diff --git a/.gitignore b/.gitignore index 8d135fda..27c4827a 100644 --- a/.gitignore +++ b/.gitignore @@ -68,6 +68,7 @@ *.max *.h5 +*.pth ### Python ### # Byte-compiled / optimized / DLL files diff --git a/README.md b/README.md index 0dc88a69..7f8ee756 100644 --- a/README.md +++ b/README.md @@ -3,17 +3,57 @@ [![Publish cuda 11 Docker image](https://github.com/JdeRobot/BehaviorMetrics/actions/workflows/generate_docker_cuda_11.yml/badge.svg)](https://github.com/JdeRobot/BehaviorMetrics/actions/workflows/generate_docker_cuda_11.yml) # Behavior Metrics -This project presents different approaches to the follow-the-line exercise but using artificial intelligence to complete the circuits. The solutions presented are: -- Using classification networks. -- Using regression networks. -- Using reinforcement learning. -- Solution for real robots. +This software tool provides evaluation capabilities for autonomous driving solutions using simulation. +We provide a series of quantitative metrics for the evaluation of autonomous driving solutions with support for two simulators, [CARLA](https://carla.org/) (main supported simulator) and [gazebo](https://gazebosim.org/home) (partial support). +Currently supported tasks include: -For more information about the project you can consult the [website of Behavior Metrics](https://jderobot.github.io/BehaviorMetrics/). +* Follow-lane +* Driving in traffic +* Navigation + +Each task comes with its own custom evaluation metrics that can help compare autonomous driving solutions. +The main component of the ego vehicle is the brain, which receives sensor data, manipulates it, and generates robot control commands based on it. +The inner part of the brain can be controlled by an end-to-end model, written in Tensorflow or PyTorch, a reinforcement learning policy, or even an explicitly programmed policy. + +The software provides two main pipelines, a graphical user interface (GUI) and a headless mode (scripted). +The first one is intended for testing one brain+model at a time and debugging it visually while the headless mode is intended for running lots of experiments at the same time for comparison of a batch of brain+models in different scenarios. + +architecture + +### Installation + +For more information about the project and how to install it, you can consult the [website of Behavior Metrics](https://jderobot.github.io/BehaviorMetrics/). + +### Examples + +We provide examples for the follow-lane task using CARLA: + +* For an example of a robot brain using a Tensorflow model for control with GUI pipeline, run: + +``` +python3 driver_carla.py -c configs/CARLA/default_carla_tensorflow.yml -g +``` + +* For an example of a robot brain using a PyTorch model for control with GUI pipeline, run: + +``` +python3 driver_carla.py -c configs/CARLA/default_carla_torch.yml -g +``` + +* For an example of an explicitly programmed robot brain with GUI pipeline, run: + +``` +python3 driver_carla.py -c configs/CARLA/default_carla.yml -g +``` + +* For an example of the headless pipeline, run: + +``` +python3 driver_carla.py -c configs/CARLA/default_carla_multiple.yml -s +``` ### Contributing to the project If you want to contribute, please first check out [CONTRIBUTING.md](CONTRIBUTING.md) section. config -architecture \ No newline at end of file diff --git a/behavior_metrics/brains/CARLA/brain_carla_slow_and_turn.py b/behavior_metrics/brains/CARLA/brain_carla_slow_and_turn.py index 102dd05c..4b4f04c2 100644 --- a/behavior_metrics/brains/CARLA/brain_carla_slow_and_turn.py +++ b/behavior_metrics/brains/CARLA/brain_carla_slow_and_turn.py @@ -65,7 +65,9 @@ def execute(self): image_2 = self.camera_2.getImage().data image_3 = self.camera_3.getImage().data - self.motors.sendThrottle(1) + self.motors.sendThrottle(0.5) + self.motors.sendSteer(0.05) + self.update_frame('frame_0', image) self.update_frame('frame_1', image_1) self.update_frame('frame_2', image_2) diff --git a/behavior_metrics/brains/CARLA/brain_carla_subjective_vision_deep_learning_previous_v.py b/behavior_metrics/brains/CARLA/brain_carla_subjective_vision_deep_learning_previous_v.py index 32211898..0185c3f0 100644 --- a/behavior_metrics/brains/CARLA/brain_carla_subjective_vision_deep_learning_previous_v.py +++ b/behavior_metrics/brains/CARLA/brain_carla_subjective_vision_deep_learning_previous_v.py @@ -16,7 +16,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch.py b/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch.py index 881ec4db..1c86fb03 100644 --- a/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch.py +++ b/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch.py @@ -1,5 +1,5 @@ from PIL import Image -from brains.f1.torch_utils.pilotnet import PilotNet +from brains.CARLA.pytorch.utils.pilotnet import PilotNet from utils.constants import PRETRAINED_MODELS_DIR, ROOT_PATH from os import path from albumentations import ( @@ -17,7 +17,7 @@ import math import carla -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' FLOAT = torch.FloatTensor class Brain: diff --git a/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_optimized.py b/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_optimized.py index 892b53a7..a7b6393d 100644 --- a/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_optimized.py +++ b/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_optimized.py @@ -1,5 +1,5 @@ from PIL import Image -from brains.f1.torch_utils.pilotnet import PilotNet +from brains.CARLA.pytorch.utils.pilotnet import PilotNet from utils.constants import PRETRAINED_MODELS_DIR, ROOT_PATH from os import path from albumentations import ( @@ -17,7 +17,7 @@ import math import carla -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' FLOAT = torch.FloatTensor class Brain: diff --git a/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_tensorrt_float.py b/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_tensorrt_float.py index 581b61d6..1be9db8c 100644 --- a/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_tensorrt_float.py +++ b/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_tensorrt_float.py @@ -1,5 +1,5 @@ from PIL import Image -from brains.f1.torch_utils.pilotnet import PilotNet +from brains.CARLA.pytorch.utils.pilotnet import PilotNet from utils.constants import PRETRAINED_MODELS_DIR, ROOT_PATH from os import path from albumentations import ( @@ -17,7 +17,7 @@ import math import carla -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' FLOAT = torch.FloatTensor class Brain: diff --git a/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_tensorrt_int_8.py b/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_tensorrt_int_8.py index 4cd278bf..d7d05a2d 100644 --- a/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_tensorrt_int_8.py +++ b/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_tensorrt_int_8.py @@ -1,5 +1,5 @@ from PIL import Image -from brains.f1.torch_utils.pilotnet import PilotNet +from brains.CARLA.pytorch.utils.pilotnet import PilotNet from utils.constants import PRETRAINED_MODELS_DIR, ROOT_PATH from os import path from albumentations import ( @@ -17,7 +17,7 @@ import math import carla -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' FLOAT = torch.FloatTensor class Brain: diff --git a/behavior_metrics/brains/agents/__init__.py b/behavior_metrics/brains/CARLA/pytorch/utils/__init__.py similarity index 100% rename from behavior_metrics/brains/agents/__init__.py rename to behavior_metrics/brains/CARLA/pytorch/utils/__init__.py diff --git a/behavior_metrics/brains/f1/torch_utils/convlstm.py b/behavior_metrics/brains/CARLA/pytorch/utils/convlstm.py similarity index 100% rename from behavior_metrics/brains/f1/torch_utils/convlstm.py rename to behavior_metrics/brains/CARLA/pytorch/utils/convlstm.py diff --git a/behavior_metrics/brains/f1/torch_utils/deepest_lstm_tinypilotnet.py b/behavior_metrics/brains/CARLA/pytorch/utils/deepest_lstm_tinypilotnet.py similarity index 100% rename from behavior_metrics/brains/f1/torch_utils/deepest_lstm_tinypilotnet.py rename to behavior_metrics/brains/CARLA/pytorch/utils/deepest_lstm_tinypilotnet.py diff --git a/behavior_metrics/brains/f1/torch_utils/pilotnet.py b/behavior_metrics/brains/CARLA/pytorch/utils/pilotnet.py similarity index 100% rename from behavior_metrics/brains/f1/torch_utils/pilotnet.py rename to behavior_metrics/brains/CARLA/pytorch/utils/pilotnet.py diff --git a/behavior_metrics/brains/f1/torch_utils/pilotnetStacked.py b/behavior_metrics/brains/CARLA/pytorch/utils/pilotnetStacked.py similarity index 100% rename from behavior_metrics/brains/f1/torch_utils/pilotnetStacked.py rename to behavior_metrics/brains/CARLA/pytorch/utils/pilotnetStacked.py diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning.py index fd9de629..c58be794 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError @@ -136,6 +136,7 @@ def execute(self): self.update_pose(self.pose.getPose3d()) image_shape=(66, 200) + #image_shape=(50, 150) img_base = cv2.resize(bird_eye_view_1, image_shape) AUGMENTATIONS_TEST = Compose([ diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_70_km_h.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_70_km_h.py index 1075b947..80e75693 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_70_km_h.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_70_km_h.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_V_MAX_30.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_V_MAX_30.py index 63b816d9..bda34764 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_V_MAX_30.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_V_MAX_30.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_broken_input.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_broken_input.py index 57d794a4..37fcd41e 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_broken_input.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_broken_input.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_broken_input_2.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_broken_input_2.py index 57d794a4..37fcd41e 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_broken_input_2.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_broken_input_2.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_previous_v.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_previous_v.py index 2c598e8c..9ab3105a 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_previous_v.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_previous_v.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_previous_v_70_km_h.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_previous_v_70_km_h.py index 0129a22f..62952e24 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_previous_v_70_km_h.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_previous_v_70_km_h.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_previous_v_broken_input.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_previous_v_broken_input.py index 09040cca..2ac2ae31 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_previous_v_broken_input.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_previous_v_broken_input.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_previous_v_broken_input_2.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_previous_v_broken_input_2.py index 09040cca..2ac2ae31 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_previous_v_broken_input_2.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_previous_v_broken_input_2.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_tensor_rt.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_tensor_rt.py index baeeb01c..08c170dc 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_tensor_rt.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_tensor_rt.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_tf_lite.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_tf_lite.py index af6517e5..328c7640 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_tf_lite.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_tf_lite.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_previous_v_t_t-4_t-9.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_previous_v_t_t-4_t-9.py index f62587e6..ae86a3c7 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_previous_v_t_t-4_t-9.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_previous_v_t_t-4_t-9.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_previous_v_t_t-4_t-9_70_km_h.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_previous_v_t_t-4_t-9_70_km_h.py index 0ba8c00d..42240db9 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_previous_v_t_t-4_t-9_70_km_h.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_previous_v_t_t-4_t-9_70_km_h.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_previous_v_t_t-4_t-9_broken_input.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_previous_v_t_t-4_t-9_broken_input.py index 79d50fc5..373c55e8 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_previous_v_t_t-4_t-9_broken_input.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_previous_v_t_t-4_t-9_broken_input.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_previous_v_t_t-4_t-9_broken_input_2.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_previous_v_t_t-4_t-9_broken_input_2.py index e6d78d51..469d3055 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_previous_v_t_t-4_t-9_broken_input_2.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_previous_v_t_t-4_t-9_broken_input_2.