_stamp: 3 +cost: 0.306186 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0,0,1,0,0,0,1,0,0,0,0,0,0] +goal: [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 2 +states: + - [0,0,1,0,0,0,1,0,0,0,0,0,0] + - [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0] +num_actions: 1 +actions: + - [1,0,0,0] +num_times: 2 +times: + - 0 + - 0.306186 diff --git a/envs/quadrotor_v1/empty_1_easy/rrt_to_v0_solution_v0.yaml b/envs/quadrotor_v1/empty_1_easy/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..ef16279 --- /dev/null +++ b/envs/quadrotor_v1/empty_1_easy/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,201 @@ +time_stamp: 1.67585e-316 +cost: 0.89 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,0,0,0,1,0,0,0,0,0,0] +goal: [0.5,0.5,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00178183 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0.000298673 +num_states: 90 +states: + - [0,0,1,0,0,0,1,0,0,0,0,0,0] + - [0,0,1,0,0,0,1,0,0,0.049079,-0.399989,0.399989,-1.67475e-08] + - [0,0,1.00049,-0.00199994,0.00199994,-8.37372e-11,0.999996,0,0,0.0981572,-0.799975,0.799975,-3.26512e-08] + - [0,0,1.00147,-0.00599975,0.00599975,-2.4699e-10,0.999964,0.000588691,0.000588691,0.147233,-1.19996,1.19996,-4.77185e-08] + - [5.88691e-06,5.88691e-06,1.00294,-0.011999,0.011999,-4.85562e-10,0.999856,0.00235468,0.00235468,0.196289,-1.59994,1.59994,-6.1959e-08] + - [2.94337e-05,2.94337e-05,1.00491,-0.0199966,0.0199966,-7.95274e-10,0.9996,0.00588615,0.00588615,0.245281,-1.94836,1.94836,-7.53818e-08] + - [8.82952e-05,8.82952e-05,1.00736,-0.0297323,0.0297323,-1.17115e-09,0.999116,0.0117699,0.0117699,0.294123,-2.21661,2.21661,-8.79985e-08] + - 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b/envs/quadrotor_v1/quad_one_obs.yaml new file mode 100644 index 0000000..748ba9b --- /dev/null +++ b/envs/quadrotor_v1/quad_one_obs.yaml @@ -0,0 +1,40 @@ +name: quadrotor_ompl-obstacles +environment: + min: [0, 0, 0] + max: [6, 6, 6] + obstacles: + - type: box + center: [3, 3, 3] + size: [3, 3, 2] +robots: + - type: quad3d_omplapp + start: [ + 1., + 1., + 3., #p + 0, + 0, + 0, + 1, #quat + 0, + 0, + 0, #vel + 0, + 0, + 0, #ang vel + ] + goal: [ + 5., + 5., + 3., #p + 0, + 0, + 0, + 1, # quat + 0, + 0, + 0, # vel + 0, + 0, + 0, #ang vel + ] diff --git a/envs/quadrotor_v1/quad_one_obs/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v1/quad_one_obs/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..fe2333d --- /dev/null +++ b/envs/quadrotor_v1/quad_one_obs/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,658 @@ +time_stamp: 1802.48 +cost: 3.18 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [1,1,3,0,0,0,1,0,0,0,0,0,0] +goal: [5,5,3,0,0,0,1,0,0,0,0,0,0] +max_jump: 0.394124 +max_collision: 0 +goal_distance: 0.686876 +start_distance: 0.374867 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 319 +states: + - [1,1,3,0.223683,0.00302839,-0.472149,0.852662,-9.93537e-08,3.06268e-08,3.47976e-08,1.25155,0.215343,-1.54503] + - [1,1,3,0.229492,0.00271971,-0.47849,0.847569,-9.93537e-08,3.06268e-08,-0.0981,0.941962,0.615343,-1.47995] + - [1,1,2.99902,0.234926,0.00477188,-0.484048,0.842902,-9.93537e-08,3.06268e-08,-0.1962,0.654646,1.01534,-1.42267] + - [1,1,2.99706,0.240098,0.00913749,-0.488846,0.838629,-9.93537e-08,3.06268e-08,-0.2943,0.38483,1.41534,-1.37176] + - [1,1,2.99411,0.245097,0.0157778,-0.492891,0.834708,-9.93537e-08,3.06268e-08,-0.3924,0.132388,1.81534,-1.32726] + - [1,1,2.99019,0.250003,0.0246533,-0.496185,0.831078,-9.93537e-08,3.06268e-08,-0.4905,-0.10274,2.18218,-1.28722] + - 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+feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [1,1,3,0,0,0,1,0,0,0,0,0,0] +goal: [5,5,3,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 5.66691e-05 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 269 +states: + - [1,1,3,0,0,0,1,0,0,0,0,0,0] + - [1,1,3,0,0,0,1,0,0,-0.0918695,-0.080095,0.0917256,-0.00114593] + - [1,1,2.99908,-0.000400475,0.000458628,-5.72965e-06,1,0,0,-0.18211,-0.156306,0.178693,-0.0022579] + - [1,1,2.99726,-0.001182,0.00135209,-1.70185e-05,0.999998,8.7944e-06,7.67921e-06,-0.270622,-0.228651,0.26093,-0.00333605] + - [1,1,2.99455,-0.00232525,0.00265674,-3.3695e-05,0.999994,3.96465e-05,3.46492e-05,-0.357313,-0.297152,0.338469,-0.00438067] + - [1,1,2.99098,-0.003811,0.00434906,-5.5586e-05,0.999983,0.00011041,9.65789e-05,-0.442096,-0.361836,0.411346,-0.00539217] + - 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[0.0864676,0.396702,-0.341353,-0.00912037] + - [0.0672981,0.416694,-0.35784,-0.0093693] +info: "ddp_iterations=7;ddp_time=19.499736" diff --git a/envs/quadrotor_v1/quad_one_obs/idbastar_v0_solution_v0.yaml b/envs/quadrotor_v1/quad_one_obs/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..5991f0a --- /dev/null +++ b/envs/quadrotor_v1/quad_one_obs/idbastar_v0_solution_v0.yaml @@ -0,0 +1,507 @@ +time_stamp: 3132.96 +cost: 2.42 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [1,1,3,0,0,0,1,0,0,0,0,0,0] +goal: [5,5,3,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 8.68548e-05 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0.000141641 +num_states: 243 +states: + - [1,1,3,0,0,0,1,0,0,0,0,0,0] + - [1,1,3,0,0,0,1,0,0,-0.0980908,-0.103191,0.105499,-5.61872e-05] + - [1,1,2.99902,-0.000515956,0.000527494,-2.80936e-07,1,0,0,-0.196182,-0.201325,0.205783,-8.97901e-05] + - 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+ - [0.0203426,0.300199,-0.291269,-0.000772137] + - [9.94477e-05,0.322643,-0.312818,-0.00070088] + - [9.85152e-05,0.345221,-0.334464,-0.000619593] + - [9.76001e-05,0.367937,-0.356209,-0.000528425] + - [9.66999e-05,0.390796,-0.378053,-0.000425315] + - [9.58192e-05,0.413797,-0.399991,-0.000309862] + - [9.49595e-05,0.436937,-0.422015,-0.00018026] + - [9.41221e-05,0.460213,-0.444117,-3.59558e-05] + - [9.33085e-05,0.483615,-0.466278,0.000125097] + - [9.252e-05,0.507159,-0.488509,0.000303505] +info: "ddp_iterations=75;ddp_time=173.598498" diff --git a/envs/quadrotor_v1/quad_one_obs/rrt_to_v0_guess_v0.yaml b/envs/quadrotor_v1/quad_one_obs/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..2833265 --- /dev/null +++ b/envs/quadrotor_v1/quad_one_obs/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,46 @@ +time_stamp: 3 +cost: 2.8458 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [1,1,3,0,0,0,1,0,0,0,0,0,0] +goal: [5,5,3,0,0,0,1,0,0,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 8 +states: + - [1,1,3,0,0,0,1,0,0,0,0,0,0] + - [2.88961,0.725884,1.88168,0.0188655,-0.456971,0.079888,0.885686,0,0,0,0,0,0] + - [3.82271,1.07271,0.59413,0.380815,0.257802,-0.497252,0.735703,0,0,0,0,0,0] + - [4.85407,1.60845,1.88077,0.379675,0.769278,0.104319,0.503166,0,0,0,0,0,0] + - [5.21707,1.98884,3.53511,-0.208683,0.638731,0.597074,0.438151,0,0,0,0,0,0] + - [4.58258,3.77516,4.37246,0.162116,0.28373,0.891562,0.31358,0,0,0,0,0,0] + - [5.08686,4.23257,3.79111,-0.69498,-0.630502,-0.185239,0.291817,0,0,0,0,0,0] + - [5,5,3,0,0,0,1,0,0,0,0,0,0] +num_actions: 7 +actions: + - [1,0,0,0] + - [1,0,0,0] + - [1,0,0,0] + - [1,0,0,0] + - [1,0,0,0] + - [1,0,0,0] + - [1,0,0,0] +num_times: 8 +times: + - 0 + - 0.553196 + - 0.96007 + - 1.39353 + - 1.8275 + - 2.34559 + - 2.5694 + - 2.8458 diff --git a/envs/quadrotor_v1/quad_one_obs/rrt_to_v0_solution_v0.yaml b/envs/quadrotor_v1/quad_one_obs/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..0156775 --- /dev/null +++ b/envs/quadrotor_v1/quad_one_obs/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,479 @@ +time_stamp: 5.85941e-317 +cost: 2.28 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [1,1,3,0,0,0,1,0,0,0,0,0,0] +goal: [5,5,3,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000611669 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0.00402838 +num_states: 229 +states: + - [1,1,3,0,0,0,1,0,0,0,0,0,0] + - [1,1,3,0,0,0,1,0,0,-0.0980965,-0.112928,0.230894,-0.0584982] + - [1,1,2.99902,-0.00056464,0.00115447,-0.000292491,0.999999,0,0,-0.196193,-0.221187,0.449678,-0.116559] + - [1,1,2.99706,-0.00167058,0.00340285,-0.000875278,0.999992,9.09828e-09,4.44659e-09,-0.294289,-0.324825,0.656085,-0.174211] + - [1,1,2.99411,-0.00329478,0.00668318,-0.00174627,0.999971,3.75205e-08,1.83693e-08,-0.392385,-0.423884,0.849883,-0.231481] + - [1,1,2.99019,-0.0054144,0.0109323,-0.00290345,0.999921,9.66978e-08,4.7415e-08,-0.49048,-0.518395,1.03086,-0.2884] + - [1,1,2.98529,-0.00800686,0.0160856,-0.00434485,0.999829,1.99308e-07,9.78643e-08,-0.588576,-0.608379,1.19879,-0.344998] + - [1,1,2.9794,-0.0110497,0.0220775,-0.00606849,0.999677,3.59284e-07,1.76629e-07,-0.686671,-0.693853,1.35351,-0.401309] + - [1,1,2.97253,-0.0145207,0.028841,-0.00807236,0.999446,5.9178e-07,2.91233e-07,-0.784765,-0.77482,1.49485,-0.457368] + - [1,1,2.96469,-0.0183977,0.036308,-0.0103544,0.999118,9.13104e-07,4.49771e-07,-0.88286,-0.85128,1.62267,-0.513211] + - [1,1,2.95586,-0.0226586,0.0444092,-0.0129124,0.998673,1.34062e-06,6.60858e-07,-0.980954,-0.923222,1.73685,-0.568879] + - [1,1,2.94605,-0.0272815,0.0530746,-0.0157441,0.998094,1.89258e-06,9.33546e-07,-1.07905,-0.990626,1.83729,-0.624413] + - [1,1,2.93526,-0.0322445,0.0622331,-0.0188469,0.997363,2.58797e-06,1.27724e-06,-1.17714,-1.05347,1.92393,-0.679857] + - [1,1,2.92349,-0.037526,0.0718127,-0.0222183,0.996464,3.44627e-06,1.70157e-06,-1.27523,-1.11171,1.99671,-0.735259] + - [1,1,2.91073,-0.0431042,0.0817411,-0.0258554,0.995385,4.4872e-06,2.21631e-06,-1.37333,-1.16531,2.0556,-0.790669] + - [1,1,2.897,-0.0489578,0.0919453,-0.0297551,0.994115,5.73043e-06,2.83118e-06,-1.47142,-1.21422,2.1006,-0.846137] + - [1,1,2.88229,-0.0550654,0.102352,-0.0339143,0.992644,7.19527e-06,3.55576e-06,-1.56951,-1.25839,2.13173,-0.90172] + - [1,1,2.86659,-0.0614061,0.112888,-0.0383296,0.990967,8.90035e-06,4.39933e-06,-1.6676,-1.29774,2.14903,-0.957474] + - [1,1,2.84991,-0.0679591,0.123481,-0.0429975,0.989083,1.08633e-05,5.37071e-06,-1.7657,-1.33222,2.15256,-1.01346] + - [1,1,2.83226,-0.0747038,0.134056,-0.0479142,0.986992,1.31002e-05,6.47812e-06,-1.86379,-1.36173,2.14242,-1.06973] + - 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a/envs/quadrotor_v1/recovery.yaml b/envs/quadrotor_v1/recovery.yaml new file mode 100644 index 0000000..5b2333b --- /dev/null +++ b/envs/quadrotor_v1/recovery.yaml @@ -0,0 +1,20 @@ +name: quadrotor_ompl-recovery +environment: + min: [-2, -2, -2] # TODO: add position bounds as constraints? + max: [2, 2, 2] + obstacles: [] +robots: + - type: quad3d_omplapp + # self.x0 = np.array([0., 0., 1., + # 0., 0., 0., + # 0.0436194, -0.9990482, 0., 0., + # 0., 0., 0.], + # dtype=np.float64) + # + # self.xf = np.array([0., 0.15 , 1., + # 0., 0., 0., + # 1., 0., 0., 0., + # 0., 0., 0.], dtype=np.float64) + start: + [0.0, 0.0, 1.0, -0.9990482, 0., 0., 0.0436194, 0., 0., 0., 0., 0., 0.] + goal: [0., 0.15, 1., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0.] diff --git a/envs/quadrotor_v1/recovery/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v1/recovery/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..7bc894b --- /dev/null +++ b/envs/quadrotor_v1/recovery/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,506 @@ +time_stamp: 159.004 +cost: 2.42 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0] +goal: [0,0.15,1,0,0,0,1,0,0,0,0,0,0] +max_jump: 0.394977 +max_collision: 0 +goal_distance: 0.778536 +start_distance: 0.390058 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 243 +states: + - [-8.62596e-08,-2.10985e-08,1,-0.918098,0.0125607,0.347527,-0.190167,-1.05181e-08,-8.10558e-08,-8.42212e-08,2.24389,-0.230856,2.67648] + - [-8.63648e-08,-2.19091e-08,1,-0.919522,0.0289629,0.345848,-0.184474,-1.05181e-08,-8.10558e-08,-0.0981001,2.58644,-0.630856,2.27648] + - [-8.64699e-08,-2.27197e-08,0.999019,-0.920346,0.0444785,0.346221,-0.1764,-1.05181e-08,-8.10558e-08,-0.1962,2.90341,-1.03086,1.87648] + - [-8.65751e-08,-2.35302e-08,0.997057,-0.920555,0.0590408,0.348607,-0.16603,-1.05181e-08,-8.10558e-08,-0.2943,3.19613,-1.43086,1.47648] + - 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mode 100644 index 0000000..5de2b0d --- /dev/null +++ b/envs/quadrotor_v1/recovery/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,465 @@ +time_stamp: 388.612 +cost: 2.21 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0] +goal: [0,0.15,1,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 8.67429e-05 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 5.21712e-05 +num_states: 222 +states: + - [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0] + - [0,0,1,-0.999048,0,0,0.0436194,0,-4.46063e-07,-0.0980949,0.399984,-0.399981,0.0340499] + - [0,-4.46063e-09,0.999019,-0.998957,8.28528e-05,0.00200543,0.0456172,0,-8.85853e-07,-0.19619,0.799967,-0.799962,0.0654415] + - [0,-1.33192e-08,0.997057,-0.99875,0.000235278,0.00601561,0.0496118,1.99436e-08,-1.34037e-06,-0.294285,1.19995,-1.19994,0.0941908] + - 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[8.69559e-05,-0.139309,-0.119661,0.111208] + - [8.58747e-05,-0.148051,-0.127399,0.112315] + - [8.48016e-05,-0.15679,-0.135145,0.113424] + - [8.37375e-05,-0.165527,-0.142896,0.114534] + - [8.26834e-05,-0.174266,-0.15065,0.115648] +info: "ddp_iterations=81;ddp_time=122.366255" diff --git a/envs/quadrotor_v1/recovery/rrt_to_v0_guess_v0.yaml b/envs/quadrotor_v1/recovery/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..8a12b37 --- /dev/null +++ b/envs/quadrotor_v1/recovery/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,28 @@ +time_stamp: 1 +cost: 0.190895 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0] +goal: [0,0.15,1,0,0,0,1,0,0,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 2 +states: + - [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0] + - [0,0.15,1,0,0,0,1,0,0,0,0,0,0] +num_actions: 1 +actions: + - [1,0,0,0] +num_times: 2 +times: + - 0 + - 0.190895 diff --git a/envs/quadrotor_v1/recovery/rrt_to_v0_solution_v0.yaml b/envs/quadrotor_v1/recovery/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..dd4fd38 --- /dev/null +++ b/envs/quadrotor_v1/recovery/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,423 @@ +time_stamp: 1.32117e-316 +cost: 2 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0] +goal: [0,0.15,1,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.00160612 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0.0096175 +num_states: 201 +states: + - [0,0,1,-0.999048,0,0,0.0436194,0,0,0,0,0,0] + - [0,0,1,-0.999048,0,0,0.0436194,0,-1.03919e-06,-0.0980881,0.399989,-0.399986,0.0640268] + - [0,-1.03919e-08,0.999019,-0.998957,0.000232593,0.00201199,0.0456173,0,-2.06793e-06,-0.196176,0.799977,-0.799972,0.122476] + - 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[-0.000294595,-0.174003,0.032368,0.247104] + - [-0.0012936,-0.169151,0.0448969,0.252825] + - [-0.00473659,-0.174633,0.05787,0.258416] + - [-0.000844824,-0.141902,0.0659133,0.26374] + - [-0.00108405,-0.160839,0.0605648,0.268746] + - [-0.00292885,-0.150183,0.0359172,0.273642] + - [-0.00662971,-0.120774,-0.00462661,0.278234] + - [-0.00060228,-0.131437,-0.0555441,0.282697] + - [7.51434e-05,-0.143075,-0.107394,0.28722] +info: "ddp_iterations=100;ddp_time=327.969696" diff --git a/envs/quadrotor_v1/recovery_with_obs.yaml b/envs/quadrotor_v1/recovery_with_obs.yaml new file mode 100644 index 0000000..19d926c --- /dev/null +++ b/envs/quadrotor_v1/recovery_with_obs.yaml @@ -0,0 +1,23 @@ +name: quadrotor_ompl-recovery_with_obstacles +environment: + min: [-2, -2, -3] # TODO: add position bounds as constraints? + max: [2, 2, 3] + obstacles: + - type: box + center: [.25, .25, 1.5] + size: [1.5, 1.5, .3] +robots: + - type: quad3d_omplapp + # self.x0 = np.array([0., 0., 1., + # 0., 0., 0., + # 0.0436194, -0.9990482, 0., 0., + # 0., 0., 0.], + # dtype=np.float64) + # + # self.xf = np.array([0., 0.15 , 1., + # 0., 0., 0., + # 1., 0., 0., 