git

learning_machines_robobo/examples/full_project_setup/catkin_ws/src/learning_machines/src/learning_machines/__init__.py

@@ -1,7 +1,7 @@
-# from .task0_g6 import run_all_actions
+from .task0_g6 import run_all_actions
 
-# __all__ = ("run_all_actions",)
+__all__ = ("run_all_actions",)
 
-from .ppo_train import run
+# from .ppo_train import run
 
-__all__ = ("run",)
+# __all__ = ("run",)

learning_machines_robobo/examples/full_project_setup/catkin_ws/src/learning_machines/src/learning_machines/robobo.txt

@@ -1 +0,0 @@
-# good turn irl (25 -25 1100)

learning_machines_robobo/examples/full_project_setup/catkin_ws/src/learning_machines/src/learning_machines/task0.py

@@ -1,91 +0,0 @@
-import cv2
-import matplotlib.pyplot as plt
-import csv
-from data_files import FIGRURES_DIR
-from robobo_interface import (
-    IRobobo,
-    SimulationRobobo,
-    HardwareRobobo,
-)
-from datetime import datetime
-current_datetime = datetime.now().strftime("%Y%m%d-%H%M%S") 
-
-def plot_sensor_data(irs, title):
-    plt.figure()
-    for sensor_index in range(len(irs[0])):
-        sensor_values = [data[sensor_index] for data in irs]
-        plt.plot(sensor_values, label=f'Sensor {sensor_index + 1}')
-    plt.xlabel('Steps')
-    plt.ylabel('IR Sensor Values')
-    plt.title(title)
-    plt.legend()
-    plt.savefig(str(FIGRURES_DIR / f"{title}_sensor_plot{current_datetime}.png"))
-
-def save_to_csv(sensor_readings, filename):
-    with open(filename, 'w', newline='') as csvfile:
-        writer = csv.writer(csvfile)
-        writer.writerow(['BackL', 'BackR', 'FrontL', 'FrontR', 'FrontC', 'FrontRR', 'BackC', 'FrontLL'])
-        for data in sensor_readings:
-            writer.writerow(data)
-
-def task_example_1(rob: IRobobo, steps: int = 100):
-    """Task: Go straight until an object is near, then turn right without touching it."""
-    sensor_readings = []
-    rob.play_simulation()
-    try:
-        for step in range(steps):
-            irs = rob.read_irs()
-            sensor_readings.append(irs)
-            if irs[4] > 40 or irs[5] > 40 or irs[7] > 40:  # All front sensors
-                rob.move(0, 0, 0)  # Stop
-                rob.sleep(0.1)
-                rob.move(50, -50, 500)  # Turn right
-                rob.sleep(0.1)
-                rob.move(50, 50, 1000)
-                rob.sleep(10)
-                print(f"Steps run: {step + 1}")
-                break
-            else:
-                rob.move(50, 50, 100)  # Go straight
-            rob.sleep(0.1)
-    finally:
-        rob.stop_simulation()
-    plot_sensor_data(sensor_readings, "taske_1")
-    save_to_csv(sensor_readings, str(FIGRURES_DIR / f"1_{current_datetime}.csv"))
-
-def task_example_2(rob: IRobobo, steps: int = 100):
-    """Task: Go straight until it touches the wall, then go backward."""
-    sensor_readings = []
-    rob.play_simulation()
-    try:
-        for step in range(steps):
-            irs = rob.read_irs()
-            sensor_readings.append(irs)
-            if irs[4] > 50:  # Front center sensor
-                rob.move(0, 0, 0)  # Stop
-                rob.sleep(0.1)
-                rob.move(50, -50, 500)  # Turn right
-                rob.sleep(0.5)
-            if irs[4] < 0.5:  
-                rob.move(-50, -50, 1000)  # Move backward
-                rob.sleep(5)
-                rob.move(0, 0, 0)  # Stop
-                print(f"Steps run: {step + 1}")
-                break
-            else:
-                rob.move(50, 50, 100)  # Go straight
-            rob.sleep(0.1)
-    finally:
-        rob.stop_simulation()
-    plot_sensor_data(sensor_readings, "task_2")
-    save_to_csv(sensor_readings, str(FIGRURES_DIR / f"2_{current_datetime}.csv"))
-
-def run_all_actions(rob: IRobobo):
-    if isinstance(rob, SimulationRobobo):
-        rob.play_simulation()
-    print("task 1")
-    task_example_1(rob, steps=250)
-    print("task 2")
-    task_example_2(rob, steps=250)
-    if isinstance(rob, SimulationRobobo):
-        rob.stop_simulation()

learning_machines_robobo/examples/full_project_setup/catkin_ws/src/learning_machines/src/learning_machines/test_actions_share.py