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9.py index 4082712e..8b895393 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9_70_km_h.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9_70_km_h.py index f6662c13..93ce6163 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9_70_km_h.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9_70_km_h.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9_V_MAX_30.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9_V_MAX_30.py index fb2e0f90..db355b88 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9_V_MAX_30.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9_V_MAX_30.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9_broken_input.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9_broken_input.py index 6da25b6d..658e4ed0 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9_broken_input.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9_broken_input.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9_broken_input_2.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9_broken_input_2.py index 4bd27d0c..8ca03b11 100644 --- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9_broken_input_2.py +++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_x3_t_t-4_t-9_broken_input_2.py @@ -15,7 +15,7 @@ from utils.logger import logger from traceback import print_exc -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'carla_tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'CARLA/' from tensorflow.python.framework.errors_impl import NotFoundError from tensorflow.python.framework.errors_impl import UnimplementedError diff --git a/behavior_metrics/brains/brains_handler.py b/behavior_metrics/brains/brains_handler.py index 3bbaaf75..084c5dcf 100755 --- a/behavior_metrics/brains/brains_handler.py +++ b/behavior_metrics/brains/brains_handler.py @@ -34,9 +34,13 @@ def __init__(self, sensors, actuators, brain_path, controller, model=None, confi def load_brain(self, path, model=None): path_split = path.split("/") - robot_type = path_split[-2] + robot_type = path_split[1] module_name = path_split[-1][:-3] # removing .py extension - import_name = 'brains.' + robot_type + '.' + module_name + if len(path_split) == 4: + framework = path_split[2] + import_name = 'brains.' + robot_type + '.' + framework + '.' + module_name + else: + import_name = 'brains.' + robot_type + '.' + module_name if robot_type == 'CARLA': module = importlib.import_module(import_name) diff --git a/behavior_metrics/brains/agents/f1/__init__.py b/behavior_metrics/brains/gazebo/agents/__init__.py similarity index 100% rename from behavior_metrics/brains/agents/f1/__init__.py rename to behavior_metrics/brains/gazebo/agents/__init__.py diff --git a/behavior_metrics/brains/agents/dqn.py b/behavior_metrics/brains/gazebo/agents/dqn.py similarity index 100% rename from behavior_metrics/brains/agents/dqn.py rename to behavior_metrics/brains/gazebo/agents/dqn.py diff --git a/behavior_metrics/brains/agents/f1/.env b/behavior_metrics/brains/gazebo/agents/f1/.env similarity index 100% rename from behavior_metrics/brains/agents/f1/.env rename to behavior_metrics/brains/gazebo/agents/f1/.env diff --git a/behavior_metrics/brains/agents/f1/.env.sample b/behavior_metrics/brains/gazebo/agents/f1/.env.sample similarity index 100% rename from behavior_metrics/brains/agents/f1/.env.sample rename to behavior_metrics/brains/gazebo/agents/f1/.env.sample diff --git a/behavior_metrics/brains/car/__init__.py b/behavior_metrics/brains/gazebo/agents/f1/__init__.py similarity index 100% rename from behavior_metrics/brains/car/__init__.py rename to behavior_metrics/brains/gazebo/agents/f1/__init__.py diff --git a/behavior_metrics/brains/agents/f1/dqn.py b/behavior_metrics/brains/gazebo/agents/f1/dqn.py similarity index 100% rename from behavior_metrics/brains/agents/f1/dqn.py rename to behavior_metrics/brains/gazebo/agents/f1/dqn.py diff --git a/behavior_metrics/brains/agents/f1/f1_follow_line_camera_dqn.py b/behavior_metrics/brains/gazebo/agents/f1/f1_follow_line_camera_dqn.py similarity index 100% rename from behavior_metrics/brains/agents/f1/f1_follow_line_camera_dqn.py rename to behavior_metrics/brains/gazebo/agents/f1/f1_follow_line_camera_dqn.py diff --git a/behavior_metrics/brains/agents/f1/f1_follow_line_qlearn.py b/behavior_metrics/brains/gazebo/agents/f1/f1_follow_line_qlearn.py similarity index 100% rename from behavior_metrics/brains/agents/f1/f1_follow_line_qlearn.py rename to behavior_metrics/brains/gazebo/agents/f1/f1_follow_line_qlearn.py diff --git a/behavior_metrics/brains/agents/f1/liveplot.py b/behavior_metrics/brains/gazebo/agents/f1/liveplot.py similarity index 100% rename from behavior_metrics/brains/agents/f1/liveplot.py rename to behavior_metrics/brains/gazebo/agents/f1/liveplot.py diff --git a/behavior_metrics/brains/agents/f1/memory.py b/behavior_metrics/brains/gazebo/agents/f1/memory.py similarity index 100% rename from behavior_metrics/brains/agents/f1/memory.py rename to behavior_metrics/brains/gazebo/agents/f1/memory.py diff --git a/behavior_metrics/brains/agents/f1/qlearn.py b/behavior_metrics/brains/gazebo/agents/f1/qlearn.py similarity index 100% rename from behavior_metrics/brains/agents/f1/qlearn.py rename to behavior_metrics/brains/gazebo/agents/f1/qlearn.py diff --git a/behavior_metrics/brains/agents/f1/ros_gazebo_pose.py b/behavior_metrics/brains/gazebo/agents/f1/ros_gazebo_pose.py similarity index 100% rename from behavior_metrics/brains/agents/f1/ros_gazebo_pose.py rename to behavior_metrics/brains/gazebo/agents/f1/ros_gazebo_pose.py diff --git a/behavior_metrics/brains/agents/f1/settings.py b/behavior_metrics/brains/gazebo/agents/f1/settings.py similarity index 100% rename from behavior_metrics/brains/agents/f1/settings.py rename to behavior_metrics/brains/gazebo/agents/f1/settings.py diff --git a/behavior_metrics/brains/agents/f1_follow_line_camera_dqn.py b/behavior_metrics/brains/gazebo/agents/f1_follow_line_camera_dqn.py similarity index 100% rename from behavior_metrics/brains/agents/f1_follow_line_camera_dqn.py rename to behavior_metrics/brains/gazebo/agents/f1_follow_line_camera_dqn.py diff --git a/behavior_metrics/brains/agents/f1_follow_line_qlearn.py b/behavior_metrics/brains/gazebo/agents/f1_follow_line_qlearn.py similarity index 100% rename from behavior_metrics/brains/agents/f1_follow_line_qlearn.py rename to behavior_metrics/brains/gazebo/agents/f1_follow_line_qlearn.py diff --git a/behavior_metrics/brains/agents/liveplot.py b/behavior_metrics/brains/gazebo/agents/liveplot.py similarity index 100% rename from behavior_metrics/brains/agents/liveplot.py rename to behavior_metrics/brains/gazebo/agents/liveplot.py diff --git a/behavior_metrics/brains/agents/memory.py b/behavior_metrics/brains/gazebo/agents/memory.py similarity index 