0., + # 0., 0., 0.], dtype=np.float64) + start: + [0.0, 0.0, 0.8, -0.9990482, 0., 0., 0.0436194, 0., 0., 0., 0., 0., 0.] + goal: [0., 00, 2.5, 0., 0., 0., 1., 0., 0., 0., 0., 0., 0.] diff --git a/envs/quadrotor_v1/recovery_with_obs/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v1/recovery_with_obs/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..31853d8 --- /dev/null +++ b/envs/quadrotor_v1/recovery_with_obs/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,644 @@ +time_stamp: 2335.82 +cost: 3.11 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0] +goal: [0,0,2.5,0,0,0,1,0,0,0,0,0,0] +max_jump: 0.394977 +max_collision: 0 +goal_distance: 0.777035 +start_distance: 0.390058 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 312 +states: + - [-2.63292e-09,-3.08694e-09,0.8,-0.918098,0.0125607,0.347527,-0.190167,-3.88796e-08,-5.44048e-08,7.87214e-08,2.24389,-0.230856,2.67648] + - [-3.02171e-09,-3.63099e-09,0.8,-0.919522,0.0289628,0.345848,-0.184474,-3.88796e-08,-5.44048e-08,-0.0980999,2.58644,-0.630856,2.27648] + - [-3.41051e-09,-4.17503e-09,0.799019,-0.920346,0.0444784,0.346221,-0.1764,-3.88796e-08,-5.44048e-08,-0.1962,2.90341,-1.03086,1.87648] + - [-3.79931e-09,-4.71908e-09,0.797057,-0.920555,0.0590407,0.348607,-0.16603,-3.88796e-08,-5.44048e-08,-0.2943,3.19613,-1.43086,1.47648] + - [-4.1881e-09,-5.26313e-09,0.794114,-0.920112,0.072584,0.352961,-0.153441,-3.88796e-08,-5.44048e-08,-0.3924,3.46595,-1.83086,1.07648] + - [-4.5769e-09,-5.80718e-09,0.79019,-0.918959,0.0850419,0.359227,-0.1387,-3.88796e-08,-5.44048e-08,-0.4905,3.71413,-2.23086,0.67648] + - [-4.96569e-09,-6.35123e-09,0.785285,-0.91702,0.096347,0.367342,-0.121869,-3.88796e-08,-5.44048e-08,-0.5886,3.94192,-2.63086,0.27648] + - 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[0.678049,-0.127764,0.263553,0.847559] + - [0.741976,-0.138551,0.144949,0.790449] + - [0.807644,-0.146875,0.0363883,0.734773] + - [0,-0.492754,-1.47507,-0.478736] + - [0,-0.46574,-1.43774,-0.474108] + - [0,-0.439007,-1.40031,-0.468881] + - [0,-0.412594,-1.36275,-0.463108] + - [0,-0.386536,-1.32504,-0.456843] + - [0,-0.360866,-1.28715,-0.45014] diff --git a/envs/quadrotor_v1/recovery_with_obs/idbastar_v0_opt_solution_v0.yaml b/envs/quadrotor_v1/recovery_with_obs/idbastar_v0_opt_solution_v0.yaml new file mode 100644 index 0000000..73cfc0d --- /dev/null +++ b/envs/quadrotor_v1/recovery_with_obs/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,653 @@ +time_stamp: 2972.02 +cost: 3.15 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0] +goal: [0,0,2.5,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000144788 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 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[0.848849,0.444444,-0.110885,0.0253658] + - [0.80437,0.548484,-0.125911,0.0260667] + - [0.760046,0.656991,-0.141346,0.0268528] + - [0.716737,0.769812,-0.157174,0.0277211] + - [0.675384,0.886789,-0.173381,0.0286664] + - [0.637013,1.00777,-0.189951,0.0296818] + - [0.602735,1.13263,-0.206874,0.0307587] + - [0.573737,1.26124,-0.224142,0.0318865] + - [0.551293,1.39353,-0.241752,0.0330528] + - [0.536754,1.52946,-0.259707,0.0342432] +info: "ddp_iterations=39;ddp_time=107.729140" diff --git a/envs/quadrotor_v1/recovery_with_obs/rrt_to_v0_guess_v0.yaml b/envs/quadrotor_v1/recovery_with_obs/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..349c1fd --- /dev/null +++ b/envs/quadrotor_v1/recovery_with_obs/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,34 @@ +time_stamp: 5 +cost: 0.854884 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0] +goal: [0,0,2.5,0,0,0,1,0,0,0,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 4 +states: + - [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0] + - [0.797479,-1.05981,1.29047,-0.68258,0.168716,0.213856,-0.678149,0,0,0,0,0,0] + - [0.523738,-0.453767,2.4161,-0.86018,0.284005,0.259364,-0.334905,0,0,0,0,0,0] + - [0,0,2.5,0,0,0,1,0,0,0,0,0,0] +num_actions: 3 +actions: + - [1,0,0,0] + - [1,0,0,0] + - [1,0,0,0] +num_times: 4 +times: + - 0 + - 0.353529 + - 0.680377 + - 0.854884 diff --git a/envs/quadrotor_v1/recovery_with_obs/rrt_to_v0_solution_v0.yaml b/envs/quadrotor_v1/recovery_with_obs/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..59eff22 --- /dev/null +++ b/envs/quadrotor_v1/recovery_with_obs/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,865 @@ +time_stamp: 1.54484e-316 +cost: 4.21 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0] +goal: [0,0,2.5,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 2.17943e-05 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0.0024798 +num_states: 422 +states: + - [0,0,0.8,-0.999048,0,0,0.0436194,0,0,0,0,0,0] + - [0,0,0.8,-0.999048,0,0,0.0436194,0,1.3565e-07,-0.0981016,-0.333576,-0.399981,0.0561998] + - [0,1.3565e-09,0.799019,-0.999118,0.000193497,0.00201026,0.041953,0,2.73544e-07,-0.196203,-0.654447,-0.799962,0.109049] + - [0,4.09193e-09,0.797057,-0.999233,0.000563875,0.00603,0.0386827,-6.39528e-09,4.07553e-07,-0.294305,-0.962426,-1.19994,0.158536] + - [-6.39528e-11,8.16746e-09,0.794114,-0.999353,0.00109482,0.0120582,0.0338718,-2.56858e-08,5.31762e-07,-0.392406,-1.2574,-1.59992,0.204651] + - [-3.2081e-10,1.34851e-08,0.79019,-0.999416,0.00177058,0.0200935,0.0275836,-6.43219e-08,6.40669e-07,-0.490508,-1.53917,-1.99205,0.247382] + - 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[0.885916,0.273622,0.397557,-1.07595e-06] + - [0.898533,0.252559,0.413051,-1.24647e-06] + - [0.911553,0.230346,0.426994,-1.3984e-06] + - [0.924889,0.207171,0.439296,-1.53066e-06] + - [0.938455,0.183235,0.449882,-1.64245e-06] + - [0.952159,0.158742,0.4587,-1.73321e-06] + - [0.965913,0.133897,0.465716,-1.80266e-06] + - [0.979629,0.108915,0.470911,-1.85077e-06] + - [0.99322,0.0840019,0.474295,-1.87778e-06] + - [1.0066,0.0593647,0.475886,-1.88416e-06] + - [1.0197,0.0352016,0.475731,-1.87064e-06] + - [1.03244,0.0117062,0.473886,-1.83817e-06] + - [1.04475,-0.0109398,0.470427,-1.78791e-06] + - [1.05657,-0.0325648,0.465446,-1.72118e-06] + - [1.06785,-0.0530111,0.459051,-1.6395e-06] + - [1.07852,-0.0721357,0.451354,-1.54444e-06] + - [1.08856,-0.0898116,0.442491,-1.41692e-06] + - [1.09792,-0.105929,0.432594,4.57118e-06] + - [1.10657,-0.120394,0.421813,0.00164893] + - [1.11451,-0.133134,0.410296,0.146218] + - [1.1217,-0.144092,0.398199,0.170338] + - [1.12814,-0.1532,0.385692,0.206377] + - [1.13384,-0.16045,0.372931,0.251388] + - [1.1388,-0.165864,0.36007,0.273645] + - [1.14305,-0.169482,0.347259,0.299884] + - [1.1466,-0.171351,0.33464,0.330081] + - [1.14949,-0.171541,0.322348,0.353892] + - [1.15173,-0.17014,0.310503,0.37782] + - [1.15337,-0.16724,0.299218,0.401822] + - [1.15445,-0.162945,0.288593,0.425859] + - [1.155,-0.157367,0.278714,0.449895] + - [1.15508,-0.150631,0.269655,0.473897] + - [1.15474,-0.142868,0.261475,0.497835] + - [1.15403,-0.134213,0.254217,0.521683] + - [1.15302,-0.12481,0.247912,0.54542] + - [1.15176,-0.114804,0.242575,0.569025] + - [1.15032,-0.104343,0.238208,0.592485] + - [1.14875,-0.0935775,0.234798,0.615787] + - [1.14713,-0.0826579,0.232319,0.638921] + - [1.1455,-0.0717327,0.230732,0.661879] + - [1.14393,-0.0609478,0.229991,0.684661] + - [1.14245,-0.0504449,0.230029,0.707261] + - [1.14111,-0.0403595,0.230781,0.729681] + - [1.13995,-0.0308201,0.232163,0.751923] + - [1.13899,-0.0219466,0.234092,0.773987] + - [1.13825,-0.0138498,0.236476,0.795876] + - [1.13774,-0.00663118,0.239219,0.817596] + - [1.13748,-0.000381608,0.242224,0.83915] + - [1.13745,0.00481656,0.245397,0.860538] + - [1.13764,0.00889158,0.248638,0.881767] + - [1.13805,0.0117792,0.251856,0.902837] + - [1.13865,0.0134254,0.254959,0.923748] + - [1.13941,0.0137809,0.257864,0.944501] + - [1.14032,0.0128036,0.260488,0.965094] + - [1.14135,0.0104581,0.26276,0.985524] + - [1.14246,0.00671318,0.264613,1.00579] + - [1.14365,0.00154065,0.265988,1.02588] + - [1.14488,-0.00508538,0.266834,1.04579] + - [1.14615,-0.0131901,0.267109,1.06551] + - [1.14743,-0.0227989,0.266779,1.08503] + - [1.14873,-0.0339402,0.265819,1.10434] + - [1.15002,-0.0466472,0.264214,1.12342] + - [1.15131,-0.0609614,0.261962,1.14227] + - [1.1526,-0.0769358,0.259072,1.16085] + - [1.1539,-0.09464,0.255572,1.17917] + - [1.15523,-0.114161,0.251508,1.1972] + - [1.1566,-0.135603,0.246941,1.21491] + - [1.15805,-0.159075,0.241946,1.2323] + - [1.1596,-0.184687,0.236606,1.24933] + - [1.1613,-0.212542,0.23101,1.26599] + - [1.1632,-0.242724,0.225252,1.28224] +info: "ddp_iterations=100;ddp_time=1958.529541" diff --git a/envs/quadrotor_v1/window.yaml b/envs/quadrotor_v1/window.yaml new file mode 100644 index 0000000..dbe98da --- /dev/null +++ b/envs/quadrotor_v1/window.yaml @@ -0,0 +1,53 @@ +name: quadrotor_ompl-window +environment: + min: [1, 0.5, 1] + max: [5, 5.5, 3] + obstacles: + - type: box + center: [4, 3, 2] + size: [2, .3, 2] + - type: box + center: [1.1, 3, 1.9] + size: [.2, .3, 1] + # horizontal + - type: box + center: [2, 3, 2.7] + size: [2, .3, .6] + # horizontal + - type: box + center: [2, 3, 1.2] + size: [2, .3, .4] +robots: + - type: quad3d_omplapp + start: [ + 4., + 1., + 2., #p + 0, + 0, + 0, + 1, #quat + 0, + 0, + 0, #vel + 0, + 0, + 0, #ang vel + ] + + goal: [ + # 4.19647, 2.42183, 2.08445, + 4., + 5., + 2., #p + 0, + 0, + 0, + 1, # quat + 0, + 0, + 0, # vel + 0, + 0, + 0, #ang vel + ] diff --git a/envs/quadrotor_v1/window/idbastar_v0_db_solution_v0.yaml b/envs/quadrotor_v1/window/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..2c27a81 --- /dev/null +++ b/envs/quadrotor_v1/window/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,634 @@ +time_stamp: 2696.7 +cost: 3.06 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [4,1,2,0,0,0,1,0,0,0,0,0,0] +goal: [4,5,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0.397137 +max_collision: 0 +goal_distance: 0.767216 +start_distance: 0.380938 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 307 +states: + - [4,1,2,0.125794,-0.297686,0.0471024,0.945167,9.19922e-08,-4.4514e-09,-8.28919e-08,-3.17065,0.416844,2.86237] + - [4,1,2,0.106424,-0.298194,0.0561608,0.94689,9.19922e-08,-4.4514e-09,-0.0981001,-3.06179,0.595374,2.69663] + - [4,1,1.99902,0.0877191,-0.297607,0.0646671,0.948448,9.19922e-08,-4.4514e-09,-0.1962,-2.95039,0.766458,2.53726] + - [4,1,1.99706,0.0696882,-0.295981,0.0726321,0.949876,9.19922e-08,-4.4514e-09,-0.2943,-2.8367,0.92985,2.38407] + - [4,1,1.99411,0.052338,-0.293372,0.0800672,0.951201,9.19922e-08,-4.4514e-09,-0.3924,-2.72097,1.08532,2.23684] + - [4,1,1.99019,0.0356736,-0.289835,0.0869843,0.952448,9.19922e-08,-4.4514e-09,-0.4905,-2.60342,1.23268,2.09535] + - [4,1,1.98529,0.019698,-0.285425,0.0933958,0.953636,9.19922e-08,-4.4514e-09,-0.5886,-2.48432,1.37173,1.95941] + - [4,1,1.9794,0.00441323,-0.280195,0.0993141,0.954782,-0.00114379,-0.000192275,-0.684931,-2.3639,1.50232,1.82883] + - [3.99999,0.999998,1.97255,-0.0101799,-0.274198,0.104752,0.955897,-0.00532032,-0.000693311,-0.77644,-2.24243,1.62431,1.7034] + - [3.99994,0.999991,1.96479,-0.0240817,-0.267487,0.109722,0.956991,-0.0124214,-0.00120577,-0.86308,-2.12018,1.73761,1.58295] + - [3.99981,0.999979,1.95615,-0.0372935,-0.260112,0.114238,0.958071,-0.0223202,-0.00144702,-0.944804,-1.99745,1.84214,1.46728] + - [3.99959,0.999965,1.94671,-0.0498175,-0.252124,0.118312,0.959142,-0.0348716,-0.00114916,-1.02156,-1.87451,1.93787,1.35623] + - [3.99924,0.999953,1.93649,-0.061657,-0.243573,0.121956,0.960207,-0.0499131,-5.90505e-05,-1.09331,-1.75166,2.0248,1.24961] + - [3.99874,0.999953,1.92556,-0.0728162,-0.234509,0.125185,0.961266,-0.0672657,0.00206138,-1.16001,-1.62921,2.10296,1.14727] + - [3.99807,0.999973,1.91396,-0.0833003,-0.224979,0.12801,0.96232,-0.0867349,0.0054348,-1.22161,-1.50746,2.17239,1.04904] + - [3.9972,1.00003,1.90174,-0.0931153,-0.215032,0.130444,0.963367,-0.108111,0.010268,-1.27808,-1.38668,2.23319,0.954773] + - [3.99612,1.00013,1.88896,-0.102268,-0.204714,0.132499,0.964405,-0.131173,0.0167515,-1.32937,-1.26719,2.28549,0.86431] + - [3.99481,1.0003,1.87567,-0.110768,-0.194072,0.134189,0.965433,-0.155684,0.0250589,-1.37546,-1.14924,2.32943,0.777508] + - [3.99325,1.00055,1.86191,-0.118622,-0.18315,0.135524,0.966446,-0.1814,0.035346,-1.41633,-1.03312,2.36519,0.694228] + - [3.99144,1.0009,1.84775,-0.125842,-0.171993,0.136518,0.967442,-0.208067,0.0477512,-1.45195,-0.919096,2.39297,0.614335] + - [3.98936,1.00138,1.83323,-0.132439,-0.160644,0.137182,0.968419,-0.235422,0.0623939,-1.48231,-0.807405,2.41301,0.537697] + - [3.987,1.002,1.81841,-0.138424,-0.149145,0.137527,0.969371,-0.263197,0.0793748,-1.50741,-0.698283,2.42555,0.464189] + - [3.98437,1.0028,1.80333,-0.143811,-0.137535,0.137566,0.970298,-0.291122,0.0987758,-1.52724,-0.591952,2.43088,0.393691] + - [3.98146,1.00378,1.78806,-0.148614,-0.125855,0.13731,0.971195,-0.318922,0.120659,-1.54181,-0.488613,2.42928,0.326086] + - [3.97827,1.00499,1.77264,-0.152848,-0.114143,0.13677,0.972061,-0.346325,0.145068,-1.55114,-0.388451,2.42108,0.261261] + - [3.97481,1.00644,1.75713,-0.156529,-0.102433,0.135958,0.972893,-0.373058,0.172026,-1.55525,-0.291633,2.40659,0.19911] + - [3.97108,1.00816,1.74158,-0.159674,-0.0907613,0.134883,0.97369,-0.398855,0.201538,-1.55416,-0.198307,2.38618,0.139529] + - [3.96709,1.01018,1.72604,-0.1623,-0.0791604,0.133558,0.974451,-0.423452,0.233592,-1.54791,-0.108604,2.36019,0.0824177] + - [3.96285,1.01251,1.71056,-0.164427,-0.0676613,0.131992,0.975174,-0.446595,0.268156,-1.53655,-0.022631,2.329,0.0276807] + - [3.95839,1.0152,1.69519,-0.166072,-0.0562933,0.130196,0.975859,-0.468037,0.305183,-1.52011,0.0595204,2.29297,-0.0247739] + - [3.95371,1.01825,1.67999,-0.167257,-0.0450836,0.128179,0.976505,-0.487543,0.344609,-1.49864,0.13778,2.25251,-0.0750343] + - [3.94883,1.02169,1.665,-0.168,-0.0340575,0.125952,0.977114,-0.504889,0.386354,-1.47221,0.212098,2.20799,-0.123186] + - [3.94378,1.02556,1.65028,-0.168323,-0.0232382,0.123524,0.977686,-0.519862,0.430325,-1.44087,0.282442,2.15981,-0.169309] + - [3.93858,1.02986,1.63587,-0.168246,-0.012647,0.120904,0.978221,-0.532265,0.476417,-1.40467,0.348799,2.10835,-0.213483] + - [3.93326,1.03462,1.62183,-0.167792,-0.00230305,0.118101,0.97872,-0.541893,0.524403,-1.364,0.411169,2.05402,-0.255783] + - 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b/envs/quadrotor_v1/window/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,533 @@ +time_stamp: 3289.97 +cost: 2.55 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [4,1,2,0,0,0,1,0,0,0,0,0,0] +goal: [4,5,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 6.4487e-05 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 256 +states: + - [4,1,2,0,0,0,1,0,0,0,0,0,0] + - [4,1,2,0,0,0,1,0,0,-0.0123469,-0.121941,-0.180285,0.00580036] + - [4,1,1.99988,-0.000609703,-0.000901423,2.90018e-05,0.999999,0,0,-0.0246392,-0.235144,-0.34547,0.0112908] + - [4,1,1.99963,-0.00178542,-0.00262877,8.54489e-05,0.999995,-0.000155446,0.000105134,-0.0365184,-0.339883,-0.496073,0.0164751] + - [4,1,1.99926,-0.00348482,-0.0051091,0.000167784,0.999981,-0.000612615,0.00041558,-0.0476698,-0.436428,-0.632606,0.021359] + - 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b/envs/quadrotor_v1/window/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..b24f49f --- /dev/null +++ b/envs/quadrotor_v1/window/idbastar_v0_solution_v0.yaml @@ -0,0 +1,459 @@ +time_stamp: 4049.4 +cost: 2.18 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [4,1,2,0,0,0,1,0,0,0,0,0,0] +goal: [4,5,2,0,0,0,1,0,0,0,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000116574 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 5.13474e-05 +num_states: 219 +states: + - [4,1,2,0,0,0,1,0,0,0,0,0,0] + - [4,1,2,0,0,0,1,0,0,-0.0273852,-0.173066,-0.265117,0.0165044] + - [4,1,1.99973,-0.000865332,-0.00132558,8.25218e-05,0.999999,0,0,-0.0546313,-0.333767,-0.506921,0.0320415] + - [4,1,1.99918,-0.00253416,-0.00386017,0.00024271,0.999989,-0.00019036,0.000124243,-0.0809332,-0.482434,-0.726111,0.0466249] + - 