@@ -1,123 +0,0 @@
-import cv2
-import matplotlib.pyplot as plt
-import csv
-from data_files import FIGRURES_DIR
-from robobo_interface import (
-    IRobobo,
-    SimulationRobobo,
-    HardwareRobobo,
-)
-from datetime import datetime
-current_datetime = datetime.now().strftime("%Y%m%d-%H%M%S") 
-
-def plot_sensor_data(irs, title):
-    plt.figure()
-    for sensor_index in range(len(irs[0])):
-        sensor_values = [data[sensor_index] for data in irs]
-        plt.plot(sensor_values, label=f'Sensor {sensor_index + 1}')
-    plt.xlabel('Steps')
-    plt.ylabel('IR Sensor Values')
-    plt.title(title)
-    plt.legend()
-    plt.savefig(str(FIGRURES_DIR / f"{title}_sensor_plot{current_datetime}.png"))
-
-def save_to_csv(sensor_readings, filename):
-    with open(filename, 'w', newline='') as csvfile:
-        writer = csv.writer(csvfile)
-        writer.writerow(['BackL', 'BackR', 'FrontL', 'FrontR', 'FrontC', 'FrontRR', 'BackC', 'FrontLL'])
-        for data in sensor_readings:
-            writer.writerow(data)
-
-def task_example_1(rob: IRobobo, steps: int = 100):
-    """Task: Go straight until an object is near, then turn right without touching it."""
-    sensor_readings = []
-    #rob.play_simulation()
-    try:
-        for step in range(steps):
-            irs = rob.read_irs()
-            sensor_readings.append(irs)
-            if irs[4] > 40 or irs[5] > 40 or irs[7] > 40:  # All front sensors
-                rob.move(0, 0, 0)  # Stop
-                rob.sleep(0.1)
-                rob.move(50, -50, 500)  # Turn right
-                rob.sleep(0.1)
-                rob.move(50, 50, 1000)
-                rob.sleep(10)
-                print(f"Steps run: {step + 1}")
-                break
-            else:
-                rob.move(50, 50, 100)  # Go straight
-            rob.sleep(0.1)
-    finally:
-        #rob.stop_simulation()
-        pass
-    plot_sensor_data(sensor_readings, "taske_1")
-    save_to_csv(sensor_readings, str(FIGRURES_DIR / f"1_{current_datetime}.csv"))
-
-def task_example_2(rob: IRobobo, steps: int = 100):
-    """Task: Go straight until it touches the wall, then go backward."""
-    sensor_readings = []
-    turns = 0
-    obstacle_sensor_threshold = 10
-    wall_sensor_threshold = 50 
-    #rob.play_simulation()
-    try:
-        for step in range(steps):
-            irs = rob.read_irs()
-            sensor_readings.append(irs)
-            
-            
-            if irs[4] > 10 or irs[5] > 10 or irs[7] > 10:  
-                rob.move(-50, -50, 150)  # Move backward
-                # rob.sleep(0.3)
-                # rob.move(0, 0, 0)  # Stop
-                if irs[5] > 10:
-                    rob.move(50, -50, 850) # turn right 90 degrees
-                elif irs[7] > 10:
-                    rob.move(-50, 50, 850)
-                else:
-                    rob.move(50, -50, 850)
-                # rob.sleep(0.85)
-                print("Obstacle Dodge")
-            else:
-                rob.move(75, 75, 250)  # Go straight
-                # rob.sleep(0.250)
-
-            # print(irs[4])
-            # 'BackL', 'BackR', 'FrontL', 'FrontR', 'FrontC', 'FrontRR'5 'BackC', 'FrontLL'7
-            
-            if irs[4] > 40 or irs[2] > 70 or irs[3] > 70: 
-                # if irs[4] > 60:
-                #     rob.move(-50, -50, 1000)
-                rob.move(-50, -50, 1000)  # Move backward
-                # rob.sleep(1)
-                rob.move(0, 0, 0)  # Stop
-                rob.move(50, -50, 600) # turn right 90 degrees
-                # rob.sleep(0.6)
-                print("Wall Dodge")
-                turns += 1 # Turn    
-                print(f"Steps run: {step + 1} for turn: {turns}")
-
-                
-            else:
-                rob.move(75, 75, 250)  # Go straight
-                rob.sleep(0.25)
-
-            if turns == 4:
-                print("Done")
-                break
-    finally:
-        #rob.stop_simulation()
-        pass
-    plot_sensor_data(sensor_readings, "task_2")
-    save_to_csv(sensor_readings, str(FIGRURES_DIR / f"2_o{obstacle_sensor_threshold}_w{wall_sensor_threshold}_{current_datetime}.csv"))
-
-def run_all_actions(rob: IRobobo):
-    if isinstance(rob, SimulationRobobo):
-        rob.play_simulation()
-    # print("task 1")
-    # task_example_1(rob, steps=1000)
-    print("task 2")
-    task_example_2(rob, steps=300)
-    if isinstance(rob, SimulationRobobo):
-        rob.stop_simulation()