100% rename from behavior_metrics/brains/agents/memory.py rename to behavior_metrics/brains/gazebo/agents/memory.py diff --git a/behavior_metrics/brains/agents/qlearn.py b/behavior_metrics/brains/gazebo/agents/qlearn.py similarity index 100% rename from behavior_metrics/brains/agents/qlearn.py rename to behavior_metrics/brains/gazebo/agents/qlearn.py diff --git a/behavior_metrics/brains/agents/ros_gazebo_pose.py b/behavior_metrics/brains/gazebo/agents/ros_gazebo_pose.py similarity index 100% rename from behavior_metrics/brains/agents/ros_gazebo_pose.py rename to behavior_metrics/brains/gazebo/agents/ros_gazebo_pose.py diff --git a/behavior_metrics/brains/agents/scripts/benchmark_runner b/behavior_metrics/brains/gazebo/agents/scripts/benchmark_runner similarity index 100% rename from behavior_metrics/brains/agents/scripts/benchmark_runner rename to behavior_metrics/brains/gazebo/agents/scripts/benchmark_runner diff --git a/behavior_metrics/brains/agents/settings.py b/behavior_metrics/brains/gazebo/agents/settings.py similarity index 100% rename from behavior_metrics/brains/agents/settings.py rename to behavior_metrics/brains/gazebo/agents/settings.py diff --git a/behavior_metrics/brains/agents/turtlebot/circuit2_turtlebot_lidar_qlearn.py b/behavior_metrics/brains/gazebo/agents/turtlebot/circuit2_turtlebot_lidar_qlearn.py similarity index 100% rename from behavior_metrics/brains/agents/turtlebot/circuit2_turtlebot_lidar_qlearn.py rename to behavior_metrics/brains/gazebo/agents/turtlebot/circuit2_turtlebot_lidar_qlearn.py diff --git a/behavior_metrics/brains/agents/turtlebot/circuit2c_turtlebot_camera_dqn.py b/behavior_metrics/brains/gazebo/agents/turtlebot/circuit2c_turtlebot_camera_dqn.py similarity index 100% rename from behavior_metrics/brains/agents/turtlebot/circuit2c_turtlebot_camera_dqn.py rename to behavior_metrics/brains/gazebo/agents/turtlebot/circuit2c_turtlebot_camera_dqn.py diff --git a/behavior_metrics/brains/agents/turtlebot/deepq.py b/behavior_metrics/brains/gazebo/agents/turtlebot/deepq.py similarity index 100% rename from behavior_metrics/brains/agents/turtlebot/deepq.py rename to behavior_metrics/brains/gazebo/agents/turtlebot/deepq.py diff --git a/behavior_metrics/brains/agents/turtlebot/liveplot.py b/behavior_metrics/brains/gazebo/agents/turtlebot/liveplot.py similarity index 100% rename from behavior_metrics/brains/agents/turtlebot/liveplot.py rename to behavior_metrics/brains/gazebo/agents/turtlebot/liveplot.py diff --git a/behavior_metrics/brains/agents/turtlebot/memory.py b/behavior_metrics/brains/gazebo/agents/turtlebot/memory.py similarity index 100% rename from behavior_metrics/brains/agents/turtlebot/memory.py rename to behavior_metrics/brains/gazebo/agents/turtlebot/memory.py diff --git a/behavior_metrics/brains/agents/turtlebot/qlearn.py b/behavior_metrics/brains/gazebo/agents/turtlebot/qlearn.py similarity index 100% rename from behavior_metrics/brains/agents/turtlebot/qlearn.py rename to behavior_metrics/brains/gazebo/agents/turtlebot/qlearn.py diff --git a/behavior_metrics/brains/agents/turtlebot/round_turtlebot_lidar_test.py b/behavior_metrics/brains/gazebo/agents/turtlebot/round_turtlebot_lidar_test.py similarity index 100% rename from behavior_metrics/brains/agents/turtlebot/round_turtlebot_lidar_test.py rename to behavior_metrics/brains/gazebo/agents/turtlebot/round_turtlebot_lidar_test.py diff --git a/behavior_metrics/brains/agents/turtlebot/runtraining_dqn_circuit2_turtlebot_lidar.py b/behavior_metrics/brains/gazebo/agents/turtlebot/runtraining_dqn_circuit2_turtlebot_lidar.py similarity index 100% rename from behavior_metrics/brains/agents/turtlebot/runtraining_dqn_circuit2_turtlebot_lidar.py rename to behavior_metrics/brains/gazebo/agents/turtlebot/runtraining_dqn_circuit2_turtlebot_lidar.py diff --git a/behavior_metrics/brains/agents/turtlebot/sarsa.py b/behavior_metrics/brains/gazebo/agents/turtlebot/sarsa.py similarity index 100% rename from behavior_metrics/brains/agents/turtlebot/sarsa.py rename to behavior_metrics/brains/gazebo/agents/turtlebot/sarsa.py diff --git a/behavior_metrics/brains/agents/utilities/averaged_table.py b/behavior_metrics/brains/gazebo/agents/utilities/averaged_table.py similarity index 100% rename from behavior_metrics/brains/agents/utilities/averaged_table.py rename to behavior_metrics/brains/gazebo/agents/utilities/averaged_table.py diff --git a/behavior_metrics/brains/agents/utilities/camera_visualizer.py b/behavior_metrics/brains/gazebo/agents/utilities/camera_visualizer.py similarity index 100% rename from behavior_metrics/brains/agents/utilities/camera_visualizer.py rename to behavior_metrics/brains/gazebo/agents/utilities/camera_visualizer.py diff --git a/behavior_metrics/brains/agents/utilities/display_plot.py b/behavior_metrics/brains/gazebo/agents/utilities/display_plot.py similarity index 100% rename from behavior_metrics/brains/agents/utilities/display_plot.py rename to behavior_metrics/brains/gazebo/agents/utilities/display_plot.py diff --git a/behavior_metrics/brains/drone/__init__.py b/behavior_metrics/brains/gazebo/car/__init__.py similarity index 100% rename from behavior_metrics/brains/drone/__init__.py rename to behavior_metrics/brains/gazebo/car/__init__.py diff --git a/behavior_metrics/brains/car/brain_car_opencv2.py b/behavior_metrics/brains/gazebo/car/brain_car_opencv2.py similarity index 100% rename from behavior_metrics/brains/car/brain_car_opencv2.py rename to behavior_metrics/brains/gazebo/car/brain_car_opencv2.py diff --git a/behavior_metrics/brains/f1/__init__.py b/behavior_metrics/brains/gazebo/drone/__init__.py old mode 100755 new mode 100644 similarity index 100% rename from behavior_metrics/brains/f1/__init__.py rename to behavior_metrics/brains/gazebo/drone/__init__.py diff --git a/behavior_metrics/brains/drone/brain_drone_explicit.py b/behavior_metrics/brains/gazebo/drone/brain_drone_explicit.py similarity index 100% rename from behavior_metrics/brains/drone/brain_drone_explicit.py rename to behavior_metrics/brains/gazebo/drone/brain_drone_explicit.py diff --git a/behavior_metrics/brains/f1/torch_utils/__init__.py b/behavior_metrics/brains/gazebo/f1/__init__.py old mode 100644 new mode 100755 similarity index 100% rename from behavior_metrics/brains/f1/torch_utils/__init__.py rename to behavior_metrics/brains/gazebo/f1/__init__.py diff --git a/behavior_metrics/brains/f1/brain_f1_dummy.py b/behavior_metrics/brains/gazebo/f1/brain_f1_dummy.py similarity index 100% rename from behavior_metrics/brains/f1/brain_f1_dummy.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_dummy.py diff --git a/behavior_metrics/brains/f1/brain_f1_explicit.py b/behavior_metrics/brains/gazebo/f1/brain_f1_explicit.py similarity index 100% rename from behavior_metrics/brains/f1/brain_f1_explicit.