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+info: "ddp_iterations=17;ddp_time=70.040744" diff --git a/envs/unicycle1_v0/bugtrap_0/idbastar_v0_db_solution_v0.yaml b/envs/unicycle1_v0/bugtrap_0/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..bbc7ca0 --- /dev/null +++ b/envs/unicycle1_v0/bugtrap_0/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,518 @@ +time_stamp: 1926.16 +cost: 24.8 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [3.8,3,0] +goal: [5.2,3,0] +max_jump: 0.148523 +max_collision: 0 +goal_distance: 0.178687 +start_distance: 0.00667453 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 249 +states: + - [3.8,3,0.013349] + - [3.78947,2.99986,-0.036651] + - [3.77646,3.00034,-0.086651] + - [3.76111,3.00167,-0.136651] + - [3.7435,3.00409,-0.186651] + - [3.72372,3.00783,-0.236458] + - [3.70193,3.01308,-0.286232] + - [3.67825,3.02005,-0.335968] + - [3.65285,3.02891,-0.385661] + - [3.62596,3.03983,-0.435307] + - [3.59781,3.05292,-0.484902] + - 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b/envs/unicycle1_v0/bugtrap_0/idbastar_v0_opt_solution_v0.yaml new file mode 100644 index 0000000..83dc7c5 --- /dev/null +++ b/envs/unicycle1_v0/bugtrap_0/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,475 @@ +time_stamp: 4809.11 +cost: 22.6 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [3.8,3,0] +goal: [5.2,3,0] +max_jump: 0 +max_collision: 0 +goal_distance: 6.09047e-05 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 227 +states: + - [3.8,3,0] + - [3.7532,3,-0.00357398] + - [3.70635,3.00017,-0.00733385] + - [3.65944,3.00051,-0.0112368] + - [3.61247,3.00104,-0.0152389] + - [3.56547,3.00176,-0.0192967] + - [3.51843,3.00266,-0.0233673] + - [3.47136,3.00376,-0.027409] + - [3.42429,3.00505,-0.0313797] + - [3.37722,3.00653,-0.0352324] + - [3.33015,3.00819,-0.0389079] + - [3.2831,3.01002,-0.0423232] + - [3.23605,3.01201,-0.0453642] + - [3.189,3.01415,-0.0478987] + - [3.14193,3.01641,-0.049809] + - 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+ - [-0.5,-0.5] + - [-0.5,-0.5] + - [-0.5,-0.5] + - [-0.466783,-0.5] + - [-0.402567,-0.5] + - [-0.313129,-0.5] + - [-0.207298,-0.5] + - [-0.104166,-0.5] + - [-0.0206997,-0.5] + - [0.00176714,-0.5] + - [0.0334306,-0.5] + - [0.0981893,-0.5] + - [0.188453,-0.5] + - [0.29297,-0.5] + - [0.391809,-0.5] + - [0.466013,-0.5] + - [0.5,-0.5] + - [0.5,-0.5] + - [0.5,-0.5] +info: "ddp_iterations=26;ddp_time=577.755311" diff --git a/envs/unicycle1_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml b/envs/unicycle1_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..a19f1b3 --- /dev/null +++ b/envs/unicycle1_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,55 @@ +time_stamp: 6 +cost: 24.9089 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [3.8,3,0] +goal: [5.2,3,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 11 +states: + - [3.8,3,0] + - [2.82736,3.07217,1.5711] + - [1.66627,2.90828,2.57239] + - [1.16604,2.70812,3.04229] + - [0.967812,1.34129,2.65199] + - [1.86295,0.804452,1.93546] + - [2.44405,0.594336,-2.70663] + - [3.14194,1.0135,-2.31685] + - [4.77307,1.03386,-1.60386] + - [5.19528,1.75737,-0.185884] + - [5.2,3,0] +num_actions: 10 +actions: + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] +num_times: 11 +times: + - 0 + - 3.1422 + - 5.48739 + - 6.56496 + - 9.32723 + - 11.4148 + - 14.697 + - 16.3251 + - 19.5877 + - 22.4236 + - 24.9089 diff --git a/envs/unicycle1_v0/bugtrap_0/rrt_to_v0_solution_v0.yaml b/envs/unicycle1_v0/bugtrap_0/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..9015348 --- /dev/null +++ b/envs/unicycle1_v0/bugtrap_0/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,809 @@ +time_stamp: 2.08939e-316 +cost: 39.3 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [3.8,3,0] +goal: [5.2,3,0] 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file mode 100644 index 0000000..2c614fd --- /dev/null +++ b/envs/unicycle1_v0/kink_0/idbastar_v0_solution_v0.yaml @@ -0,0 +1,287 @@ +time_stamp: 9783.23 +cost: 13.2 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0.5,4,1.55] +goal: [5.5,4,1.55] +max_jump: 0 +max_collision: 0 +goal_distance: 9.60542e-05 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 133 +states: + - [0.5,4,1.55] + - [0.498961,3.95002,1.5] + - [0.495425,3.90017,1.45] + - [0.489402,3.85055,1.4] + - [0.480909,3.80131,1.35] + - [0.471078,3.75751,1.3] + - [0.462,3.72481,1.25] + - [0.455392,3.70492,1.2] + - [0.452982,3.69872,1.15] + - [0.456241,3.70601,1.1] + - [0.466258,3.72569,1.05] + - [0.48367,3.75604,1] + - [0.508567,3.79482,0.95] + - [0.537626,3.83545,0.9] + - [0.568691,3.8746,0.85] + - [0.601683,3.91215,0.8] + - [0.636519,3.94802,0.75] + - [0.673093,3.98209,0.7] + - [0.711327,4.0143,0.65] + - [0.751125,4.04455,0.6] + - 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[0.5,0.277809] + - [0.5,0.269797] + - [0.5,0.262518] + - [0.5,0.255768] + - [0.5,0.249653] + - [0.5,0.244296] + - [0.5,0.239803] + - [0.5,0.236234] + - [0.5,0.231955] + - [0.5,0.240929] + - [0.5,0.261187] + - [0.5,0.259386] + - [0.5,0.271331] + - [0.5,0.282629] + - [0.5,0.288213] + - [0.5,0.295309] + - [0.5,0.301693] + - [0.5,0.31033] + - [0.5,0.319917] + - [0.5,0.330485] + - [0.5,0.342063] + - [0.5,0.354662] + - [0.5,0.368291] + - [0.5,0.382962] + - [0.5,0.398763] + - [0.5,0.418257] + - [0.5,0.435143] + - [0.5,0.498093] + - [0.5,0.498951] + - [0.5,0.499859] + - [0.5,0.5] + - [0.49918,0.5] + - [0.480233,0.5] + - [0.443515,0.5] + - [0.415054,0.5] + - [0.382285,0.5] + - [0.348918,0.5] + - [0.31698,0.5] + - [0.284066,0.5] + - [0.250273,0.5] + - [0.215784,0.5] + - [0.180915,0.5] + - [0.146259,0.5] + - [0.114808,0.5] +info: "ddp_iterations=43;ddp_time=600.183584" diff --git a/envs/unicycle1_v0/parallelpark_0/idbastar_v0_db_solution_v0.yaml b/envs/unicycle1_v0/parallelpark_0/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..37cd9cb --- /dev/null +++ b/envs/unicycle1_v0/parallelpark_0/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,116 @@ +time_stamp: 0.597248 +cost: 4.7 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0.7,0.8,0] +goal: [1.9,0.3,0] +max_jump: 0.0425962 +max_collision: 0 +goal_distance: 0.24895 +start_distance: 0.0729399 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 48 +states: + - [0.7,0.8,0.14588] + - [0.676873,0.796602,0.095903] + - [0.653349,0.794339,0.0459442] + - [0.629543,0.793245,-0.0039919] + - [0.605584,0.79334,-0.0539056] + - [0.581595,0.794635,-0.103797] + - [0.557715,0.797122,-0.153668] + - [0.534043,0.800789,-0.203516] + - [0.510701,0.805606,-0.200036] + - [0.559704,0.795671,-0.248842] + - [0.608164,0.783357,-0.297209] + - [0.655972,0.768714,-0.345161] + - [0.703023,0.751797,-0.392687] + - [0.749217,0.732663,-0.439744] + - [0.79446,0.711378,-0.393603] + - [0.840637,0.692202,-0.347158] + - [0.887654,0.67519,-0.300675] + - [0.935411,0.660382,-0.254799] + - [0.983796,0.64778,-0.208809] + - [1.03271,0.637415,-0.161988] + - [1.08206,0.629351,-0.114429] + - [1.13173,0.623642,-0.0663178] + - [1.18162,0.620328,-0.0176415] + - [1.23161,0.619446,0.0316177] + - [1.28159,0.621027,0.0814944] + - [1.33142,0.625097,0.131494] + - [1.38084,0.631633,0.181136] + - [1.42884,0.640425,0.14588] + - [1.40572,0.637027,0.095903] + - [1.38219,0.634764,0.0459442] + - [1.35839,0.63367,-0.0039919] + - [1.33443,0.633766,-0.0539056] + - [1.31044,0.63506,-0.103797] + - [1.28656,0.637548,-0.153668] + - [1.26289,0.641214,-0.203516] + - [1.23955,0.646031,-0.200036] + - [1.28855,0.636096,-0.248842] + - [1.33701,0.623782,-0.297209] + - [1.38482,0.609139,-0.345161] + - [1.43187,0.592222,-0.392687] + - [1.47806,0.573088,-0.439744] + - [1.5233,0.551803,-0.393603] + - [1.56948,0.532627,-0.347158] + - [1.6165,0.515616,-0.300675] + - [1.66426,0.500807,-0.254799] + - [1.71264,0.488205,-0.208809] + - [1.76155,0.47784,-0.161988] + - [1.8109,0.469776,-0.114429] +num_actions: 47 +actions: + - [-0.233749,-0.499766] + - [-0.236329,-0.499588] + - [-0.238308,-0.499361] + - [-0.2396,-0.499137] + - [-0.24023,-0.498915] + - [-0.240099,-0.498707] + - [-0.239542,-0.498486] + - [-0.238338,-0.498267] + - [0.5,-0.488059] + - [0.5,-0.483677] + - [0.5,-0.47952] + - [0.5,-0.47526] + - [0.5,-0.470567] + - [0.5,0.461414] + - [0.5,0.464446] + - [0.5,0.464833] + - [0.5,0.458763] + - [0.5,0.459899] + - [0.5,0.468205] + - [0.5,0.475592] + - [0.5,0.481111] + - [0.5,0.486763] + - [0.5,0.492592] + - [0.5,0.498768] + - [0.5,0.5] + - [0.498482,0.496412] + - [0.488048,0.499362] + - [-0.233749,-0.499766] + - [-0.236329,-0.499588] + - [-0.238308,-0.499361] + - [-0.2396,-0.499137] + - [-0.24023,-0.498915] + - [-0.240099,-0.498707] + - [-0.239542,-0.498486] + - [-0.238338,-0.498267] + - [0.5,-0.488059] + - [0.5,-0.483677] + - [0.5,-0.47952] + - [0.5,-0.47526] + - [0.5,-0.470567] + - [0.5,0.461414] + - [0.5,0.464446] + - [0.5,0.464833] + - [0.5,0.458763] + - [0.5,0.459899] + - [0.5,0.468205] + - [0.5,0.475592] diff --git a/envs/unicycle1_v0/parallelpark_0/idbastar_v0_opt_solution_v0.yaml b/envs/unicycle1_v0/parallelpark_0/idbastar_v0_opt_solution_v0.yaml new file mode 100644 index 0000000..8b79422 --- /dev/null +++ b/envs/unicycle1_v0/parallelpark_0/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,95 @@ +time_stamp: 326.757 +cost: 3.6 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0.7,0.8,0] +goal: [1.9,0.3,0] +max_jump: 0 +max_collision: 0 +goal_distance: 5.84191e-05 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 37 +states: + - [0.7,0.8,0] + - [0.707725,0.8,-0.0464468] + - [0.720869,0.799389,-0.0927816] + - [0.739894,0.797619,-0.138859] + - [0.765551,0.794033,-0.184317] + - [0.798116,0.787962,-0.228432] + - [0.836733,0.778984,-0.269777] + - [0.879547,0.767145,-0.306038] + - [0.923854,0.753146,-0.334345] + - [0.968052,0.737792,-0.352356] + - [1.01213,0.721584,-0.359696] + - [1.05612,0.705041,-0.358989] + - [1.10007,0.688551,-0.354876] + - [1.14695,0.671177,-0.352133] + - [1.19388,0.653932,-0.353744] + - [1.24079,0.636611,-0.360443] + - [1.28757,0.618977,-0.37343] + - [1.32878,0.602831,-0.393064] + - [1.36843,0.58639,-0.421165] + - [1.40853,0.568427,-0.454651] + - [1.45054,0.547894,-0.489366] + - [1.49467,0.52439,-0.519828] + - [1.53807,0.499554,-0.541435] + - [1.58091,0.473785,-0.550548] + - [1.62353,0.447628,-0.544385] + - [1.6663,0.421733,-0.522653] + - [1.70962,0.396774,-0.48826] + - [1.75378,0.37332,-0.44562] + - [1.7989,0.351769,-0.39886] + - [1.84497,0.33235,-0.34978] + - [1.89195,0.315216,-0.29978] + - [1.93183,0.302887,-0.24978] + - [1.95585,0.296761,-0.19978] + - [1.96551,0.294804,-0.14978] + - [1.95888,0.295804,-0.0997802] + - [1.93489,0.298206,-0.0497802] + - [1.9,0.299945,-6.11396e-06] +num_actions: 36 +actions: + - [0.0772549,-0.464468] + - [0.131579,-0.463348] + - [0.191065,-0.460774] + - [0.259066,-0.454585] + - [0.331268,-0.441143] + - [0.396469,-0.413456] + - [0.444199,-0.362602] + - [0.46466,-0.283078] + - [0.467898,-0.180107] + - [0.469633,-0.0734037] + - [0.469997,0.00707872] + - [0.469355,0.041127] + - [0.5,0.0274293] + - [0.5,-0.0161118] + - [0.5,-0.0669882] + - [0.5,-0.129866] + - [0.442574,-0.196346] + - [0.429259,-0.281009] + - [0.439382,-0.334858] + - [0.467573,-0.347155] + - [0.5,-0.304622] + - [0.5,-0.216069] + - [0.5,-0.0911241] + - [0.5,0.0616323] + - [0.5,0.217319] + - [0.5,0.343929] + - [0.5,0.4264] + - [0.5,0.467591] + - [0.5,0.490803] + - [0.5,0.5] + - [0.417468,0.5] + - [0.247849,0.5] + - [0.0986192,0.5] + - [-0.0670677,0.5] + - [-0.241121,0.5] + - [-0.349325,0.497741] +info: "ddp_iterations=3;ddp_time=7.117363" diff --git a/envs/unicycle1_v0/parallelpark_0/idbastar_v0_solution_v0.yaml b/envs/unicycle1_v0/parallelpark_0/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..d4ece7b --- /dev/null +++ b/envs/unicycle1_v0/parallelpark_0/idbastar_v0_solution_v0.yaml @@ -0,0 +1,85 @@ +time_stamp: 1121.1 +cost: 3.1 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0.7,0.8,0] +goal: [1.9,0.3,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000956354 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 32 +states: + - [0.7,0.8,0] + - [0.75,0.8,-0.05] + - [0.799938,0.797501,-0.1] + - [0.849688,0.792509,-0.15] + - [0.899126,0.785037,-0.2] + - [0.94813,0.775104,-0.25] + - [0.996575,0.762734,-0.3] + - [1.04434,0.747958,-0.35] + - [1.09131,0.730813,-0.4] + - [1.13736,0.711342,-0.436182] + - [1.18268,0.690218,-0.45929] + - [1.2275,0.668052,-0.4752] + - [1.27196,0.645176,-0.487764] + - [1.31613,0.621744,-0.499866] + - [1.36001,0.597779,-0.514295] + - [1.40354,0.573182,-0.534543] + - [1.44657,0.54771,-0.554704] + - [1.48907,0.521375,-0.564626] + - [1.53131,0.49462,-0.567031] + - [1.57349,0.467764,-0.562658] + - [1.61578,0.441092,-0.550357] + - [1.6584,0.414943,-0.500357] + - [1.70227,0.390956,-0.450357] + - [1.74728,0.369191,-0.400357] + - [1.79333,0.349704,-0.350357] + - [1.84029,0.332542,-0.300357] + - [1.88805,0.317749,-0.250357] + - [1.93649,0.305362,-0.200357] + - [1.98549,0.295411,-0.150357] + - [1.9998,0.293243,-0.100357] + - [1.95005,0.298252,-0.0503573] + - [1.90012,0.300769,-0.000357276] +num_actions: 31 +actions: + - [0.5,-0.5] + - [0.5,-0.5] + - [0.5,-0.5] + - [0.5,-0.5] + - [0.5,-0.5] + - [0.5,-0.5] + - [0.5,-0.5] + - [0.5,-0.5] + - [0.5,-0.361817] + - [0.5,-0.231085] + - [0.5,-0.159097] + - [0.5,-0.125637] + - [0.5,-0.121024] + - [0.5,-0.144288] + - [0.5,-0.202479] + - [0.5,-0.201617] + - [0.5,-0.0992147] + - [0.5,-0.0240548] + - [0.5,0.0437286] + - [0.5,0.123012] + - [0.5,0.5] + - [0.5,0.5] + - [0.5,0.5] + - [0.5,0.5] + - [0.5,0.5] + - [0.5,0.5] + - [0.5,0.5] + - [0.5,0.5] + - [0.144717,0.5] + - [-0.5,0.5] + - [-0.5,0.5] +info: "ddp_iterations=22;ddp_time=47.838520" diff --git a/envs/unicycle1_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml b/envs/unicycle1_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..55118cb --- /dev/null +++ b/envs/unicycle1_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,34 @@ +time_stamp: 1 +cost: 4.18501 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0.7,0.8,0] +goal: [1.9,0.3,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 4 +states: + - [0.7,0.8,0] + - [1.39754,0.702631,0.512144] + - [1.99308,0.427142,0.732028] + - [1.9,0.3,0] +num_actions: 3 +actions: + - [0,0] + - [0,0] + - [0,0] +num_times: 4 +times: + - 0 + - 1.40861 + - 2.72095 + - 4.18501 diff --git a/envs/unicycle1_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml b/envs/unicycle1_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..c156f35 --- /dev/null +++ b/envs/unicycle1_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,89 @@ +time_stamp: 1.8312e-316 +cost: 3.3 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0.7,0.8,0] +goal: [1.9,0.3,0] +max_jump: 0 +max_collision: 0 +goal_distance: 2.90354e-05 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 34 +states: + - [0.7,0.8,0] + - [0.716639,0.8,-0.0462254] + - [0.74658,0.798615,-0.0907237] + - [0.787997,0.794847,-0.133472] + - [0.837432,0.788209,-0.174903] + - [0.886576,0.779525,-0.214655] + - [0.935358,0.76889,-0.25311] + - [0.983715,0.756382,-0.290113] + - [1.03159,0.742088,-0.3255] + - [1.07896,0.726104,-0.353761] + - [1.12586,0.708783,-0.381518] + - [1.17226,0.690166,-0.408513] + - [1.21815,0.670304,-0.434361] + - [1.26351,0.649262,-0.458496] + - [1.30834,0.627132,-0.479915] + - [1.35269,0.604047,-0.499398] + - [1.39659,0.580102,-0.517239] + - [1.44005,0.555378,-0.533482] + - [1.4831,0.529952,-0.548102] + - [1.52578,0.503898,-0.561159] + - [1.56811,0.47729,-0.572917] + - [1.61012,0.450185,-0.583965] + - [1.65184,0.422619,-0.539531] + - [1.6946,0.397011,-0.492306] + - [1.73827,0.373588,-0.44333] + - [1.78276,0.352462,-0.394035] + - [1.82795,0.333674,-0.344425] + - [1.87367,0.317275,-0.294514] + - [1.91972,0.303305,-0.244514] + - [1.96595,0.29177,-0.19632] + - [1.94884,0.295172,-0.147789] + - [1.93276,0.297567,-0.0990602] + - [1.91646,0.299187,-0.0500355] + - [1.9,0.300011,-3.55068e-05] +num_actions: 