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_explicit.py diff --git a/behavior_metrics/brains/f1/brain_f1_follow_line_dqn.py b/behavior_metrics/brains/gazebo/f1/brain_f1_follow_line_dqn.py similarity index 97% rename from behavior_metrics/brains/f1/brain_f1_follow_line_dqn.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_follow_line_dqn.py index b3ba8397..8c026bf3 100644 --- a/behavior_metrics/brains/f1/brain_f1_follow_line_dqn.py +++ b/behavior_metrics/brains/gazebo/f1/brain_f1_follow_line_dqn.py @@ -1,7 +1,7 @@ import tensorflow as tf from gym.envs.registration import register -from brains.f1.rl_utils.inference import InferencerWrapper +from brains.gazebo.f1.rl_utils.inference import InferencerWrapper import yaml import gym import numpy as np @@ -11,7 +11,7 @@ if 'F1Env-v0' not in gym.envs.registry.env_specs: gym.envs.register( id='F1Env-v0', - entry_point='brains.f1.rl_utils.models:F1Env', + entry_point='brains.gazebo.f1.rl_utils.models:F1Env', # More arguments here ) else: @@ -154,7 +154,7 @@ def __init__(self, sensors, actuators, handler, config=None): 'algorithm': 'dqn', 'environment': 'simple', 'agent': 'f1', - 'filename': 'brains/f1/config/config_inference_followline_dqn_f1_gazebo.yaml' + 'filename': 'brains/gazebo/f1/config/config_inference_followline_dqn_f1_gazebo.yaml' } f = open(args['filename'], "r") diff --git a/behavior_metrics/brains/f1/brain_f1_follow_line_qlearn.py b/behavior_metrics/brains/gazebo/f1/brain_f1_follow_line_qlearn.py similarity index 95% rename from behavior_metrics/brains/f1/brain_f1_follow_line_qlearn.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_follow_line_qlearn.py index d79ca355..b29471ff 100644 --- a/behavior_metrics/brains/f1/brain_f1_follow_line_qlearn.py +++ b/behavior_metrics/brains/gazebo/f1/brain_f1_follow_line_qlearn.py @@ -7,14 +7,14 @@ import gym from gym.envs.registration import register -from brains.f1.rl_utils.inference import InferencerWrapper +from brains.gazebo.f1.rl_utils.inference import InferencerWrapper # F1 envs if 'F1Env-v0' not in gym.envs.registry.env_specs: gym.envs.register( id='F1Env-v0', - entry_point='brains.f1.rl_utils.models:F1Env', + entry_point='brains.gazebo.f1.rl_utils.models:F1Env', # More arguments here ) else: @@ -44,7 +44,7 @@ def __init__(self, sensors, actuators, handler, config=None): 'algorithm': 'qlearn', 'environment': 'simple', 'agent': 'f1', - 'filename': 'brains/f1/config/config_f1_qlearn.yaml' + 'filename': 'brains/gazebo/sf1/config/config_f1_qlearn.yaml' } f = open(args['filename'], "r") diff --git a/behavior_metrics/brains/f1/brain_f1_keras-lstm.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras-lstm.py similarity index 100% rename from behavior_metrics/brains/f1/brain_f1_keras-lstm.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras-lstm.py diff --git a/behavior_metrics/brains/f1/brain_f1_keras.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras.py similarity index 98% rename from behavior_metrics/brains/f1/brain_f1_keras.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras.py index 3e38f5f5..c63d797c 100644 --- a/behavior_metrics/brains/f1/brain_f1_keras.py +++ b/behavior_metrics/brains/gazebo/f1/brain_f1_keras.py @@ -22,7 +22,7 @@ ) from utils.gradcam.gradcam import GradCAM -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'gazebo/tf_models/' class Brain: diff --git a/behavior_metrics/brains/f1/brain_f1_keras_classification-bw.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_classification-bw.py similarity index 100% rename from behavior_metrics/brains/f1/brain_f1_keras_classification-bw.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_classification-bw.py diff --git a/behavior_metrics/brains/f1/brain_f1_keras_classification.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_classification.py similarity index 100% rename from behavior_metrics/brains/f1/brain_f1_keras_classification.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_classification.py diff --git a/behavior_metrics/brains/f1/brain_f1_keras_opencv_dataset.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_opencv_dataset.py similarity index 99% rename from behavior_metrics/brains/f1/brain_f1_keras_opencv_dataset.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_opencv_dataset.py index 7cfecf60..aad859fa 100644 --- a/behavior_metrics/brains/f1/brain_f1_keras_opencv_dataset.py +++ b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_opencv_dataset.py @@ -22,7 +22,7 @@ from utils.constants import PRETRAINED_MODELS_DIR, ROOT_PATH from utils.gradcam.gradcam import GradCAM -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'gazebo/tf_models/' class Brain: diff --git a/behavior_metrics/brains/f1/brain_f1_keras_preprocessed.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed.py similarity index 100% rename from behavior_metrics/brains/f1/brain_f1_keras_preprocessed.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed.py diff --git a/behavior_metrics/brains/f1/brain_f1_keras_preprocessed_lstm.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_lstm.py similarity index 100% rename from behavior_metrics/brains/f1/brain_f1_keras_preprocessed_lstm.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_lstm.py diff --git a/behavior_metrics/brains/f1/brain_f1_keras_preprocessed_lstm_3_elements-60pts.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_lstm_3_elements-60pts.py similarity index 100% rename from behavior_metrics/brains/f1/brain_f1_keras_preprocessed_lstm_3_elements-60pts.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_lstm_3_elements-60pts.py diff --git a/behavior_metrics/brains/f1/brain_f1_keras_preprocessed_lstm_3_elements.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_lstm_3_elements.py similarity index 100% rename from behavior_metrics/brains/f1/brain_f1_keras_preprocessed_lstm_3_elements.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_lstm_3_elements.py diff --git a/behavior_metrics/brains/f1/brain_f1_keras_preprocessed_lstm_5_elements.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_lstm_5_elements.py similarity index 100% rename from behavior_metrics/brains/f1/brain_f1_keras_preprocessed_lstm_5_elements.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_lstm_5_elements.py diff --git a/behavior_metrics/brains/f1/brain_f1_keras_preprocessed_v_w.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_v_w.py similarity index 100% rename from behavior_metrics/brains/f1/brain_f1_keras_preprocessed_v_w.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_v_w.py diff --git a/behavior_metrics/brains/f1/brain_f1_keras_scripting.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_scripting.py similarity index 100% rename from behavior_metrics/brains/f1/brain_f1_keras_scripting.