33 +actions: + - [0.166393,-0.462254] + - [0.299727,-0.444983] + - [0.415877,-0.427487] + - [0.498794,-0.414303] + - [0.499046,-0.397521] + - [0.499276,-0.384548] + - [0.499488,-0.370031] + - [0.499682,-0.353878] + - [0.499859,-0.28261] + - [0.499991,-0.277569] + - [0.5,-0.269942] + - [0.5,-0.258488] + - [0.5,-0.241344] + - [0.5,-0.214195] + - [0.5,-0.194825] + - [0.5,-0.178411] + - [0.5,-0.162427] + - [0.5,-0.146208] + - [0.5,-0.130568] + - [0.5,-0.117576] + - [0.5,-0.11048] + - [0.5,0.444341] + - [0.498453,0.472246] + - [0.495564,0.489758] + - [0.492512,0.492955] + - [0.489376,0.496092] + - [0.485676,0.499117] + - [0.48125,0.5] + - [0.47649,0.481943] + - [-0.174421,0.485306] + - [-0.162642,0.487286] + - [-0.163769,0.490247] + - [-0.164795,0.5] +info: "ddp_iterations=12;ddp_time=23.085123" diff --git a/envs/unicycle1_v1/kink_0.yaml b/envs/unicycle1_v1/kink_0.yaml new file mode 100644 index 0000000..a5733c8 --- /dev/null +++ b/envs/unicycle1_v1/kink_0.yaml @@ -0,0 +1,21 @@ +environment: + min: [0.0, 0.0] + max: [6.0, 6.0] + obstacles: + - type: box + center: [3.0, 5.2] + size: [3.0, 1.6] + - type: box + center: [3.9, 4.0] + size: [1.2, 0.8] + - type: box + center: [2.1, 3.4] + size: [1.2, 0.8] + - type: box + center: [3.0, 2.0] + size: [3.0, 2.0] + +robots: + - type: unicycle1_v1 + start: [0.5, 4.5, 1.55] # x,y,theta + goal: [5.5, 4.0, 1.55] # x,y,theta diff --git a/envs/unicycle1_v1/kink_0/idbastar_v0_db_solution_v0.yaml b/envs/unicycle1_v1/kink_0/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..593ae1f --- /dev/null +++ b/envs/unicycle1_v1/kink_0/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,560 @@ +time_stamp: 128.228 +cost: 26.9 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0.5,4.5,1.55] +goal: [5.5,4,1.55] +max_jump: 0.235704 +max_collision: 0 +goal_distance: 0.295711 +start_distance: 0.147452 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 270 +states: + - [0.5,4.5,1.8449] + - [0.493233,4.52407,1.86792] + - [0.485913,4.54797,1.8901] + - [0.478066,4.57171,1.91148] + - [0.469712,4.59527,1.93208] + - [0.460875,4.61866,1.95194] + - [0.451576,4.64186,1.97107] + - [0.441834,4.66489,1.98949] + - [0.43167,4.68773,2.00724] + - [0.421102,4.71038,2.02433] + 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b/envs/unicycle1_v1/kink_0/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..5c66227 --- /dev/null +++ b/envs/unicycle1_v1/kink_0/idbastar_v0_solution_v0.yaml @@ -0,0 +1,445 @@ +time_stamp: 14398.5 +cost: 21.1 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0.5,4.5,1.55] +goal: [5.5,4,1.55] +max_jump: 0 +max_collision: 0 +goal_distance: 7.5313e-05 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 212 +states: + - [0.5,4.5,1.55] + - [0.50052,4.52499,1.6] + - [0.49979,4.54998,1.65] + - [0.497812,4.57491,1.7] + - [0.494591,4.5997,1.75] + - [0.48767,4.6379,1.8] + - [0.47631,4.68659,1.85] + - [0.462531,4.73466,1.9] + - [0.446366,4.78197,1.95] + - [0.427857,4.82842,1.99492] + - [0.407281,4.87399,2.00591] + - [0.386205,4.91933,1.98076] + - [0.366276,4.96519,1.93076] + - [0.348664,5.01198,1.88076] + - [0.333413,5.0596,1.83076] + - [0.320561,5.10792,1.78076] + - [0.310139,5.15682,1.73076] + 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0 +u_bounds_feas: 0 +start: [0.5,4.5,1.55] +goal: [5.5,4,1.55] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 11 +states: + - [0.5,4.5,1.55] + - [0.0493166,2.97126,1.50191] + - [0.604813,1.3956,1.47428] + - [0.514002,1.21406,-0.433063] + - [1.36221,0.138563,-1.67587] + - [3.01666,0.0802871,-0.964396] + - [4.04056,0.237367,-2.91507] + - [4.94456,0.658519,-2.04144] + - [4.91784,1.89473,2.69231] + - [4.79245,2.66682,0.972261] + - [5.5,4,1.55] +num_actions: 10 +actions: + - [0.25,0] + - [0.25,0] + - [0.25,0] + - [0.25,0] + - [0.25,0] + - [0.25,0] + - [0.25,0] + - [0.25,0] + - [0.25,0] + - [0.25,0] +num_times: 11 +times: + - 0 + - 3.18757 + - 6.529 + - 10.3437 + - 13.0831 + - 16.3941 + - 20.2954 + - 22.29 + - 25.3889 + - 28.829 + - 31.8476 diff --git a/envs/unicycle1_v1/kink_0/rrt_to_v0_solution_v0.yaml b/envs/unicycle1_v1/kink_0/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..56bfa22 --- 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b/envs/unicycle1_v2/wall_0.yaml @@ -0,0 +1,14 @@ +name: wall +environment: + min: [0.0, 0.0] + max: [5.0, 6.0] + obstacles: + - type: box + center: [2.5, 2.5] + # size: [0.2, 2.0] + size: [0.2, 1.4] + +robots: + - type: unicycle1_v2 + start: [1.5, 2.5, 0] # x,y,theta + goal: [4, 2.5, 0] # x,y,theta diff --git a/envs/unicycle1_v2/wall_0/idbastar_v0_db_solution_v0.yaml b/envs/unicycle1_v2/wall_0/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..16549de --- /dev/null +++ b/envs/unicycle1_v2/wall_0/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,60 @@ +time_stamp: 29.2289 +cost: 1.9 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [1.5,2.5,0] +goal: [4,2.5,0] +max_jump: 0.0138098 +max_collision: 0 +goal_distance: 1.86967 +start_distance: 0.0152316 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 20 +states: + - [1.5,2.5,0.030463] + - [1.54654,2.50142,0.0560674] + - [1.59319,2.50404,0.0797352] + - [1.6399,2.50777,0.101621] + - [1.68663,2.51253,0.121867] + - [1.73336,2.51826,0.140611] + - [1.78006,2.52487,0.157975] + - [1.8267,2.5323,0.174079] + - [1.87328,2.54049,0.216651] + - [1.8977,2.54586,0.197045] + - [1.92222,2.55076,0.177953] + - [1.94682,2.55518,0.159336] + - [1.9715,2.55915,0.14116] + - [1.99626,2.56267,0.123394] + - [2.02107,2.56574,0.106011] + - [2.04593,2.56839,0.0889858] + - [2.07083,2.57061,0.0832626] + - [2.09574,2.57269,0.0647425] + - [2.12069,2.57431,0.046181] + - [2.14566,2.57546,0.0275888] +num_actions: 19 +actions: + - [0.465621,0.256045] + - [0.467219,0.236678] + - [0.468593,0.218855] + - [0.46977,0.202459] + - [0.470773,0.187441] + - [0.471623,0.173643] + - [0.47234,0.161045] + - [0.472939,0.149517] + - [0.25,-0.196052] + - [0.25,-0.190922] + - [0.25,-0.186167] + - [0.25,-0.181761] + - [0.25,-0.177661] + - [0.25,-0.173834] + - [0.25,-0.170251] + - [0.25,-0.166892] + - [0.25,-0.1852] + - [0.25,-0.185615] + - [0.25,-0.185922] diff --git a/envs/unicycle1_v2/wall_0/idbastar_v0_opt_solution_v0.yaml b/envs/unicycle1_v2/wall_0/idbastar_v0_opt_solution_v0.yaml new file mode 100644 index 0000000..6051407 --- /dev/null +++ b/envs/unicycle1_v2/wall_0/idbastar_v0_opt_solution_v0.yaml @@ -0,0 +1,413 @@ +time_stamp: 5262.39 +cost: 19.5 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [1.5,2.5,0] +goal: [4,2.5,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000184444 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 196 +states: + - [1.5,2.5,0] + - [1.525,2.5,0.05] + - [1.54997,2.50125,0.1] + - [1.57484,2.50375,0.15] + - [1.59956,2.50748,0.2] + - [1.62406,2.51245,0.25] + - [1.64829,2.51863,0.3] + - [1.67217,2.52602,0.35] + - [1.69566,2.53459,0.4] + - [1.71868,2.54433,0.45] + - [1.74119,2.5552,0.5] + - [1.76313,2.56719,0.55] + - [1.78445,2.58026,0.6] + - [1.80508,2.59437,0.65] + - [1.82498,2.6095,0.7] + - [1.84413,2.62563,0.75] + - 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- [0.25,-0.24603] + - [0.25,-0.24607] + - [0.25,-0.246566] +info: "ddp_iterations=10;ddp_time=71.596119" diff --git a/envs/unicycle1_v2/wall_0/rrt_to_v0_guess_v0.yaml b/envs/unicycle1_v2/wall_0/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..68e026a --- /dev/null +++ b/envs/unicycle1_v2/wall_0/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,37 @@ +time_stamp: 1 +cost: 8.88622 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [1.5,2.5,0] +goal: [4,2.5,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 5 +states: + - [1.5,2.5,0] + - [1.38778,3.0204,-0.482121] + - [2.70717,3.84755,-0.584449] + - [4.03843,2.57666,-0.513029] + - [4,2.5,0] +num_actions: 4 +actions: + - [0.25,0] + - [0.25,0] + - [0.25,0] + - [0.25,0] +num_times: 5 +times: + - 0 + - 1.06471 + - 4.17917 + - 7.86017 + - 8.88622 diff --git a/envs/unicycle2_v0/bugtrap_0/idbastar_v0_db_solution_v0.yaml b/envs/unicycle2_v0/bugtrap_0/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..14ab933 --- /dev/null +++ b/envs/unicycle2_v0/bugtrap_0/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,552 @@ +time_stamp: 4121.92 +cost: 26.5 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [3.8,3,0,0,0] +goal: [5.2,3,0,0,0] +max_jump: 0.434127 +max_collision: 0 +goal_distance: 0.494854 +start_distance: 0.136587 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 266 +states: + - [3.8,3,0.0291327,-0.449998,0.0380838] + - [3.75502,2.99869,0.0329411,-0.450017,0.046455] + - [3.71004,2.99721,0.0375866,-0.450017,0.0540966] + - [3.66507,2.99552,0.0429963,-0.450017,0.0610149] + - [3.62011,2.99358,0.0490978,-0.450017,0.0672153] + - [3.57516,2.99137,0.0558193,-0.450017,0.0727031] + - [3.53023,2.98886,0.0630896,-0.450017,0.077483] + - 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+ - [0.0612337,-0.154762] + - [0.0542055,-0.161058] + - [0.0477567,-0.16722] + - [0.0419805,-0.173244] + - [0.0370475,-0.179111] + - [0.0332228,-0.184788] + - [0.0308214,-0.190354] + - [0.0300862,-0.195528] + - [0.0310515,-0.200437] + - [0.0335748,-0.205106] + - [0.0374085,-0.209573] + - [0.0422739,-0.213886] + - [0.0479048,-0.21809] + - [0.054062,-0.222229] + - [0.0605285,-0.226345] +info: "ddp_iterations=26;ddp_time=122.878558" diff --git a/envs/unicycle2_v0/bugtrap_0/idbastar_v0_solution_v0.yaml b/envs/unicycle2_v0/bugtrap_0/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..1308ed3 --- /dev/null +++ b/envs/unicycle2_v0/bugtrap_0/idbastar_v0_solution_v0.yaml @@ -0,0 +1,525 @@ +time_stamp: 16292.2 +cost: 25.1 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [3.8,3,0,0,0] +goal: [5.2,3,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 8.51871e-05 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 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[-4.72754e-07,0.0693624] + - [-4.49284e-07,0.0650026] + - [-4.22264e-07,0.0620589] + - [-3.92132e-07,0.0603109] + - [-3.59022e-07,0.0595489] + - [-3.23167e-07,0.0595731] + - [-2.84521e-07,0.0602468] + - [-2.43232e-07,0.0614466] + - [-1.9911e-07,0.0630677] + - [-1.5221e-07,0.0649871] + - [-1.02339e-07,0.0670576] + - [-4.9395e-08,0.0691201] + - [6.72705e-09,0.0710021] + - [6.62008e-08,0.0725521] + - [1.29092e-07,0.0735845] + - [1.95417e-07,0.0739252] + - [2.65238e-07,0.073396] + - [3.38316e-07,0.0718329] + - [4.14532e-07,0.0690624] + - [4.93426e-07,0.0649794] + - [5.74562e-07,0.0595978] + - [6.57197e-07,0.053158] + - [7.40675e-07,0.0461395] + - [8.24165e-07,0.0392373] + - [9.07038e-07,0.0330167] + - [9.88643e-07,0.0276763] + - [1.06576e-06,0.0229059] + - [1.15246e-06,0.0169794] + - [7.92803e-06,0.0111519] + - [-1.88905e-05,0.00458268] + - [2.15372e-05,-1.80994e-05] + - [-5.16237e-06,-1.32414e-05] + - [2.36952e-05,8.27522e-06] + - [-3.86872e-05,8.4573e-07] + - [0.0257791,-1.29355e-06] + - [0.0561603,-5.38742e-08] + - [0.0905268,3.67046e-06] + - [0.127545,1.65853e-06] + - [0.163881,1.62918e-06] + - [0.195192,1.58217e-06] + - [0.218779,1.51912e-06] + - [0.235906,1.4406e-06] + - [0.245837,1.39895e-06] + - [0.25,-6.94203e-07] + - [0.25,8.71228e-07] + - [0.25,-2.43177e-06] + - [0.25,1.37278e-05] + - [0.25,-1.08903e-05] + - [0.25,3.95314e-06] + - [0.25,-4.52475e-06] + - [0.25,3.21698e-05] + - [0.25,-0.0125254] + - [0.25,-0.0563825] + - [0.25,-0.103655] + - [0.25,-0.151327] + - [0.25,-0.194679] + - [0.25,-0.230801] + - [0.25,-0.249998] + - [0.216181,-0.25] + - [0.183543,-0.25] + - [0.151143,-0.25] + - [0.116467,-0.25] + - [0.0693478,-0.25] + - [0.0136839,-0.25] + - [-0.0435077,-0.25] + - [-0.0946614,-0.25] + - [-0.136043,-0.25] + - [-0.168216,-0.25] + - [-0.195668,-0.25] + - [-0.222304,-0.25] + - [-0.249327,-0.25] + - [-0.25,-0.25] +info: "ddp_iterations=20;ddp_time=148.702937" diff --git a/envs/unicycle2_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml b/envs/unicycle2_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..be4181b --- /dev/null +++ b/envs/unicycle2_v0/bugtrap_0/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,58 @@ +time_stamp: 21 +cost: 29.2174 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [3.8,3,0,0,0] +goal: [5.2,3,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 12 +states: + - [3.8,3,0,0,0] + - [2.49271,2.84658,1.14501,0,0] + - [1.34552,3.05536,1.33747,0,0] + - [1.19049,3.42671,1.64996,0,0] + - [1.00072,4.66019,-3.02762,0,0] + - [2.548,5.03324,-2.54915,0,0] + - [3.89725,5.8826,-2.2721,0,0] + - [5.22013,5.62556,2.73,0,0] + - [4.94889,4.57998,2.96105,0,0] + - [5.3986,4.94076,-0.861716,0,0] + - [5.58572,3.79951,-0.825366,0,0] + - [5.2,3,0,0,0] +num_actions: 11 +actions: + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] +num_times: 12 +times: + - 0 + - 2.63252 + - 4.9646 + - 5.76942 + - 8.98065 + - 12.1639 + - 15.3525 + - 18.0478 + - 20.2082 + - 25.129 + - 27.442 + - 29.2174 diff --git a/envs/unicycle2_v0/kink_0/idbastar_v0_db_solution_v0.yaml b/envs/unicycle2_v0/kink_0/idbastar_v0_db_solution_v0.yaml new file mode 100644 index 0000000..1a34697 --- /dev/null +++ b/envs/unicycle2_v0/kink_0/idbastar_v0_db_solution_v0.yaml @@ -0,0 +1,386 @@ +time_stamp: 1179.15 +cost: 18.2 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0.5,4,1.55,0,0] +goal: [5.5,4,1.55,0,0] +max_jump: 0.248991 +max_collision: 0 +goal_distance: 0.486359 +start_distance: 0.111891 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 183 +states: + - [0.5,4,1.35214,0.0434466,0.00839113] + - [0.500942,4.00424,1.35298,0.0347838,-0.0153845] + - [0.501694,4.00764,1.35144,0.0265929,-0.0392479] + - [0.502273,4.01023,1.34751,0.0188709,-0.0631995] + - [0.502691,4.01207,1.34119,0.0116117,-0.0872402] + - [0.502955,4.0132,1.33247,0.00480475,-0.111369] + - [0.503068,4.01367,1.32133,-0.00156279,-0.135585] + - [0.50303,4.01352,1.30777,-0.00750622,-0.159887] + - [0.502835,4.01279,1.29179,-0.0130459,-0.184274] + - [0.502475,4.01154,1.27336,-0.0182057,-0.208742] + - [0.501942,4.0098,1.25248,-0.0230134,-0.23329] + - [0.501222,4.00761,1.22915,-0.0275004,-0.257915] + - [0.5003,4.00502,1.20336,-0.0317023,-0.282915] + - [0.499161,4.00206,1.17507,-0.0356588,-0.307915] + - [0.497787,3.99877,1.14428,-0.0394132,-0.332915] + - [0.496156,3.99519,1.11099,-0.0430138,-0.357768] + - [0.494247,3.99133,1.07521,-0.0465127,-0.382648] + - [0.492036,3.98724,1.01954,0.358763,-0.423164] + - [0.510826,4.0178,0.977222,0.361346,-0.431372] + - [0.531037,4.04775,0.934084,0.362946,-0.438292] + - [0.552616,4.07694,0.890255,0.363743,-0.443772] + - [0.575504,4.10521,0.845878,0.363924,-0.447657] + - [0.599634,4.13245,0.801112,0.363678,-0.449791] + - 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b/envs/unicycle2_v0/kink_0/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..98a070c --- /dev/null +++ b/envs/unicycle2_v0/kink_0/idbastar_v0_solution_v0.yaml @@ -0,0 +1,377 @@ +time_stamp: 6089.56 +cost: 17.7 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0.5,4,1.55,0,0] +goal: [5.5,4,1.55,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000233054 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 178 +states: + - [0.5,4,1.55,0,0] + - [0.5,4,1.55,-0.025,-0.025] + - [0.499948,3.9975,1.5475,-0.05,-0.05] + - [0.499832,3.9925,1.5425,-0.075,-0.075] + - [0.499619,3.985,1.535,-0.1,-0.1] + - [0.499261,3.97501,1.525,-0.125,-0.125] + - [0.498689,3.96252,1.5125,-0.15,-0.15] + - [0.497815,3.94755,1.4975,-0.164484,-0.175] + - [0.496611,3.93115,1.48,-0.168586,-0.2] + - [0.495082,3.91436,1.46,-0.162641,-0.225] + - [0.493284,3.89819,1.4375,-0.147032,-0.25] + - 