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_scripting.py diff --git a/behavior_metrics/brains/f1/brain_f1_keras_seq_3.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_seq_3.py similarity index 98% rename from behavior_metrics/brains/f1/brain_f1_keras_seq_3.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_seq_3.py index 316f7a22..f3ee5366 100644 --- a/behavior_metrics/brains/f1/brain_f1_keras_seq_3.py +++ b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_seq_3.py @@ -23,7 +23,7 @@ ) from utils.gradcam.gradcam import GradCAM -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'gazebo/tf_models/' class Brain: diff --git a/behavior_metrics/brains/f1/brain_f1_keras_seq_3_opencv_dataset.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_seq_3_opencv_dataset.py similarity index 99% rename from behavior_metrics/brains/f1/brain_f1_keras_seq_3_opencv_dataset.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_seq_3_opencv_dataset.py index a9ff4d1a..4883e117 100644 --- a/behavior_metrics/brains/f1/brain_f1_keras_seq_3_opencv_dataset.py +++ b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_seq_3_opencv_dataset.py @@ -22,7 +22,7 @@ from utils.constants import PRETRAINED_MODELS_DIR, ROOT_PATH from utils.gradcam.gradcam import GradCAM -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'tf_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'gazebo/tf_models/' class Brain: diff --git a/behavior_metrics/brains/f1/brain_f1_opencv.py b/behavior_metrics/brains/gazebo/f1/brain_f1_opencv.py similarity index 100% rename from behavior_metrics/brains/f1/brain_f1_opencv.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_opencv.py diff --git a/behavior_metrics/brains/f1/brain_f1_torch-lstm.py b/behavior_metrics/brains/gazebo/f1/brain_f1_torch-lstm.py similarity index 95% rename from behavior_metrics/brains/f1/brain_f1_torch-lstm.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_torch-lstm.py index 1e36b511..2b047f8c 100644 --- a/behavior_metrics/brains/f1/brain_f1_torch-lstm.py +++ b/behavior_metrics/brains/gazebo/f1/brain_f1_torch-lstm.py @@ -17,7 +17,7 @@ import time import os from PIL import Image -from brains.f1.torch_utils.deepest_lstm_tinypilotnet import DeepestLSTMTinyPilotNet +from brains.gazebo.f1.torch_utils.deepest_lstm_tinypilotnet import DeepestLSTMTinyPilotNet from utils.constants import PRETRAINED_MODELS_DIR, ROOT_PATH from os import path from albumentations import ( @@ -25,7 +25,7 @@ ) -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'torch_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'gazebo/torch_models/' FLOAT = torch.FloatTensor class Brain: diff --git a/behavior_metrics/brains/f1/brain_f1_torch.py b/behavior_metrics/brains/gazebo/f1/brain_f1_torch.py similarity index 97% rename from behavior_metrics/brains/f1/brain_f1_torch.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_torch.py index 82dd283a..a37f98a0 100644 --- a/behavior_metrics/brains/f1/brain_f1_torch.py +++ b/behavior_metrics/brains/gazebo/f1/brain_f1_torch.py @@ -17,11 +17,11 @@ import time import os from PIL import Image -from brains.f1.torch_utils.pilotnet import PilotNet +from brains.gazebo.f1.torch_utils.pilotnet import PilotNet from utils.constants import PRETRAINED_MODELS_DIR, ROOT_PATH from os import path -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'torch_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'gazebo/torch_models/' FLOAT = torch.FloatTensor class Brain: diff --git a/behavior_metrics/brains/f1/brain_f1_torchstacked.py b/behavior_metrics/brains/gazebo/f1/brain_f1_torchstacked.py similarity index 97% rename from behavior_metrics/brains/f1/brain_f1_torchstacked.py rename to behavior_metrics/brains/gazebo/f1/brain_f1_torchstacked.py index 68c15905..f4d20a1c 100644 --- a/behavior_metrics/brains/f1/brain_f1_torchstacked.py +++ b/behavior_metrics/brains/gazebo/f1/brain_f1_torchstacked.py @@ -17,12 +17,12 @@ import time import os from PIL import Image -from brains.f1.torch_utils.pilotnetStacked import PilotNet +from brains.gazebo.f1.torch_utils.pilotnetStacked import PilotNet from utils.constants import PRETRAINED_MODELS_DIR, ROOT_PATH from os import path from collections import deque -PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'torch_models/' +PRETRAINED_MODELS = ROOT_PATH + '/' + PRETRAINED_MODELS_DIR + 'gazebo/torch_models/' FLOAT = torch.FloatTensor class Brain: diff --git a/behavior_metrics/brains/f1/config/config_f1_qlearn.yaml b/behavior_metrics/brains/gazebo/f1/config/config_f1_qlearn.yaml similarity index 74% rename from behavior_metrics/brains/f1/config/config_f1_qlearn.yaml rename to behavior_metrics/brains/gazebo/f1/config/config_f1_qlearn.yaml index 53b9b957..d5e06329 100644 --- a/behavior_metrics/brains/f1/config/config_f1_qlearn.yaml +++ b/behavior_metrics/brains/gazebo/f1/config/config_f1_qlearn.yaml @@ -33,8 +33,8 @@ environments: inference: qlearn: - inference_file: models/rl_models/qlearn/20230216-170351_Circuit-simple_States-sp1_Actions-simple_Rewards-followline_center_epsilon-0.05_epoch-4751_step-15001_reward-139266-qtable.npy - actions_file: models/rl_models/actions_set_20221128_0938 + inference_file: models/gazebo/rl_models/qlearn/20230216-170351_Circuit-simple_States-sp1_Actions-simple_Rewards-followline_center_epsilon-0.05_epoch-4751_step-15001_reward-139266-qtable.npy + actions_file: models/gazebo/rl_models/actions_set_20221128_0938 algorithm: qlearn: diff --git a/behavior_metrics/brains/f1/config/config_inference_followline_dqn_f1_gazebo.yaml b/behavior_metrics/brains/gazebo/f1/config/config_inference_followline_dqn_f1_gazebo.yaml similarity index 96% rename from behavior_metrics/brains/f1/config/config_inference_followline_dqn_f1_gazebo.yaml rename to behavior_metrics/brains/gazebo/f1/config/config_inference_followline_dqn_f1_gazebo.yaml index 2f180f24..1f189826 100644 --- a/behavior_metrics/brains/f1/config/config_inference_followline_dqn_f1_gazebo.yaml +++ b/behavior_metrics/brains/gazebo/f1/config/config_inference_followline_dqn_f1_gazebo.yaml @@ -26,7 +26,7 @@ retraining: inference: dqn: - inference_file: models/rl_models/dqn/DQN_sp_16x16_LAPCOMPLETED_Max5334_Epoch596_inTime20230310-223500.model + inference_file: models/gazebo/rl_models/dqn/DQN_sp_16x16_LAPCOMPLETED_Max5334_Epoch596_inTime20230310-223500.model algorithm: dqn: diff --git a/behavior_metrics/brains/f1/rl_utils/algorithms/__init__.py b/behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/__init__.py similarity index 69% rename from behavior_metrics/brains/f1/rl_utils/algorithms/__init__.