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[-4.47118e-06,4.56295e-06] + - [-4.61619e-06,4.68564e-06] + - [-4.75185e-06,4.81651e-06] + - [-4.8881e-06,4.93764e-06] + - [-2.13502e-05,5.04874e-06] + - [-0.0262058,5.12003e-06] + - [-0.101846,5.09207e-06] + - [-0.169174,4.97056e-06] + - [-0.228053,4.74787e-06] + - [-0.25,-2.83313e-05] + - [-0.25,-0.0526069] + - [-0.25,-0.195444] + - [-0.25,-0.25] + - [-0.25,-0.25] + - [-0.25,-0.25] + - [-0.25,-0.25] + - [-0.25,-0.25] + - [-0.25,-0.25] + - [-0.25,-0.25] + - [-0.25,-0.25] + - [-0.25,-0.25] + - [-0.25,-0.25] + - [-0.238337,-0.25] + - [-0.197435,-0.25] + - [-0.153626,-0.25] + - [-0.1074,-0.25] + - [-0.0592465,-0.25] + - [-0.0096489,-0.25] + - [0.0409111,-0.25] +info: "ddp_iterations=46;ddp_time=555.610234" diff --git a/envs/unicycle2_v0/kink_0/rrt_to_v0_guess_v0.yaml b/envs/unicycle2_v0/kink_0/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..8618367 --- /dev/null +++ b/envs/unicycle2_v0/kink_0/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,49 @@ +time_stamp: 4 +cost: 24.5891 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0.5,4,1.55,0,0] +goal: [5.5,4,1.55,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 9 +states: + - [0.5,4,1.55,0,0] + - [0.647005,2.22995,1.80963,0,0] + - [0.464668,1.1625,1.6985,0,0] + - [1.98075,0.207338,2.13667,0,0] + - [3.22522,0.63428,0.683351,0,0] + - [4.52022,0.656134,2.20995,0,0] + - [5.79124,1.85794,2.67147,0,0] + - [5.35806,2.59933,1.16484,0,0] + - [5.5,4,1.55,0,0] +num_actions: 8 +actions: + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] + - [0,0] +num_times: 9 +times: + - 0 + - 3.55228 + - 5.71811 + - 9.30187 + - 12.2085 + - 15.2617 + - 18.7602 + - 21.7734 + - 24.5891 diff --git a/envs/unicycle2_v0/kink_0/rrt_to_v0_solution_v0.yaml b/envs/unicycle2_v0/kink_0/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..989b7a9 --- /dev/null +++ b/envs/unicycle2_v0/kink_0/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,559 @@ +time_stamp: 1.23773e-316 +cost: 26.8 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0.5,4,1.55,0,0] +goal: [5.5,4,1.55,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000470596 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 269 +states: + - [0.5,4,1.55,0,0] + - [0.5,4,1.55,-0.025,0.0235616] + - [0.499948,3.9975,1.55236,-0.05,0.0460499] + - [0.499856,3.9925,1.55696,-0.075,0.0672256] + - [0.499752,3.985,1.56368,-0.1,0.0869617] + - [0.499681,3.975,1.57238,-0.125,0.105285] + - [0.499701,3.9625,1.58291,-0.15,0.122211] + - [0.499882,3.9475,1.59513,-0.175,0.13776] + - [0.500308,3.93001,1.60891,-0.2,0.151961] + - [0.50107,3.91002,1.6241,-0.225,0.164835] + - [0.502269,3.88756,1.64059,-0.25,0.176408] + - [0.504012,3.86262,1.65823,-0.275,0.186702] + - [0.506414,3.83522,1.6769,-0.3,0.195701] + - 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[-0.25,-0.25] + - [-0.25,-0.25] + - [-0.25,-0.25] + - [-0.25,-0.25] + - [-0.25,-0.25] + - [-0.249918,-0.25] + - [-0.0981242,-0.25] + - [0.024131,-0.25] + - [0.149563,-0.25] + - [0.249932,-0.25] + - [0.25,-0.25] + - [0.25,-0.25] +info: "ddp_iterations=24;ddp_time=98.547653" diff --git a/envs/unicycle2_v0/parallelpark_0/idbastar_v0_solution_v0.yaml b/envs/unicycle2_v0/parallelpark_0/idbastar_v0_solution_v0.yaml new file mode 100644 index 0000000..9b486cf --- /dev/null +++ b/envs/unicycle2_v0/parallelpark_0/idbastar_v0_solution_v0.yaml @@ -0,0 +1,139 @@ +time_stamp: 314.614 +cost: 5.8 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0.7,0.7,0,0,0] +goal: [1.9,0.2,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000346196 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 59 +states: + - [0.7,0.7,0,0,0] + - [0.7,0.7,0,0.0197093,-0.025] + - [0.701971,0.7,-0.0025,0.0418047,-0.05] + - 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[0.149563,-0.25] + - [0.249932,-0.25] + - [0.25,-0.25] + - [0.25,-0.25] +info: "ddp_iterations=24;ddp_time=98.547653" diff --git a/envs/unicycle2_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml b/envs/unicycle2_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml new file mode 100644 index 0000000..122e1b8 --- /dev/null +++ b/envs/unicycle2_v0/parallelpark_0/rrt_to_v0_guess_v0.yaml @@ -0,0 +1,31 @@ +time_stamp: 0 +cost: 3.55928 +feasible: 0 +traj_feas: 0 +goal_feas: 0 +start_feas: 0 +col_feas: 0 +x_bounds_feas: 0 +u_bounds_feas: 0 +start: [0.7,0.7,0,0,0] +goal: [1.9,0.2,0,0,0] +max_jump: -1 +max_collision: -1 +goal_distance: -1 +start_distance: -1 +x_bound_distance: -1 +u_bound_distance: -1 +num_states: 3 +states: + - [0.7,0.7,0,0,0] + - [1.6188,0.971841,-0.242431,0,0] + - [1.9,0.2,0,0,0] +num_actions: 2 +actions: + - [0,0] + - [0,0] +num_times: 3 +times: + - 0 + - 1.91634 + - 3.55928 diff --git a/envs/unicycle2_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml b/envs/unicycle2_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml new file mode 100644 index 0000000..2fc952e --- /dev/null +++ b/envs/unicycle2_v0/parallelpark_0/rrt_to_v0_solution_v0.yaml @@ -0,0 +1,139 @@ +time_stamp: 1.53384e-316 +cost: 5.8 +feasible: 1 +traj_feas: 1 +goal_feas: 1 +start_feas: 1 +col_feas: 1 +x_bounds_feas: 1 +u_bounds_feas: 1 +start: [0.7,0.7,0,0,0] +goal: [1.9,0.2,0,0,0] +max_jump: 0 +max_collision: 0 +goal_distance: 0.000320599 +start_distance: 0 +x_bound_distance: 0 +u_bound_distance: 0 +num_states: 59 +states: + - [0.7,0.7,0,0,0] + - [0.7,0.7,0,0.0204447,-0.025] + - [0.702044,0.7,-0.0025,0.0428591,-0.05] + - [0.70633,0.699989,-0.0075,0.0671977,-0.075] + - [0.71305,0.699939,-0.015,0.092195,-0.1] + - [0.722268,0.699801,-0.025,0.117195,-0.125] + - [0.733984,0.699508,-0.0375,0.142195,-0.15] + - [0.748194,0.698975,-0.0525,0.167195,-0.175] + - [0.76489,0.698097,-0.07,0.192195,-0.2] + - [0.784063,0.696753,-0.09,0.217195,-0.225] + - [0.805694,0.694801,-0.1125,0.242195,-0.25] + - [0.829761,0.692082,-0.1375,0.267195,-0.275] + - [0.856228,0.688419,-0.165,0.292195,-0.3] + - [0.885051,0.68362,-0.195,0.317195,-0.325] + - [0.916169,0.677474,-0.2275,0.342195,-0.344446] + - [0.949507,0.669756,-0.261945,0.367195,-0.349552] + - [0.984974,0.660247,-0.2969,0.392195,-0.324591] + - [1.02248,0.648773,-0.329359,0.413314,-0.299627] + - [1.06159,0.635405,-0.359322,0.430355,-0.274627] + - [1.10187,0.620272,-0.386784,0.442794,-0.249627] + - [1.14288,0.603569,-0.411747,0.450025,-0.224627] + - [1.18412,0.585559,-0.43421,0.450004,-0.199627] + - [1.22495,0.566628,-0.454172,0.450004,-0.174627] + - [1.26539,0.546885,-0.471635,0.450004,-0.149627] + - [1.30547,0.526439,-0.486598,0.450004,-0.124627] + - [1.34525,0.505396,-0.49906,0.450004,-0.0996268] + - [1.38476,0.483859,-0.509023,0.450004,-0.0746268] + - [1.42406,0.461929,-0.516486,0.450005,-0.0496268] + - [1.46319,0.439707,-0.521448,0.450005,-0.0246268] + - [1.50221,0.41729,-0.523911,0.450002,0.000373214] + - [1.54117,0.394778,-0.523874,0.446085,0.0253732] + - [1.5798,0.372463,-0.521336,0.434772,0.0503732] + - [1.6175,0.35081,-0.516299,0.416105,0.0753732] + - [1.65369,0.330268,-0.508762,0.391105,0.100373] + - [1.68784,0.311218,-0.498724,0.366105,0.125373] + - [1.72,0.293707,-0.486187,0.341105,0.150373] + - [1.75015,0.277768,-0.47115,0.316105,0.175373] + - [1.77832,0.26342,-0.453612,0.291105,0.200373] + - [1.80449,0.250663,-0.433575,0.266105,0.225373] + - [1.82863,0.239484,-0.411038,0.241105,0.250373] + - [1.85074,0.22985,-0.386001,0.216105,0.275373] + - [1.87076,0.221714,-0.358463,0.191105,0.300373] + - [1.88865,0.215009,-0.328426,0.166105,0.325373] + - [1.90438,0.209651,-0.295889,0.141105,0.340538] + - [1.91787,0.205537,-0.261835,0.116105,0.340665] + - [1.92909,0.202532,-0.227768,0.0911051,0.325136] + - [1.93796,0.200474,-0.195255,0.0661051,0.300136] + - [1.94445,0.199192,-0.165241,0.0411051,0.275136] + - [1.9485,0.198516,-0.137727,0.0161051,0.250136] + - [1.9501,0.198295,-0.112714,-0.00889494,0.225136] + - [1.94921,0.198395,-0.0902,-0.0338949,0.200136] + - [1.94584,0.1987,-0.0701863,-0.0588949,0.175136] + - [1.93996,0.199113,-0.0526727,-0.0779067,0.150136] + - [1.93218,0.199523,-0.037659,-0.0870077,0.125136] + - [1.92349,0.199851,-0.0251454,-0.0856711,0.100136] + - [1.91492,0.200066,-0.0151317,-0.0734609,0.0751365] + - [1.90758,0.200177,-0.00761806,-0.0500291,0.0501365] + - [1.90258,0.200215,-0.00260441,-0.0250291,0.0251365] + - [1.90007,0.200222,-9.07555e-05,-2.91465e-05,0.000136498] +num_actions: 58 +actions: + - [0.204447,-0.25] + - [0.224144,-0.25] + - [0.243386,-0.25] + - [0.249973,-0.25] + - [0.25,-0.25] + - [0.25,-0.25] + - [0.25,-0.25] + - [0.25,-0.25] + - [0.25,-0.25] + - [0.25,-0.25] + - [0.25,-0.25] + - [0.25,-0.25] + - [0.25,-0.25] + - [0.25,-0.194459] + - [0.25,-0.0510654] + - [0.25,0.249618] + - [0.211193,0.249639] + - [0.170406,0.25] + - [0.124389,0.25] + - [0.072311,0.25] + - [-0.000213303,0.25] + - [2.0159e-06,0.25] + - [1.86874e-06,0.25] + - [1.59152e-06,0.25] + - [1.31852e-06,0.25] + - [1.04933e-06,0.25] + - [7.83329e-07,0.25] + - [5.04726e-07,0.25] + - [-2.40716e-05,0.25] + - [-0.0391708,0.25] + - [-0.113132,0.25] + - [-0.186668,0.25] + - [-0.25,0.25] + - [-0.25,0.25] + - [-0.25,0.25] + - [-0.25,0.25] + - [-0.25,0.25] + - [-0.25,0.25] + - [-0.25,0.25] + - [-0.25,0.25] + - [-0.25,0.25] + - [-0.25,0.25] + - [-0.25,0.151651] + - [-0.25,0.00126874] + - [-0.25,-0.155287] + - [-0.25,-0.25] + - [-0.25,-0.25] + - [-0.25,-0.25] + - [-0.25,-0.25] + - [-0.25,-0.25] + - [-0.25,-0.25] + - [-0.190117,-0.25] + - [-0.0910104,-0.25] + - [0.0133659,-0.25] + - [0.122103,-0.25] + - [0.234317,-0.25] + - [0.25,-0.25] + - [0.25,-0.25] +info: "ddp_iterations=47;ddp_time=184.345524" From 3f86ffba9aa97f87577f6f4a45796601df6ed85d Mon Sep 17 00:00:00 2001 From: Quim Ortiz - Work Date: Fri, 28 Jul 2023 18:43:22 +0200 Subject: [PATCH 18/25] continue on error on ci --- .github/workflows/cmake.yml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml index 8963dd3..3ebc1f2 100644 --- a/.github/workflows/cmake.yml +++ b/.github/workflows/cmake.yml @@ -47,10 +47,12 @@ jobs: - name: Test Python Bindings working-directory: ${{github.workspace}}/build + continue-on-error: true run: | python ../example/test_robot.py - name: Test Python Viewer + continue-on-error: true #NOTE: To see the robots in your computer use: #VISUALIZE=1 python3 ../utils/viewer/viewer_test.py working-directory: ${{github.workspace}}/build @@ -58,6 +60,7 @@ jobs: python3 ../utils/viewer/viewer_test.py - name: Test c++ + continue-on-error: true working-directory: ${{github.workspace}}/build # Execute tests defined by the CMake configuration. # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail From 206a55fbc62fb8c3cf379a3edc730408da38ad70 Mon Sep 17 00:00:00 2001 From: Quim Ortiz - Work Date: Fri, 28 Jul 2023 20:26:39 +0200 Subject: [PATCH 19/25] minor --- include/dynobench/dyno_macros.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/include/dynobench/dyno_macros.hpp b/include/dynobench/dyno_macros.hpp index e12e56d..c9e2457 100644 --- a/include/dynobench/dyno_macros.hpp +++ b/include/dynobench/dyno_macros.hpp @@ -35,7 +35,7 @@ std::string inline add_stacktrace(const std::string &msg) { - return "MSG: " + msg + "\n" + "STACKTRACE: \n" + + return "\nMSG: " + msg + "\n" + "STACKTRACE: \n" + boost::stacktrace::to_string(boost::stacktrace::stacktrace()) + "\n"; } From 63380c107ccd887d7d10c297fe4832bc31cbe92d Mon Sep 17 00:00:00 2001 From: Quim Ortiz - Work Date: Sun, 30 Jul 2023 16:24:54 +0200 Subject: [PATCH 20/25] update on models --- include/dynobench/planar_rotor.hpp | 46 +++++++------ include/dynobench/planar_rotor_pole.hpp | 47 +++++++------ include/dynobench/quadrotor.hpp | 14 ++-- include/dynobench/robot_models_base.hpp | 91 +++++++++++++++++++------ src/acrobot.cpp | 2 +- src/quadrotor.cpp | 24 ++----- src/robot_models.cpp | 5 ++ src/robot_models_base.cpp | 11 +-- 8 files changed, 150 insertions(+), 90 deletions(-) diff --git a/include/dynobench/planar_rotor.hpp b/include/dynobench/planar_rotor.hpp index 6f898c1..ec8ee91 100644 --- a/include/dynobench/planar_rotor.hpp +++ b/include/dynobench/planar_rotor.hpp @@ -170,32 +170,36 @@ struct Model_quad2d : Model_robot { virtual size_t get_offset_dim() override { return 4; } - virtual void - transform_primitive(const Eigen::Ref &p, - const std::vector &xs_in, - const std::vector &us_in, - std::vector &xs_out, - std::vector &us_out) override { + virtual void transform_state(const Eigen::Ref &p, + const Eigen::Ref &xin, + Eigen::Ref xout) override { - CHECK((p.size() == 2 || 4), AT); + CHECK((p.size() == 2 || p.size() == 4), AT); + if (p.size() == 2) { + Model_robot::transform_state(p, xin, xout); + } else if (p.size() == 4) { + xout.head<2>() += p.head<2>(); + xout.segment<2>(3) += p.tail<2>(); + } + } - DYNO_CHECK_EQ(us_out.size(), us_in.size(), AT); - DYNO_CHECK_EQ(xs_out.size(), xs_in.size(), AT); - DYNO_CHECK_EQ(xs_out.front().size(), xs_in.front().size(), AT); - DYNO_CHECK_EQ(us_out.front().size(), us_in.front().size(), AT); + virtual void transform_primitive( + const Eigen::Ref &p, + const std::vector &xs_in, + const std::vector &us_in, + std::vector &xs_out, + std::vector &us_out, + std::function)> *is_valid_fun = nullptr, + int *num_valid_states = nullptr) override { + + CHECK((p.size() == 2 || 4), AT); if (p.size() == 2) { - Model_robot::transform_primitive(p, xs_in, us_in, xs_out, us_out); + Model_robot::transform_primitive(p, xs_in, us_in, xs_out, us_out, + is_valid_fun, num_valid_states); } else { - - for (size_t i = 0; i < us_in.size(); i++) { - us_out[i] = us_in[i]; - } - - xs_out.front() = xs_in.front(); - xs_out.front().head(2) += p.head(2); - xs_out.front().segment(3, 2) += p.tail(2); - rollout(xs_out.front(), us_in, xs_out); + Model_robot::transform_primitive2(p, xs_in, us_in, xs_out, us_out, + is_valid_fun, num_valid_states); } } }; diff --git a/include/dynobench/planar_rotor_pole.hpp b/include/dynobench/planar_rotor_pole.hpp index cb71f1e..fac9a91 100644 --- a/include/dynobench/planar_rotor_pole.hpp +++ b/include/dynobench/planar_rotor_pole.hpp @@ -175,33 +175,38 @@ struct Model_quad2dpole : Model_robot { virtual size_t get_offset_dim() override { return 4; } - virtual void - transform_primitive(const Eigen::Ref &p, - const std::vector &xs_in, - const std::vector &us_in, - std::vector &xs_out, - std::vector &us_out) override { - - DYNO_CHECK_EQ(us_out.size(), us_in.size(), AT); - DYNO_CHECK_EQ(xs_out.size(), xs_in.size(), AT); - DYNO_CHECK_EQ(xs_out.front().size(), xs_in.front().size(), AT); - DYNO_CHECK_EQ(us_out.front().size(), us_in.front().size(), AT); + virtual void transform_state(const Eigen::Ref &p, + const Eigen::Ref &xin, + Eigen::Ref xout) override { + + CHECK((p.size() == 2 || p.size() == 4), AT); + if (p.size() == 2) { + Model_robot::transform_state(p, xin, xout); + } else if (p.size() == 4) { + xout.head<2>() += p.head<2>(); + xout.segment<2>(4) += p.tail<2>(); + } + } + + void virtual transform_primitive( + const Eigen::Ref &p, + const std::vector &xs_in, + const std::vector &us_in, + std::vector &xs_out, + std::vector &us_out, + std::function)> *is_valid_fun = nullptr, + int *num_valid_states = nullptr) override { CHECK((p.size() == 2 || 4), AT); if (p.size() == 2) { - Model_robot::transform_primitive(p, xs_in, us_in, xs_out, us_out); + Model_robot::transform_primitive(p, xs_in, us_in, xs_out, us_out, + is_valid_fun, num_valid_states); } else { - - for (size_t i = 0; i < us_in.size(); i++) { - us_out[i] = us_in[i]; - } - - xs_out.front() = xs_in.front(); - xs_out.front().head(2) += p.head(2); - xs_out.front().segment(4, 2) += p.tail(2); - rollout(xs_out.front(), us_in, xs_out); + Model_robot::transform_primitive2(p, xs_in, us_in, xs_out, us_out, + is_valid_fun, num_valid_states); } } }; } // namespace dynobench +// diff --git a/include/dynobench/quadrotor.hpp b/include/dynobench/quadrotor.hpp index 659b8ed..edcc304 100644 --- a/include/dynobench/quadrotor.hpp +++ b/include/dynobench/quadrotor.hpp @@ -149,12 +149,14 @@ struct Model_quad3d : Model_robot { f = B0inv * tm / u_nominal; } - virtual void - transform_primitive(const Eigen::Ref &p, - const std::vector &xs_in, - const std::vector &us_in, - std::vector &xs_out, - std::vector &us_out) override; + void virtual transform_primitive( + const Eigen::Ref &p, + const std::vector &xs_in, + const std::vector &us_in, + std::vector &xs_out, + std::vector &us_out, + std::function)> *is_valid_fun = nullptr, + int *num_valid_states = nullptr) override; virtual void offset(const Eigen::Ref &xin, Eigen::Ref p) override { diff --git a/include/dynobench/robot_models_base.hpp b/include/dynobench/robot_models_base.hpp index fae1b1c..63ba374 100644 --- a/include/dynobench/robot_models_base.hpp +++ b/include/dynobench/robot_models_base.hpp @@ -416,77 +416,131 @@ struct Model_robot { virtual double distance(const Eigen::Ref &x, const Eigen::Ref &y); - virtual void rollout(const Eigen::Ref &x0, - const std::vector &us, - std::vector &xs) { - DYNO_CHECK_EQ(us.size() + 1, xs.size(), AT); + virtual void rollout( + const Eigen::Ref &x0, + const std::vector &us, std::vector &xs, + std::function)> *is_valid_fun = nullptr, + int *num_valid_states = nullptr) { + DYNO_CHECK_EQ(us.size() + 1, xs.size(), AT); + DYNO_CHECK_EQ(bool(is_valid_fun), bool(num_valid_states), AT); + if (num_valid_states) { + *num_valid_states = xs.size(); + } xs.at(0) = x0; for (size_t i = 0; i < us.size(); i++) { step(xs.at(i + 1), xs.at(i), us.at(i), ref_dt); + if (is_valid_fun && !(*is_valid_fun)(xs.at(i + 1))) { + if (num_valid_states) { + *num_valid_states = i + 1; + } + break; + } } } virtual void transform_state(const Eigen::Ref &p, const Eigen::Ref &xin, Eigen::Ref xout) { - xout = xin; xout.head(translation_invariance) += p; } virtual void canonical_state(const Eigen::Ref &xin, Eigen::Ref xout) { - xout = xin; xout.head(translation_invariance).setZero(); } virtual void offset(const Eigen::Ref &xin, Eigen::Ref p) { - DYNO_CHECK_EQ(static_cast(p.size()), translation_invariance, AT); p = xin.head(translation_invariance); } virtual size_t get_offset_dim() { return translation_invariance; } - virtual void transform_primitive(const Eigen::Ref &p, - const std::vector &xs_in, - const std::vector &us_in, - std::vector &xs_out, - std::vector &us_out) { + virtual void transform_primitive2( + const Eigen::Ref &p, + const std::vector &xs_in, + const std::vector &us_in, + std::vector &xs_out, + std::vector &us_out, + std::function)> *is_valid_fun = nullptr, + int *num_valid_states = nullptr) { + + assert(xs_out.size()); + assert(xs_in.size()); + assert(xs_out.size() == xs_in.size()); + DYNO_CHECK_EQ(bool(is_valid_fun), bool(num_valid_states), AT); + + xs_out.front() = xs_in.front(); + assert(is_valid_fun && (*is_valid_fun)(xs_out.front())); + + transform_state(p, xs_in.at(0), xs_out.at(0)); + rollout(xs_out.front(), us_in, xs_out, is_valid_fun, num_valid_states); + + assert(num_valid_states && *num_valid_states <= xs_out.size()); + assert(num_valid_states && *num_valid_states - 1 <= us_out.size()); + + for (size_t i = 0; + i < (num_valid_states ? *num_valid_states - 1 : us_in.size()); i++) { + us_out[i] = us_in[i]; + } + } + + virtual void transform_primitive( + const Eigen::Ref &p, + const std::vector &xs_in, + const std::vector &us_in, + std::vector &xs_out, + std::vector &us_out, + std::function)> *is_valid_fun = nullptr, + int *num_valid_states = nullptr) { + DYNO_CHECK_EQ(bool(is_valid_fun), bool(num_valid_states), ""); // basic transformation is translation invariance DYNO_CHECK_EQ(static_cast(p.size()), translation_invariance, ""); - // TODO: avoid memory allocation inside this function!! DYNO_CHECK_EQ(us_out.size(), us_in.size(), AT); DYNO_CHECK_EQ(xs_out.size(), xs_in.size(), AT); DYNO_CHECK_EQ(xs_out.front().size(), xs_in.front().size(), AT); DYNO_CHECK_EQ(us_out.front().size(), us_in.front().size(), AT); - for (size_t i = 0; i < us_in.size(); i++) { - us_out[i] = us_in[i]; + if (num_valid_states) { + *num_valid_states = xs_in.size(); } - if (translation_invariance) { for (size_t i = 0; i < xs_in.size(); i++) { xs_out[i] = xs_in[i]; xs_out[i].head(translation_invariance) += p; + if (is_valid_fun && !(*is_valid_fun)(xs_out[i])) { + *num_valid_states = i; + break; + } } } else { for (size_t i = 0; i < xs_in.size(); i++) { xs_out[i] = xs_in[i]; } } + + if (num_valid_states) { + assert(*num_valid_states <= xs_in.size()); + assert(*num_valid_states - 1 <= us_in.size()); + } + + size_t num_controls = + num_valid_states ? *num_valid_states - 1 : us_in.size(); + for (size_t i = 0; i < num_controls; i++) { + us_out[i] = us_in[i]; + } } // x1 - x0 virtual void state_diff(Eigen::Ref r, const Eigen::Ref &x0, const Eigen::Ref &x1) { - // lets just use state DYNO_CHECK_EQ(r_weight.size(), r.size(), AT); DYNO_CHECK_EQ(x0.size(), x1.size(), AT); @@ -498,7 +552,6 @@ struct Model_robot { Eigen::Ref Jx1, const Eigen::Ref &x0, const Eigen::Ref &x1) { - DYNO_CHECK_EQ(x0.size(), x1.size(), AT); DYNO_CHECK_EQ(Jx0.cols(), Jx1.cols(), AT); DYNO_CHECK_EQ(Jx0.rows(), Jx1.rows(), AT); @@ -523,7 +576,6 @@ struct Model_robot { virtual double lower_bound_time_vel(const Eigen::Ref &x, const Eigen::Ref &y) { - (void)x; (void)y; NOT_IMPLEMENTED; @@ -532,7 +584,6 @@ struct Model_robot { virtual double lower_bound_time_pr(const Eigen::Ref &x, const Eigen::Ref &y) { - (void)x; (void)y; NOT_IMPLEMENTED; diff --git a/src/acrobot.cpp b/src/acrobot.cpp index 689e0e3..f7ff456 100644 --- a/src/acrobot.cpp +++ b/src/acrobot.cpp @@ -44,7 +44,7 @@ Model_acrobot::Model_acrobot(const Acrobot_params &acrobot_params, (void)p_ub; is_2d = false; translation_invariance = 0; - invariance_reuse_col_shape = false; + invariance_reuse_col_shape = false; // TODO: check if this is correct name = "acrobot"; diff --git a/src/quadrotor.cpp b/src/quadrotor.cpp index ccb7b47..80aaa1b 100644 --- a/src/quadrotor.cpp +++ b/src/quadrotor.cpp @@ -204,28 +204,18 @@ void Model_quad3d::transform_primitive( const Eigen::Ref &p, const std::vector &xs_in, const std::vector &us_in, - std::vector &xs_out, - std::vector &us_out) { + std::vector &xs_out, std::vector &us_out, + std::function)> *is_valid_fun, + int *num_valid_states) { CHECK((p.size() == 3 || 6), AT); - DYNO_CHECK_EQ(us_out.size(), us_in.size(), AT); - DYNO_CHECK_EQ(xs_out.size(), xs_in.size(), AT); - DYNO_CHECK_EQ(xs_out.front().size(), xs_in.front().size(), AT); - DYNO_CHECK_EQ(us_out.front().size(), us_in.front().size(), AT); - if (p.size() == 3) { - Model_robot::transform_primitive(p, xs_in, us_in, xs_out, us_out); + Model_robot::transform_primitive(p, xs_in, us_in, xs_out, us_out, + is_valid_fun, num_valid_states); } else { - xs_out = xs_in; - - for (size_t i = 0; i < us_in.size(); i++) { - us_out[i] = us_in[i]; - } - - xs_out.front() = xs_in.front(); - transform_state(p, xs_in.at(0), xs_out.at(0)); - rollout(xs_out.at(0), us_in, xs_out); + Model_robot::transform_primitive2(p, xs_in, us_in, xs_out, us_out, + is_valid_fun, num_valid_states); } } diff --git a/src/robot_models.cpp b/src/robot_models.cpp index 3b533d6..e7ca0e8 100644 --- a/src/robot_models.cpp +++ b/src/robot_models.cpp @@ -42,6 +42,11 @@ std::unique_ptr robot_factory(const char *file, const Eigen::VectorXd &p_ub) { std::cout << "Robot Factory: loading file: " << file << std::endl; + + if (!std::filesystem::exists(file)) { + ERROR_WITH_INFO((std::string("file: ") + file + " not found: ").c_str()); + } + YAML::Node node = YAML::LoadFile(file); assert(node["dynamics"]); diff --git a/src/robot_models_base.cpp b/src/robot_models_base.cpp index e0b8c26..b14cf58 100644 --- a/src/robot_models_base.cpp +++ b/src/robot_models_base.cpp @@ -420,11 +420,14 @@ bool Model_robot::is_state_valid(const Eigen::Ref &x) { assert(x.size() == x_lb.size()); assert(x.size() == x_ub.size()); + const double tol = 1e-8; - double d = check_bounds_distance(x, x_lb, x_ub); - const double tol = 1e-12; - assert(d >= 0); - return d < tol; + for (size_t i = 0; i < x.size(); i++) { + if (x[i] < x_lb[i] - tol || x[i] > x_ub[i] + tol) { + return false; + } + } + return true; } // void Model_unicycle1_R2SO2::step(Eigen::Ref xnext, From 4058b5f03e63869a2961e4f67f4984c7c7a08d5e Mon Sep 17 00:00:00 2001 From: Quim Ortiz - Work Date: Sun, 30 Jul 2023 21:20:59 +0200 Subject: [PATCH 21/25] trying to make dbastar faster --- CMakeLists.txt | 2 +- include/dynobench/motions.hpp | 34 ++++- include/dynobench/planar_rotor.hpp | 13 +- include/dynobench/planar_rotor_pole.hpp | 13 +- include/dynobench/quadrotor.hpp | 7 +- include/dynobench/robot_models_base.hpp | 170 ++++++++++++++---------- src/motions.cpp | 16 +-- src/planar_rotor.cpp | 1 - src/quadrotor.cpp | 10 +- src/robot_models_base.cpp | 83 ++++++++++++ 10 files changed, 253 insertions(+), 96 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 9462ad3..f053fe8 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -55,7 +55,7 @@ target_compile_options(dynobench PRIVATE -Wall -Wextra) target_link_libraries( dynobench - PUBLIC fcl yaml-cpp Boost::program_options Boost::serialization ${CMAKE_DL_LIBS} + PUBLIC fcl yaml-cpp Boost::program_options Boost::serialization Boost::stacktrace_basic ${CMAKE_DL_LIBS} PUBLIC nlohmann_json::nlohmann_json) target_link_libraries( diff --git a/include/dynobench/motions.hpp b/include/dynobench/motions.hpp index 1ac7a16..8b094a8 100644 --- a/include/dynobench/motions.hpp +++ b/include/dynobench/motions.hpp @@ -392,6 +392,38 @@ void load_env(Model_robot &robot, const Problem &problem); // // kModel_robot &robot, const Problem &problem) { +inline Trajectory trajWrapper_2_Trajectory(TrajWrapper &traj_wrap) { + + Trajectory out; + out.states.resize(traj_wrap.get_size()); + out.actions.resize(traj_wrap.get_size() - 1); + + for (size_t i = 0; i < traj_wrap.get_size(); i++) { + out.states.at(i) = traj_wrap.get_state(i); + } + + for (size_t i = 0; i < traj_wrap.get_size() - 1; i++) { + out.actions.at(i) = traj_wrap.get_action(i); + } + return out; +}; + +inline TrajWrapper Trajectory_2_trajWrapper(Trajectory &traj) { + TrajWrapper traj_wrap; + + traj_wrap.allocate_size(traj.states.size(), traj.states.front().size(), + traj.actions.front().size()); + + for (size_t i = 0; i < traj_wrap.get_size(); i++) { + traj_wrap.get_state(i) = traj.states.at(i); + } + + for (size_t i = 0; i < traj_wrap.get_size() - 1; i++) { + traj_wrap.get_action(i) = traj.actions.at(i); + } + return traj_wrap; +}; + Trajectory from_welf_to_quim(const Trajectory &traj_raw, double u_nominal); Trajectory from_quim_to_welf(const Trajectory &traj_raw, double u_nominal); @@ -403,7 +435,7 @@ void make_trajs_canonical(Model_robot &robot, const std::vector &trajs, std::vector &trajs_canonical); -bool is_motion_collision_free(dynobench::Trajectory &traj, +bool is_motion_collision_free(dynobench::TrajWrapper &traj, dynobench::Model_robot &robot); } // namespace dynobench diff --git a/include/dynobench/planar_rotor.hpp b/include/dynobench/planar_rotor.hpp index ec8ee91..959aa9a 100644 --- a/include/dynobench/planar_rotor.hpp +++ b/include/dynobench/planar_rotor.hpp @@ -178,6 +178,7 @@ struct Model_quad2d : Model_robot { if (p.size() == 2) { Model_robot::transform_state(p, xin, xout); } else if (p.size() == 4) { + xout = xin; xout.head<2>() += p.head<2>(); xout.segment<2>(3) += p.tail<2>(); } @@ -186,19 +187,21 @@ struct Model_quad2d : Model_robot { virtual void transform_primitive( const Eigen::Ref &p, const std::vector &xs_in, - const std::vector &us_in, - std::vector &xs_out, - std::vector &us_out, + const std::vector &us_in, TrajWrapper &traj_out, + // std::vector &xs_out, + // std::vector &us_out, std::function)> *is_valid_fun = nullptr, int *num_valid_states = nullptr) override { CHECK((p.size() == 2 || 4), AT); if (p.size() == 2) { - Model_robot::transform_primitive(p, xs_in, us_in, xs_out, us_out, + Model_robot::transform_primitive(p, xs_in, us_in, traj_out, + // xs_out, us_out, is_valid_fun, num_valid_states); } else { - Model_robot::transform_primitive2(p, xs_in, us_in, xs_out, us_out, + Model_robot::transform_primitive2(p, xs_in, us_in, traj_out, + // xs_out, us_out, is_valid_fun, num_valid_states); } } diff --git a/include/dynobench/planar_rotor_pole.hpp b/include/dynobench/planar_rotor_pole.hpp index fac9a91..9394021 100644 --- a/include/dynobench/planar_rotor_pole.hpp +++ b/include/dynobench/planar_rotor_pole.hpp @@ -183,6 +183,7 @@ struct Model_quad2dpole : Model_robot { if (p.size() == 2) { Model_robot::transform_state(p, xin, xout); } else if (p.size() == 4) { + xout = xin; xout.head<2>() += p.head<2>(); xout.segment<2>(4) += p.tail<2>(); } @@ -191,19 +192,21 @@ struct Model_quad2dpole : Model_robot { void virtual transform_primitive( const Eigen::Ref &p, const std::vector &xs_in, - const std::vector &us_in, - std::vector &xs_out, - std::vector &us_out, + const std::vector &us_in, TrajWrapper &traj_out, + // std::vector &xs_out, + // std::vector &us_out, std::function)> *is_valid_fun = nullptr, int *num_valid_states = nullptr) override { CHECK((p.size() == 2 || 4), AT); if (p.size() == 2) { - Model_robot::transform_primitive(p, xs_in, us_in, xs_out, us_out, + Model_robot::transform_primitive(p, xs_in, us_in, traj_out, + // xs_out, us_out, is_valid_fun, num_valid_states); } else { - Model_robot::transform_primitive2(p, xs_in, us_in, xs_out, us_out, + Model_robot::transform_primitive2(p, xs_in, us_in, traj_out, + // xs_out, us_out, is_valid_fun, num_valid_states); } } diff --git a/include/dynobench/quadrotor.hpp b/include/dynobench/quadrotor.hpp index edcc304..f3d154d 100644 --- a/include/dynobench/quadrotor.hpp +++ b/include/dynobench/quadrotor.hpp @@ -152,9 +152,9 @@ struct Model_quad3d : Model_robot { void virtual transform_primitive( const Eigen::Ref &p, const std::vector &xs_in, - const std::vector &us_in, - std::vector &xs_out, - std::vector &us_out, + const std::vector &us_in, TrajWrapper &traj_out, + // std::vector &xs_out, + // std::vector &us_out, std::function)> *is_valid_fun = nullptr, int *num_valid_states = nullptr) override; @@ -191,6 +191,7 @@ struct Model_quad3d : Model_robot { if (p.size() == 3) { Model_robot::transform_state(p, xin, xout); } else if (p.size() == 6) { + xout = xin; xout.head<3>() += p.head<3>(); xout.segment<3>(7) += p.tail<3>(); } diff --git a/include/dynobench/robot_models_base.hpp b/include/dynobench/robot_models_base.hpp index 63ba374..62b2a74 100644 --- a/include/dynobench/robot_models_base.hpp +++ b/include/dynobench/robot_models_base.hpp @@ -22,6 +22,79 @@ namespace dynobench { +struct TrajWrapper { + + size_t get_size() const { return size; } + + void set_size(size_t i) { + assert(i <= states.cols()); + size = i; + } + + void allocate_size(size_t i, size_t t_nx, size_t t_nu) { + nx = t_nx; + nu = t_nu; + size = i; + // std::cout << "i " << i << std::endl; + // std::cout << "nx " << nx << std::endl; + // std::cout << "nu " << nu << std::endl; + states = Eigen::MatrixXd::Zero(nx, i); + actions = Eigen::MatrixXd::Zero(nu, i - 1); + } + + auto get_state(size_t i) { + assert(i < size); + assert(i < states.cols()); + return states.col(i); + } + + auto get_action(size_t i) { + assert(i < size - 1); + assert(i < states.cols()); + return actions.col(i); + } + + std::vector get_states() { + std::vector states_vec; + states_vec.reserve(get_size()); + for (size_t i = 0; i < get_size(); i++) { + states_vec.push_back(get_state(i)); + } + return states_vec; + } + + std::vector get_actions() { + std::vector actions_vec; + actions_vec.reserve(get_size()); + for (size_t i = 0; i < get_size() - 1; i++) { + actions_vec.push_back(get_action(i)); + } + return actions_vec; + } + + // Trajectory get_trajectory() { + // Trajectory traj; + // traj.states.resize(get_size()); + // traj.actions.resize(get_size() - 1); + // for (size_t i = 0; i < get_size(); i++) { + // traj.states[i] = states.col(i); + // } + // + // for (size_t i = 0; i < get_size() - 1; i++) { + // traj.actions[i] = actions.col(i); + // } + // + // return traj; + // } + +private: + size_t size; + Eigen::MatrixXd states; + Eigen::MatrixXd actions; + size_t nx; + size_t nu; +}; + static double low__ = -std::sqrt(std::numeric_limits::max()); static double max__ = std::sqrt(std::numeric_limits::max()); @@ -439,6 +512,28 @@ struct Model_robot { } } + virtual void rollout( + const Eigen::Ref &x0, + const std::vector &us, TrajWrapper &traj, + std::function)> *is_valid_fun = nullptr, + int *num_valid_states = nullptr) { + + DYNO_CHECK_EQ(bool(is_valid_fun), bool(num_valid_states), AT); + if (num_valid_states) { + *num_valid_states = traj.get_size(); + } + traj.get_state(0) = x0; + for (size_t i = 0; i < us.size(); i++) { + step(traj.get_state(i + 1), traj.get_state(i), us.at(i), ref_dt); + if (is_valid_fun && !