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/__init__.py index e13d6709..f43387af 100644 --- a/behavior_metrics/brains/f1/rl_utils/algorithms/__init__.py +++ b/behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/__init__.py @@ -1,6 +1,6 @@ -from brains.f1.rl_utils.algorithms.algorithms_type import AlgorithmsType -from brains.f1.rl_utils.algorithms.qlearn_f1 import QLearnF1 -from brains.f1.rl_utils.algorithms.dqn_f1 import DQNF1 +from brains.gazebo.f1.rl_utils.algorithms.algorithms_type import AlgorithmsType +from brains.gazebo.f1.rl_utils.algorithms.qlearn_f1 import QLearnF1 +from brains.gazebo.f1.rl_utils.algorithms.dqn_f1 import DQNF1 class InferencerFactory: def __new__(cls, config): diff --git a/behavior_metrics/brains/f1/rl_utils/algorithms/algorithms_type.py b/behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/algorithms_type.py similarity index 100% rename from behavior_metrics/brains/f1/rl_utils/algorithms/algorithms_type.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/algorithms_type.py diff --git a/behavior_metrics/brains/f1/rl_utils/algorithms/dqn_f1.py b/behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/dqn_f1.py similarity index 100% rename from behavior_metrics/brains/f1/rl_utils/algorithms/dqn_f1.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/dqn_f1.py diff --git a/behavior_metrics/brains/f1/rl_utils/algorithms/exceptions.py b/behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/exceptions.py similarity index 100% rename from behavior_metrics/brains/f1/rl_utils/algorithms/exceptions.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/exceptions.py diff --git a/behavior_metrics/brains/f1/rl_utils/algorithms/loaders.py b/behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/loaders.py similarity index 100% rename from behavior_metrics/brains/f1/rl_utils/algorithms/loaders.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/loaders.py diff --git a/behavior_metrics/brains/f1/rl_utils/algorithms/qlearn_f1.py b/behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/qlearn_f1.py similarity index 100% rename from behavior_metrics/brains/f1/rl_utils/algorithms/qlearn_f1.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/qlearn_f1.py diff --git a/behavior_metrics/brains/f1/rl_utils/env_type.py b/behavior_metrics/brains/gazebo/f1/rl_utils/env_type.py similarity index 100% rename from behavior_metrics/brains/f1/rl_utils/env_type.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/env_type.py diff --git a/behavior_metrics/brains/f1/rl_utils/exceptions.py b/behavior_metrics/brains/gazebo/f1/rl_utils/exceptions.py similarity index 100% rename from behavior_metrics/brains/f1/rl_utils/exceptions.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/exceptions.py diff --git a/behavior_metrics/brains/f1/rl_utils/gazebo_envs.py b/behavior_metrics/brains/gazebo/f1/rl_utils/gazebo_envs.py similarity index 100% rename from behavior_metrics/brains/f1/rl_utils/gazebo_envs.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/gazebo_envs.py diff --git a/behavior_metrics/brains/f1/rl_utils/image_f1.py b/behavior_metrics/brains/gazebo/f1/rl_utils/image_f1.py similarity index 100% rename from behavior_metrics/brains/f1/rl_utils/image_f1.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/image_f1.py diff --git a/behavior_metrics/brains/f1/rl_utils/inference.py b/behavior_metrics/brains/gazebo/f1/rl_utils/inference.py similarity index 93% rename from behavior_metrics/brains/f1/rl_utils/inference.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/inference.py index bebdf83b..87c39b61 100644 --- a/behavior_metrics/brains/f1/rl_utils/inference.py +++ b/behavior_metrics/brains/gazebo/f1/rl_utils/inference.py @@ -1,6 +1,6 @@ from pydantic import BaseModel -from brains.f1.rl_utils.algorithms import InferencerFactory +from brains.gazebo.f1.rl_utils.algorithms import InferencerFactory diff --git a/behavior_metrics/brains/f1/rl_utils/models/__init__.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/__init__.py similarity index 58% rename from behavior_metrics/brains/f1/rl_utils/models/__init__.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/__init__.py index 52ca30b6..38e16346 100644 --- a/behavior_metrics/brains/f1/rl_utils/models/__init__.py +++ b/behavior_metrics/brains/gazebo/f1/rl_utils/models/__init__.py @@ -1,7 +1,7 @@ -from brains.f1.rl_utils.env_type import EnvironmentType -from brains.f1.rl_utils.exceptions import NoValidEnvironmentType -from brains.f1.rl_utils.models.f1_env_camera import QlearnF1FollowLineEnvGazebo -from brains.f1.rl_utils.models.followline_dqn_tf import FollowLineDQNF1GazeboTF +from brains.gazebo.f1.rl_utils.env_type import EnvironmentType +from brains.gazebo.f1.rl_utils.exceptions import NoValidEnvironmentType +from brains.gazebo.f1.rl_utils.models.f1_env_camera import QlearnF1FollowLineEnvGazebo +from brains.gazebo.f1.rl_utils.models.followline_dqn_tf import FollowLineDQNF1GazeboTF class F1Env: diff --git a/behavior_metrics/brains/f1/rl_utils/models/f1_env.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/f1_env.py similarity index 95% rename from behavior_metrics/brains/f1/rl_utils/models/f1_env.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/f1_env.py index 21400071..89c72722 100644 --- a/behavior_metrics/brains/f1/rl_utils/models/f1_env.py +++ b/behavior_metrics/brains/gazebo/f1/rl_utils/models/f1_env.py @@ -4,7 +4,7 @@ from std_srvs.srv import Empty import numpy as np -from brains.f1.rl_utils import gazebo_envs +from brains.gazebo.f1.rl_utils import gazebo_envs class F1Env(gazebo_envs.GazeboEnv): diff --git a/behavior_metrics/brains/f1/rl_utils/models/f1_env_camera.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/f1_env_camera.py similarity index 95% rename from behavior_metrics/brains/f1/rl_utils/models/f1_env_camera.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/f1_env_camera.py index 41b065d9..be771783 100644 --- a/behavior_metrics/brains/f1/rl_utils/models/f1_env_camera.py +++ b/behavior_metrics/brains/gazebo/f1/rl_utils/models/f1_env_camera.py @@ -9,9 +9,9 @@ from gym import spaces from sensor_msgs.msg import Image -from brains.f1.rl_utils.settings import QLearnConfig -from brains.f1.rl_utils.image_f1 import ListenerCamera -from brains.f1.rl_utils.models.f1_env import F1Env +from brains.gazebo.f1.rl_utils.settings import QLearnConfig +from brains.gazebo.f1.rl_utils.image_f1 import ListenerCamera +from brains.gazebo.f1.rl_utils.models.f1_env import F1Env diff --git a/behavior_metrics/brains/f1/rl_utils/models/followline_dqn_tf.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/followline_dqn_tf.py similarity index 95% rename from behavior_metrics/brains/f1/rl_utils/models/followline_dqn_tf.