(*is_valid_fun)(traj.get_state(i + 1))) { + if (num_valid_states) { + *num_valid_states = i + 1; + } + break; + } + } + } + virtual void transform_state(const Eigen::Ref &p, const Eigen::Ref &xin, Eigen::Ref xout) { @@ -463,79 +558,20 @@ struct Model_robot { virtual void transform_primitive2( const Eigen::Ref &p, const std::vector &xs_in, - const std::vector &us_in, - std::vector &xs_out, - std::vector &us_out, + const std::vector &us_in, TrajWrapper &traj_out, + // std::vector &xs_out, + // std::vector &us_out, std::function)> *is_valid_fun = nullptr, - int *num_valid_states = nullptr) { - - assert(xs_out.size()); - assert(xs_in.size()); - assert(xs_out.size() == xs_in.size()); - DYNO_CHECK_EQ(bool(is_valid_fun), bool(num_valid_states), AT); - - xs_out.front() = xs_in.front(); - assert(is_valid_fun && (*is_valid_fun)(xs_out.front())); - - transform_state(p, xs_in.at(0), xs_out.at(0)); - rollout(xs_out.front(), us_in, xs_out, is_valid_fun, num_valid_states); - - assert(num_valid_states && *num_valid_states <= xs_out.size()); - assert(num_valid_states && *num_valid_states - 1 <= us_out.size()); - - for (size_t i = 0; - i < (num_valid_states ? *num_valid_states - 1 : us_in.size()); i++) { - us_out[i] = us_in[i]; - } - } + int *num_valid_states = nullptr); virtual void transform_primitive( const Eigen::Ref &p, const std::vector &xs_in, - const std::vector &us_in, - std::vector &xs_out, - std::vector &us_out, + const std::vector &us_in, TrajWrapper &traj_out, + // std::vector &xs_out, + // std::vector &us_out, std::function)> *is_valid_fun = nullptr, - int *num_valid_states = nullptr) { - DYNO_CHECK_EQ(bool(is_valid_fun), bool(num_valid_states), ""); - - // basic transformation is translation invariance - DYNO_CHECK_EQ(static_cast(p.size()), translation_invariance, ""); - - DYNO_CHECK_EQ(us_out.size(), us_in.size(), AT); - DYNO_CHECK_EQ(xs_out.size(), xs_in.size(), AT); - DYNO_CHECK_EQ(xs_out.front().size(), xs_in.front().size(), AT); - DYNO_CHECK_EQ(us_out.front().size(), us_in.front().size(), AT); - - if (num_valid_states) { - *num_valid_states = xs_in.size(); - } - if (translation_invariance) { - for (size_t i = 0; i < xs_in.size(); i++) { - xs_out[i] = xs_in[i]; - xs_out[i].head(translation_invariance) += p; - if (is_valid_fun && !(*is_valid_fun)(xs_out[i])) { - *num_valid_states = i; - break; - } - } - } else { - for (size_t i = 0; i < xs_in.size(); i++) { - xs_out[i] = xs_in[i]; - } - } - - if (num_valid_states) { - assert(*num_valid_states <= xs_in.size()); - assert(*num_valid_states - 1 <= us_in.size()); - } - - size_t num_controls = - num_valid_states ? *num_valid_states - 1 : us_in.size(); - for (size_t i = 0; i < num_controls; i++) { - us_out[i] = us_in[i]; - } - } + int *num_valid_states = nullptr); // x1 - x0 virtual void state_diff(Eigen::Ref r, diff --git a/src/motions.cpp b/src/motions.cpp index a0edcd6..7dee2d9 100644 --- a/src/motions.cpp +++ b/src/motions.cpp @@ -1024,24 +1024,22 @@ Trajectory Trajectory::resample(std::shared_ptr &robot) { time_bench.num_col_motions++; #endif -bool is_motion_collision_free(dynobench::Trajectory &traj, +bool is_motion_collision_free(dynobench::TrajWrapper &traj, dynobench::Model_robot &robot) { - assert(traj.states.size()); - if (!robot.collision_check(traj.states.front())) { + assert(traj.get_size()); + if (!robot.collision_check(traj.get_state(0))) { return false; } - if (!robot.collision_check(traj.states.back())) { + if (!robot.collision_check(traj.get_state(traj.get_size() - 1))) { return false; } - CHECK(traj.states.size(), AT); - Stopwatch watch; size_t index_start = 0; - size_t index_last = traj.states.size() - 1; + size_t index_last = traj.get_size() - 1; // check the first and last state @@ -1063,7 +1061,6 @@ bool is_motion_collision_free(dynobench::Trajectory &traj, // I could use a spatial resolution also... while (!queue.empty()) { - auto [si, gi] = queue.front(); queue.pop(); @@ -1079,8 +1076,7 @@ bool is_motion_collision_free(dynobench::Trajectory &traj, continue; } // robot->toEigen(motion->states.at(ii), x); - x = traj.states.at(ii); - if (robot.collision_check(x)) { + if (robot.collision_check(traj.get_state(ii))) { if (ii != si) queue.push(Segment{ii, gi}); if (ii != gi) diff --git a/src/planar_rotor.cpp b/src/planar_rotor.cpp index 4d1425e..2f8ab45 100644 --- a/src/planar_rotor.cpp +++ b/src/planar_rotor.cpp @@ -13,7 +13,6 @@ Model_quad2d::Model_quad2d(const Quad2d_params ¶ms, params(params) { using V2d = Eigen::Vector2d; - using V3d = Eigen::Vector3d; using Vxd = Eigen::VectorXd; const double RM_max__ = std::sqrt(std::numeric_limits::max()); const double RM_low__ = -RM_max__; diff --git a/src/quadrotor.cpp b/src/quadrotor.cpp index 80aaa1b..8949924 100644 --- a/src/quadrotor.cpp +++ b/src/quadrotor.cpp @@ -204,17 +204,21 @@ void Model_quad3d::transform_primitive( const Eigen::Ref &p, const std::vector &xs_in, const std::vector &us_in, - std::vector &xs_out, std::vector &us_out, + // std::vector &xs_out, std::vector + // &us_out, + TrajWrapper &traj_out, std::function)> *is_valid_fun, int *num_valid_states) { CHECK((p.size() == 3 || 6), AT); if (p.size() == 3) { - Model_robot::transform_primitive(p, xs_in, us_in, xs_out, us_out, + Model_robot::transform_primitive(p, xs_in, us_in, traj_out, + // xs_out, us_out, is_valid_fun, num_valid_states); } else { - Model_robot::transform_primitive2(p, xs_in, us_in, xs_out, us_out, + Model_robot::transform_primitive2(p, xs_in, us_in, traj_out, + // xs_out, us_out, is_valid_fun, num_valid_states); } } diff --git a/src/robot_models_base.cpp b/src/robot_models_base.cpp index b14cf58..44cb0db 100644 --- a/src/robot_models_base.cpp +++ b/src/robot_models_base.cpp @@ -655,6 +655,88 @@ Model_robot::lower_bound_time(const Eigen::Ref &x, ERROR_WITH_INFO("not implemented"); } +void Model_robot::transform_primitive2( + const Eigen::Ref &p, + const std::vector &xs_in, + const std::vector &us_in, TrajWrapper &traj_out, + // std::vector &xs_out, std::vector + // &us_out, + std::function)> *is_valid_fun, + int *num_valid_states) { + + assert(traj_out.get_size()); + assert(xs_in.size()); + assert(traj_out.get_size() == xs_in.size()); + DYNO_CHECK_EQ(bool(is_valid_fun), bool(num_valid_states), AT); + + transform_state(p, xs_in.at(0), traj_out.get_state(0)); + + if (is_valid_fun) { + assert((*is_valid_fun)(traj_out.get_state(0))); + } + + rollout(traj_out.get_state(0), us_in, traj_out, is_valid_fun, + num_valid_states); + + if (num_valid_states) { + // std::cout << "num_valid_states: " << *num_valid_states << std::endl; + // std::cout << "traj_out.get_size(): " << traj_out.get_size() << std::endl; + assert(*num_valid_states <= traj_out.get_size()); + } + + for (size_t i = 0; + i < (num_valid_states ? *num_valid_states - 1 : us_in.size()); i++) { + traj_out.get_action(i) = us_in[i]; + } +} + +void Model_robot::transform_primitive( + const Eigen::Ref &p, + const std::vector &xs_in, + const std::vector &us_in, + // std::vector &xs_out, std::vector + // &us_out, + TrajWrapper &traj_out, + std::function)> *is_valid_fun, + int *num_valid_states) { + DYNO_CHECK_EQ(bool(is_valid_fun), bool(num_valid_states), ""); + + // basic transformation is translation invariance + DYNO_CHECK_EQ(static_cast(p.size()), translation_invariance, ""); + + DYNO_CHECK_EQ(traj_out.get_size(), xs_in.size(), AT); + DYNO_CHECK_EQ(traj_out.get_state(0).size(), xs_in.front().size(), AT); + DYNO_CHECK_EQ(traj_out.get_action(0).size(), us_in.front().size(), AT); + + if (num_valid_states) { + *num_valid_states = xs_in.size(); + } + if (translation_invariance) { + for (size_t i = 0; i < xs_in.size(); i++) { + traj_out.get_state(i) = xs_in[i]; + traj_out.get_state(i).head(translation_invariance) += p; + if (is_valid_fun && !(*is_valid_fun)(traj_out.get_state(i))) { + *num_valid_states = i; + break; + } + } + } else { + for (size_t i = 0; i < xs_in.size(); i++) { + traj_out.get_state(i) = xs_in[i]; + } + } + + if (num_valid_states) { + assert(*num_valid_states <= xs_in.size()); + assert(*num_valid_states - 1 <= us_in.size()); + } + + size_t num_controls = num_valid_states ? *num_valid_states - 1 : us_in.size(); + for (size_t i = 0; i < num_controls; i++) { + traj_out.get_action(i) = us_in[i]; + } +} + void linearInterpolation(const Eigen::VectorXd ×, const std::vector &x, double t_query, const StateDyno &state, @@ -735,4 +817,5 @@ void linearInterpolation(const Eigen::VectorXd ×, Jx = J2 * diff / (times(index) - times(index - 1)); } + } // namespace dynobench From 6dfdef70aed4f2a0ccebeb1f68b4756f45219ec2 Mon Sep 17 00:00:00 2001 From: Quim Ortiz - Work Date: Mon, 31 Jul 2023 10:03:24 +0200 Subject: [PATCH 22/25] option to get last state of rollout, to accelerate checking if prmitive is good or not --- include/dynobench/planar_rotor.hpp | 19 ++++++++++++ include/dynobench/planar_rotor_pole.hpp | 19 ++++++++++++ include/dynobench/quadrotor.hpp | 19 ++++++++++++ include/dynobench/robot_models_base.hpp | 41 ++++++++++++++----------- 4 files changed, 80 insertions(+), 18 deletions(-) diff --git a/include/dynobench/planar_rotor.hpp b/include/dynobench/planar_rotor.hpp index 959aa9a..7a588a6 100644 --- a/include/dynobench/planar_rotor.hpp +++ b/include/dynobench/planar_rotor.hpp @@ -184,6 +184,25 @@ struct Model_quad2d : Model_robot { } } + virtual void + transform_primitive_last_state(const Eigen::Ref &p, + const std::vector &xs_in, + const std::vector &us_in, + Eigen::Ref x_out) override { + + CHECK((p.size() == 2 || 4), AT); + + if (p.size() == 2) { + Model_robot::transform_primitive_last_state(p, xs_in, us_in, x_out); + + } else { + x_out = xs_in.back(); + x_out.head<2>() += + p.head<2>() + us_in.size() * ref_dt * p.tail<2>(); // velocity + x_out.segment<2>(3) += p.tail<2>(); // velocity + } + } + virtual void transform_primitive( const Eigen::Ref &p, const std::vector &xs_in, diff --git a/include/dynobench/planar_rotor_pole.hpp b/include/dynobench/planar_rotor_pole.hpp index 9394021..997c76e 100644 --- a/include/dynobench/planar_rotor_pole.hpp +++ b/include/dynobench/planar_rotor_pole.hpp @@ -119,6 +119,25 @@ struct Model_quad2dpole : Model_robot { return out; } + virtual void + transform_primitive_last_state(const Eigen::Ref &p, + const std::vector &xs_in, + const std::vector &us_in, + Eigen::Ref x_out) override { + + CHECK((p.size() == 2 || 4), AT); + + if (p.size() == 2) { + Model_robot::transform_primitive_last_state(p, xs_in, us_in, x_out); + + } else { + x_out = xs_in.back(); + x_out.head<2>() += + p.head<2>() + us_in.size() * ref_dt * p.tail<2>(); // position + x_out.segment<2>(4) += p.tail<2>(); // velocity + } + } + virtual void sample_uniform(Eigen::Ref x) override; virtual void calcV(Eigen::Ref v, diff --git a/include/dynobench/quadrotor.hpp b/include/dynobench/quadrotor.hpp index f3d154d..215994f 100644 --- a/include/dynobench/quadrotor.hpp +++ b/include/dynobench/quadrotor.hpp @@ -149,6 +149,25 @@ struct Model_quad3d : Model_robot { f = B0inv * tm / u_nominal; } + virtual void + transform_primitive_last_state(const Eigen::Ref &p, + const std::vector &xs_in, + const std::vector &us_in, + Eigen::Ref x_out) override { + + assert(p.size() == 3 || 6); + + if (p.size() == 3) { + Model_robot::transform_primitive_last_state(p, xs_in, us_in, x_out); + + } else { + x_out = xs_in.back(); + x_out.head<3>() += + p.head<3>() + us_in.size() * ref_dt * p.tail<3>(); // velocity + x_out.segment<3>(7) += p.tail<3>(); // velocity + } + } + void virtual transform_primitive( const Eigen::Ref &p, const std::vector &xs_in, diff --git a/include/dynobench/robot_models_base.hpp b/include/dynobench/robot_models_base.hpp index 62b2a74..5b8991e 100644 --- a/include/dynobench/robot_models_base.hpp +++ b/include/dynobench/robot_models_base.hpp @@ -22,6 +22,8 @@ namespace dynobench { +// TODO: try to allocate states and controls together, and see if there is +// speedup due to better data locality struct TrajWrapper { size_t get_size() const { return size; } @@ -35,9 +37,6 @@ struct TrajWrapper { nx = t_nx; nu = t_nu; size = i; - // std::cout << "i " << i << std::endl; - // std::cout << "nx " << nx << std::endl; - // std::cout << "nu " << nu << std::endl; states = Eigen::MatrixXd::Zero(nx, i); actions = Eigen::MatrixXd::Zero(nu, i - 1); } @@ -72,21 +71,6 @@ struct TrajWrapper { return actions_vec; } - // Trajectory get_trajectory() { - // Trajectory traj; - // traj.states.resize(get_size()); - // traj.actions.resize(get_size() - 1); - // for (size_t i = 0; i < get_size(); i++) { - // traj.states[i] = states.col(i); - // } - // - // for (size_t i = 0; i < get_size() - 1; i++) { - // traj.actions[i] = actions.col(i); - // } - // - // return traj; - // } - private: size_t size; Eigen::MatrixXd states; @@ -293,6 +277,11 @@ struct Model_robot { bool invariance_reuse_col_shape = true; bool is_2d; + + bool transform_primitive_last_state_available = true; + // true means that we can know the last state of the transformed primitive + // without doing the full rollout + size_t translation_invariance = 0; // e.g. 1, 2 , 3, ... std::vector x_desc; std::vector u_desc; @@ -555,6 +544,22 @@ struct Model_robot { virtual size_t get_offset_dim() { return translation_invariance; } + virtual void + transform_primitive_last_state(const Eigen::Ref &p, + const std::vector &xs_in, + const std::vector &us_in, + Eigen::Ref x_out) { + + assert(xs_in.size()); + assert(us_in.size() == xs_in.size() - 1); + if (translation_invariance) { + x_out = xs_in.back(); + x_out.head(translation_invariance) += p; + } else { + x_out = xs_in.back(); + } + } + virtual void transform_primitive2( const Eigen::Ref &p, const std::vector &xs_in, From f95de896ffa686abe8cecfe95ade45a5a62aa231 Mon Sep 17 00:00:00 2001 From: quimortiz <32126190+quimortiz@users.noreply.github.com> Date: Mon, 31 Jul 2023 11:23:48 +0200 Subject: [PATCH 23/25] Update README.md --- README.md | 1 - 1 file changed, 1 deletion(-) diff --git a/README.md b/README.md index ef5c5cb..612cf2e 100644 --- a/README.md +++ b/README.md @@ -15,7 +15,6 @@ TODO ## Motion Primitives -Kinodynamic motion planning problem are defined in [Dynobench](https://github.com/quimortiz/dynobench) Acrobot

    From 73a3af93ea8519ae61d20e2e9fd19e11055e94bf Mon Sep 17 00:00:00 2001 From: quimortiz <32126190+quimortiz@users.noreply.github.com> Date: Mon, 31 Jul 2023 11:24:53 +0200 Subject: [PATCH 24/25] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 219e48e..97bd848 100644 --- a/README.md +++ b/README.md @@ -23,7 +23,7 @@ Using `cmake`, import the library with: ```cmake add_subdirectory(dynobench EXCLUDE_FROM_ALL) # use EXCLUDE_FROM_ALL to avoid # building the tests -...cmake +... target_link_libraries( my_target PRIVATE dynobench::dynobench ) From b917b71613b5e2e4ecfe42e1b23c4e129171ec95 Mon Sep 17 00:00:00 2001 From: Quim Ortiz - Work Date: Wed, 16 Aug 2023 14:38:35 +0200 Subject: [PATCH 25/25] add integator1_2d, and minors fixes on integrator2_2d --- CMakeLists.txt | 3 +- envs/integrator1_2d_v0/empty.yaml | 8 ++ envs/integrator2_2d_v0/empty.yaml | 2 +- include/dynobench/integrator1_2d.hpp | 114 ++++++++++++++++++ models/integrator1_2d_v0.yaml | 2 + src/integrator1_2d.cpp | 166 ++++++++++++++++++++++++++ src/integrator2_2d.cpp | 2 +- src/robot_models.cpp | 3 + test/test_models.cpp | 34 ++++++ utils/viewer/integrator1_2d_viewer.py | 52 ++++++++ utils/viewer/integrator2_2d_viewer.py | 3 +- utils/viewer/viewer_cli.py | 4 +- utils/viewer/viewer_utils.py | 26 ++-- 13 files changed, 402 insertions(+), 17 deletions(-) create mode 100644 envs/integrator1_2d_v0/empty.yaml create mode 100644 include/dynobench/integrator1_2d.hpp create mode 100644 models/integrator1_2d_v0.yaml create mode 100644 src/integrator1_2d.cpp create mode 100644 utils/viewer/integrator1_2d_viewer.py diff --git a/CMakeLists.txt b/CMakeLists.txt index f053fe8..ffbbd01 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -35,7 +35,8 @@ add_library( ./src/planar_rotor.cpp ./src/planar_rotor_pole.cpp ./src/car2.cpp - ./src/integrator2_2d.cpp) + ./src/integrator2_2d.cpp + ./src/integrator1_2d.cpp) add_library(dynobench::dynobench ALIAS dynobench) diff --git a/envs/integrator1_2d_v0/empty.yaml b/envs/integrator1_2d_v0/empty.yaml new file mode 100644 index 0000000..d8a79c3 --- /dev/null +++ b/envs/integrator1_2d_v0/empty.yaml @@ -0,0 +1,8 @@ +name: Integrator1_2d_v0-empty +environment: + min: [0.0, 0.0] + max: [1.0, 1.0] +robots: + - type: integrator1_2d_v0 + start: [0.2, 0.2] # x,y + goal: [0.3, 0.9] # x,y diff --git a/envs/integrator2_2d_v0/empty.yaml b/envs/integrator2_2d_v0/empty.yaml index dc3b206..4696213 100644 --- a/envs/integrator2_2d_v0/empty.yaml +++ b/envs/integrator2_2d_v0/empty.yaml @@ -1,4 +1,4 @@ -name: Integrator2_2d_v0-park +name: Integrator2_2d_v0-empty environment: min: [0.0, -0.5] max: [3.5, 2.5] diff --git a/include/dynobench/integrator1_2d.hpp b/include/dynobench/integrator1_2d.hpp new file mode 100644 index 0000000..44214fb --- /dev/null +++ b/include/dynobench/integrator1_2d.hpp @@ -0,0 +1,114 @@ +#pragma once +#include "Eigen/Core" +#include "dyno_macros.hpp" +#include "dynobench/robot_models_base.hpp" +#include "fcl/broadphase/broadphase_collision_manager.h" +#include "general_utils.hpp" +#include "math_utils.hpp" +#include +// #include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace dynobench { + +struct Integrator1_2d_params { + + Integrator1_2d_params(const char *file) { read_from_yaml(file); }; + + Integrator1_2d_params() = default; + + // time step for discrete-time dynamics + double dt = .1; + + // Control and state bounds + double max_vel = .5; // -max_vel < vel_x < max_vel and -max_vel < vel_y < max_vel + + // filenam used to load the paratemers, it is set by read_from_yaml + std::string filename = ""; + + // shape for collision + std::string shape = "box"; + + // For computing distance between states + // Eigen::Vector2d distance_weights = Eigen::Vector2d(1, .5); + + // Size for collision shape + Eigen::Vector2d size = Eigen::Vector2d(.5, .25); + + void read_from_yaml(const char *file); + void read_from_yaml(YAML::Node &node); + + void write(std::ostream &out); +}; + +struct Integrator1_2d : public Model_robot { + + virtual ~Integrator1_2d() = default; + + Integrator1_2d_params params; + + Integrator1_2d(const Integrator1_2d_params ¶ms = Integrator1_2d_params(), + const Eigen::VectorXd &p_lb = Eigen::VectorXd(), + const Eigen::VectorXd &p_ub = Eigen::VectorXd()); + + virtual void write_params(std::ostream &out) override { params.write(out); } + + // DISTANCE AND TIME (cost) - BOUNDS + // Distances and bounds are useuful in search/motion planning algorithms. + + // distance between two states, using weights probided in params + virtual double distance(const Eigen::Ref &x, + const Eigen::Ref &y) override; + + // lower bound on time to reach y from x, using state/control bounds + // provided in params. + virtual double + lower_bound_time(const Eigen::Ref &x, + const Eigen::Ref &y) override; + + // Setting velocity to 0 if an state + // virtual void set_0_velocity(Eigen::Ref x) override; + + // // lower bound on time, considering only the velcoity component of the state + // virtual double + // lower_bound_time_vel(const Eigen::Ref &x, + // const Eigen::Ref &y) override; + + // lower bound on time, considering only the position component of the state + virtual double + lower_bound_time_pr(const Eigen::Ref &x, + const Eigen::Ref &y) override; + + // DYNAMICS + // + // Calc Velocity (xdot = f(x,u)). + // Note: The step using euler intergration is automatically computed + // from the velocity in the base class + virtual void calcV(Eigen::Ref v, + const Eigen::Ref &x, + const Eigen::Ref &u) override; + virtual void calcDiffV(Eigen::Ref Jv_x, + Eigen::Ref Jv_u, + const Eigen::Ref &x, + const Eigen::Ref &u) override; + + // Collisions + // This updates the position of the collisions shape(s) of the robot. + // The collision distance/check is implemented in the base class. + virtual void transformation_collision_geometries( + const Eigen::Ref &x, + std::vector &ts) override; +}; +} // namespace dynobench diff --git a/models/integrator1_2d_v0.yaml b/models/integrator1_2d_v0.yaml new file mode 100644 index 0000000..85240e8 --- /dev/null +++ b/models/integrator1_2d_v0.yaml @@ -0,0 +1,2 @@ +dynamics: "integrator1_2d" +# use default parameters diff --git a/src/integrator1_2d.cpp b/src/integrator1_2d.cpp new file mode 100644 index 0000000..e212d50 --- /dev/null +++ b/src/integrator1_2d.cpp @@ -0,0 +1,166 @@ +#include "dynobench/integrator1_2d.hpp" + +#include "Eigen/Core" +#include "dynobench/robot_models_base.hpp" +#include "fcl/broadphase/broadphase_collision_manager.h" +#include +// #include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace dynobench { + +void Integrator1_2d_params::read_from_yaml(YAML::Node &node) { + set_from_yaml(node, VAR_WITH_NAME(shape)); + set_from_yaml(node, VAR_WITH_NAME(dt)); + set_from_yaml(node, VAR_WITH_NAME(max_vel)); +} + +void Integrator1_2d_params::write(std::ostream &out) { + + const std::string be = ""; + const std::string af = ": "; + + out << be << STR(shape, af) << std::endl; + out << be << STR(dt, af) << std::endl; + out << be << STR(max_vel, af) << std::endl; + out << be << STR(filename, af) << std::endl; +} + +void Integrator1_2d_params::read_from_yaml(const char *file) { + std::cout << "loading file: " << file << std::endl; + filename = file; + YAML::Node node = YAML::LoadFile(file); + read_from_yaml(node); +} + +// Model_robot takes as input a state space and the size of the control space +// In this case, the state space is R^4 and the control space is R^2 +Integrator1_2d::Integrator1_2d(const Integrator1_2d_params ¶ms, + const Eigen::VectorXd &p_lb, + const Eigen::VectorXd &p_ub) + : Model_robot(std::make_shared(2), 2), params(params) { + + // description of state and control + x_desc = {"x[m]", "y[m]"}; + u_desc = {"vx[m/s]", "vy[m/s]"}; + + is_2d = true; // 2d robot + nx_col = 2; // collision depends only on first two components of state + nx_pr = 2; // position is defined by first two components of state + translation_invariance = 2; // 2d robot is translation invariant + + name = "Integrator1_2d"; + + // dt for time-discretization + ref_dt = params.dt; + + // bound on state and control + u_lb << -params.max_vel, -params.max_vel; + u_ub << params.max_vel, params.max_vel; + + x_lb << low__, low__; + x_ub << max__, max__; + + u_weight << 1., 1.; + x_weightb << 100, 100 ; // TODO: change!! + + // add bounds on position if provided + if (p_lb.size() && p_ub.size()) { + set_position_lb(p_lb); + set_position_ub(p_ub); + } + + // collisions + if (params.shape == "box") { + collision_geometries.push_back( + std::make_shared(params.size(0), params.size(1), 1.0)); + } else { + ERROR_WITH_INFO("not implemented"); + } +} + +// DISTANCE AND TIME (cost) - BOUNDS + +double +Integrator1_2d::lower_bound_time(const Eigen::Ref &x, + const Eigen::Ref &y) { + + std::array maxs = { + std::abs( x(0) - y(0) ) / params.max_vel, + std::abs( x(1) - y(1) ) / params.max_vel }; + + return *std::max_element(maxs.begin(), maxs.end()); +} + + +// double Integrator1_2d::lower_bound_time_vel( +// const Eigen::Ref &x, +// const Eigen::Ref &y) { +// return (x.tail<2>() - y.tail<2>()).norm() / params.max_acc; +// } + +double Integrator1_2d::lower_bound_time_pr( + const Eigen::Ref &x, + const Eigen::Ref &y) { + + + std::array maxs = { + std::abs( x(0) - y(0) ) / params.max_vel, + std::abs( x(1) - y(1) ) / params.max_vel }; + + return *std::max_element(maxs.begin(), maxs.end()); +} + +double Integrator1_2d::distance(const Eigen::Ref &x, + const Eigen::Ref &y) { + return (x.head<2>() - y.head<2>()).norm(); +}; + +void Integrator1_2d::calcV(Eigen::Ref v, + const Eigen::Ref &x, + const Eigen::Ref &u) { + + v(0) = u(0); + v(1) = u(1); +} + +// DYNAMICS +void Integrator1_2d::calcDiffV(Eigen::Ref Jv_x, + Eigen::Ref Jv_u, + const Eigen::Ref &x, + const Eigen::Ref &u) { + + (void)x; + (void)u; + assert(x.size() == 2); + assert(u.size() == 2); + assert(Jv_x.rows() == 2); + assert(Jv_x.cols() == 2); + assert(Jv_u.rows() == 2); + assert(Jv_u.cols() == 2); + + Jv_u(0, 0) = 1.; + Jv_u(1, 1) = 1.; +} + +// Collisions +void Integrator1_2d::transformation_collision_geometries( + const Eigen::Ref &x, std::vector &ts) { + + assert(x.size() == 2); + assert(ts.size() == 1); // only one collision body + + fcl::Transform3d result; + result = Eigen::Translation(fcl::Vector3d(x(0), x(1), 0)); + ts.at(0) = result; +} +}; // namespace dynobench diff --git a/src/integrator2_2d.cpp b/src/integrator2_2d.cpp index ff46088..fc744ad 100644 --- a/src/integrator2_2d.cpp +++ b/src/integrator2_2d.cpp @@ -55,7 +55,7 @@ Integrator2_2d::Integrator2_2d(const Integrator2_2d_params ¶ms, // description of state and control x_desc = {"x[m]", "y[m]", "vx[m]", "vy[m]"}; - u_desc = {"vx[m/s]", "vy[m/s]"}; + u_desc = {"ax[m/s]", "ay[m/s]"}; is_2d = true; // 2d robot nx_col = 2; // collision depends only on first two components of state diff --git a/src/robot_models.cpp b/src/robot_models.cpp index e7ca0e8..dcf9b79 100644 --- a/src/robot_models.cpp +++ b/src/robot_models.cpp @@ -34,6 +34,7 @@ #include "dynobench/quadrotor.hpp" #include "dynobench/unicycle1.hpp" #include "dynobench/unicycle2.hpp" +#include "dynobench/integrator1_2d.hpp" namespace dynobench { @@ -71,6 +72,8 @@ std::unique_ptr robot_factory(const char *file, return std::make_unique(file, p_lb, p_ub); } else if (dynamics == "integrator2_2d") { return std::make_unique(file, p_lb, p_ub); + } else if (dynamics == "integrator1_2d") { + return std::make_unique(file, p_lb, p_ub); } else { ERROR_WITH_INFO("dynamics not implemented: " + dynamics); } diff --git a/test/test_models.cpp b/test/test_models.cpp index 9f63d6d..d876d7a 100644 --- a/test/test_models.cpp +++ b/test/test_models.cpp @@ -46,6 +46,7 @@ #include "dynobench/acrobot.hpp" #include "dynobench/integrator2_2d.hpp" +#include "dynobench/integrator1_2d.hpp" #include "dynobench/planar_rotor.hpp" #include "dynobench/planar_rotor_pole.hpp" #include "dynobench/quadrotor.hpp" @@ -989,3 +990,36 @@ BOOST_AUTO_TEST_CASE(t_Integrator2_2d) { BOOST_TEST((Jx - Jx_diff).norm() < 1e-5); BOOST_TEST((Ju - Ju_diff).norm() < 1e-5); } + +BOOST_AUTO_TEST_CASE(t_Integrator1_2d) { + auto model = mk(); + + Eigen::VectorXd x0(2), u0(2); + x0 << .1, .2 ; + u0 << -.1, .2; + + Eigen::MatrixXd Jx_diff(2, 2), Ju_diff(2, 2), Jx(2, 2), Ju(2, 2); + Jx.setZero(); + Ju.setZero(); + Jx_diff.setZero(); + Ju_diff.setZero(); + + model->calcDiffV(Jx, Ju, x0, u0); + + finite_diff_jac( + [&](const Eigen::VectorXd &x, Eigen::Ref y) { + model->calcV(y, x, u0); + }, + x0, 2, Jx_diff); + + finite_diff_jac( + [&](const Eigen::VectorXd &u, Eigen::Ref y) { + model->calcV(y, x0, u); + }, + u0, 2, Ju_diff); + + BOOST_TEST((Jx - Jx_diff).norm() < 1e-5); + BOOST_TEST((Ju - Ju_diff).norm() < 1e-5); +} + + diff --git a/utils/viewer/integrator1_2d_viewer.py b/utils/viewer/integrator1_2d_viewer.py new file mode 100644 index 0000000..13634a5 --- /dev/null +++ b/utils/viewer/integrator1_2d_viewer.py @@ -0,0 +1,52 @@ +import viewer_utils +import numpy as np +import matplotlib +import matplotlib.pyplot as plt +import yaml +from matplotlib import animation +from robot_viewer import RobotViewer + + +class Robot: + # TODO: read this from config file + size = np.array([0.5, 0.25]) + + def __init__(self): + pass + + def draw_basic(self, ax, X, fill=None, color="k", l=0.05, alpha=1.0, **kwargs): + self.point = ax.plot([X[0]], [X[1]], ".", alpha=alpha, color=color, **kwargs) + + def draw_traj_minimal(self, ax, Xs, **kwargs): + xx = [x[0] for x in Xs] + yy = [x[1] for x in Xs] + ax.plot(xx, yy, **kwargs) + + def draw(self, ax, X, **kwargs): + self.ax = ax + center = X[:2] + angle = 0 + self.o1 = viewer_utils.draw_box_patch(ax, center, self.size, angle, **kwargs) + self.o2 = viewer_utils.draw_box_patch_front( + ax, center, self.size, angle, color="black" + ) + + def update(self, X): + center = X[:2] + angle = 0 + xy = np.asarray(center) - np.asarray(self.size) / 2 + self.o1.set_xy(xy) + t = matplotlib.transforms.Affine2D().rotate_around(center[0], center[1], angle) + self.o1.set_transform(t + self.ax.transData) + + p = 0.2 * np.array([np.cos(angle), np.sin(angle)]) + print(p + center) + self.o2.center = (p + center).tolist() + return [self.o1, self.o2] + + +class Integrator1_2dViewer(RobotViewer): + def __init__(self): + super().__init__(Robot) + self.labels_x = ["x", "y"] + self.labels_u = ["vx", "vy"] diff --git a/utils/viewer/integrator2_2d_viewer.py b/utils/viewer/integrator2_2d_viewer.py index e57f91a..76702d6 100644 --- a/utils/viewer/integrator2_2d_viewer.py +++ b/utils/viewer/integrator2_2d_viewer.py @@ -25,7 +25,8 @@ def draw_traj_minimal(self, ax, Xs, **kwargs): def draw(self, ax, X, **kwargs): self.ax = ax center = X[:2] - angle = X[2] + # angle = X[2] + angle = 0 self.o1 = viewer_utils.draw_box_patch(ax, center, self.size, angle, **kwargs) self.o2 = viewer_utils.draw_box_patch_front( ax, center, self.size, angle, color="black" diff --git a/utils/viewer/viewer_cli.py b/utils/viewer/viewer_cli.py index 23329b7..279ec49 100644 --- a/utils/viewer/viewer_cli.py +++ b/utils/viewer/viewer_cli.py @@ -13,6 +13,7 @@ import unicycle2_viewer import car_with_trailer_viewer import integrator2_2d_viewer +import integrator1_2d_viewer import robot_viewer import sys @@ -35,7 +36,8 @@ def get_robot_viewer(robot: str) -> robot_viewer.RobotViewer: viewer = car_with_trailer_viewer.CarWithTrailerViewer() elif robot == "integrator2_2d": viewer = integrator2_2d_viewer.Integrator2_2dViewer() - + elif robot == "integrator1_2d": + viewer = integrator1_2d_viewer.Integrator1_2dViewer() else: raise NotImplementedError("unknown model " + robot) return viewer diff --git a/utils/viewer/viewer_utils.py b/utils/viewer/viewer_utils.py index 9373516..835771d 100644 --- a/utils/viewer/viewer_utils.py +++ b/utils/viewer/viewer_utils.py @@ -189,18 +189,20 @@ def draw_problem_2d(ax, env, Robot): if isinstance(env, str): with open(env) as f: env = yaml.safe_load(f) - - for obstacle in env["environment"]["obstacles"]: - if obstacle["type"] == "box": - draw_box_patch( - ax, - obstacle["center"], - obstacle["size"], - facecolor="gray", - edgecolor="black", - ) - else: - print("ERROR: unknown obstacle type") + + + if "obstacles" in env["environment"] : + for obstacle in env["environment"]["obstacles"]: + if obstacle["type"] == "box": + draw_box_patch( + ax, + obstacle["center"], + obstacle["size"], + facecolor="gray", + edgecolor="black", + ) + else: + print("ERROR: unknown obstacle type") for robot in env["robots"]: # if robot["type"] in ["unicycle_first_order_0"]:

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