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/followline_dqn_tf.py index 75856e3c..00905978 100644 --- a/behavior_metrics/brains/f1/rl_utils/models/followline_dqn_tf.py +++ b/behavior_metrics/brains/gazebo/f1/rl_utils/models/followline_dqn_tf.py @@ -9,7 +9,7 @@ from geometry_msgs.msg import Twist import numpy as np -from brains.f1.rl_utils.models.f1_env import F1Env +from brains.gazebo.f1.rl_utils.models.f1_env import F1Env from .settings import F1GazeboTFConfig diff --git a/behavior_metrics/brains/f1/rl_utils/models/images.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/images.py similarity index 100% rename from behavior_metrics/brains/f1/rl_utils/models/images.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/images.py diff --git a/behavior_metrics/brains/f1/rl_utils/models/reset.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/reset.py similarity index 97% rename from behavior_metrics/brains/f1/rl_utils/models/reset.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/reset.py index bf756610..d286e015 100644 --- a/behavior_metrics/brains/f1/rl_utils/models/reset.py +++ b/behavior_metrics/brains/gazebo/f1/rl_utils/models/reset.py @@ -1,6 +1,6 @@ import numpy as np -from brains.f1.rl_utils.models.f1_env import F1Env +from brains.gazebo.f1.rl_utils.models.f1_env import F1Env class Reset(F1Env): diff --git a/behavior_metrics/brains/f1/rl_utils/models/rewards.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/rewards.py similarity index 100% rename from behavior_metrics/brains/f1/rl_utils/models/rewards.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/rewards.py diff --git a/behavior_metrics/brains/f1/rl_utils/models/settings.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/settings.py similarity index 100% rename from behavior_metrics/brains/f1/rl_utils/models/settings.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/settings.py diff --git a/behavior_metrics/brains/f1/rl_utils/models/simplified_perception.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/simplified_perception.py similarity index 100% rename from behavior_metrics/brains/f1/rl_utils/models/simplified_perception.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/simplified_perception.py diff --git a/behavior_metrics/brains/f1/rl_utils/models/step.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/step.py similarity index 99% rename from behavior_metrics/brains/f1/rl_utils/models/step.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/step.py index 5e619801..94902bf2 100644 --- a/behavior_metrics/brains/f1/rl_utils/models/step.py +++ b/behavior_metrics/brains/gazebo/f1/rl_utils/models/step.py @@ -1,7 +1,7 @@ from geometry_msgs.msg import Twist import numpy as np import time -from brains.f1.rl_utils.models.f1_env import F1Env +from brains.gazebo.f1.rl_utils.models.f1_env import F1Env class StepFollowLine(F1Env): diff --git a/behavior_metrics/brains/f1/rl_utils/models/utils.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/utils.py similarity index 100% rename from behavior_metrics/brains/f1/rl_utils/models/utils.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/utils.py diff --git a/behavior_metrics/brains/f1/rl_utils/settings.py b/behavior_metrics/brains/gazebo/f1/rl_utils/settings.py similarity index 100% rename from behavior_metrics/brains/f1/rl_utils/settings.py rename to behavior_metrics/brains/gazebo/f1/rl_utils/settings.py diff --git a/behavior_metrics/brains/f1rl/__init__.py b/behavior_metrics/brains/gazebo/f1/torch_utils/__init__.py similarity index 100% rename from behavior_metrics/brains/f1rl/__init__.py rename to behavior_metrics/brains/gazebo/f1/torch_utils/__init__.py diff --git a/behavior_metrics/brains/gazebo/f1/torch_utils/convlstm.py b/behavior_metrics/brains/gazebo/f1/torch_utils/convlstm.py new file mode 100644 index 00000000..678caa74 --- /dev/null +++ b/behavior_metrics/brains/gazebo/f1/torch_utils/convlstm.py @@ -0,0 +1,195 @@ +""" +This implementation of Convolutional LSTM has been adapted from https://github.com/ndrplz/ConvLSTM_pytorch. +""" + +import torch.nn as nn +import torch + + +class ConvLSTMCell(nn.Module): + + def __init__(self, input_dim, hidden_dim, kernel_size, bias): + """ + Initialize ConvLSTM cell. + + Parameters + ---------- + input_dim: int + Number of channels of input tensor. + hidden_dim: int + Number of channels of hidden state. + kernel_size: (int, int) + Size of the convolutional kernel. + bias: bool + Whether or not to add the bias. + """ + + super(ConvLSTMCell, self).__init__() + + self.input_dim = input_dim + self.hidden_dim = hidden_dim + + self.kernel_size = kernel_size + self.padding = kernel_size[0] // 2, kernel_size[1] // 2 + self.bias = bias + + self.conv = nn.Conv2d(in_channels=self.input_dim + self.hidden_dim, + out_channels=4 * self.hidden_dim, + kernel_size=self.kernel_size, + padding=self.padding, + bias=self.bias) + + def forward(self, input_tensor, cur_state): + h_cur, c_cur = cur_state + + combined = torch.cat([input_tensor, h_cur], dim=1) # concatenate along channel axis + + combined_conv = self.conv(combined) + cc_i, cc_f, cc_o, cc_g = torch.split(combined_conv, self.hidden_dim, dim=1) + i = torch.sigmoid(cc_i) + f = torch.sigmoid(cc_f) + o = torch.sigmoid(cc_o) + g = torch.tanh(cc_g) + + c_next = f * c_cur + i * g + h_next = o * torch.tanh(c_next) + + return h_next, c_next + + def init_hidden(self, batch_size, image_size): + height, width = image_size + return (torch.zeros(batch_size, self.hidden_dim, height, width, device=self.conv.weight.device), + torch.zeros(batch_size, self.hidden_dim, height, width, device=self.conv.weight.device)) + + +class ConvLSTM(nn.Module): + + """ + + Parameters: + input_dim: Number of channels in input + hidden_dim: Number of hidden channels + kernel_size: Size of kernel in convolutions + num_layers: Number of LSTM layers stacked on each other + batch_first: Whether or not dimension 0 is the batch or not + bias: Bias or no bias in Convolution + return_all_layers: Return the list of computations for all layers + Note: Will do same padding. + + Input: + A tensor of size B, T, C, H, W or T, B, C, H, W + Output: + A tuple of two lists of length num_layers (or length 1 if return_all_layers is False). + 0 - layer_output_list is the list of lists of length T of each output + 1 - last_state_list is the list of last states + each element of the list is a tuple (h, c) for hidden state and memory + Example: + >> x = torch.rand((32, 10, 64, 128, 128)) + >> convlstm = ConvLSTM(64, 16, 3, 1, True, True, False) + >> _, last_states = convlstm(x) + >> h = last_states[0][0] # 0 for layer index, 0 for h index + """ + + def __init__(self, input_dim, hidden_dim, kernel_size, num_layers, + batch_first=False, bias=True, return_all_layers=False): + super(ConvLSTM, self).__init__() + + self._check_kernel_size_consistency(kernel_size) + + # Make sure that both `kernel_size` and `hidden_dim` are lists having len == num_layers + kernel_size = self._extend_for_multilayer(kernel_size, num_layers) + hidden_dim = self._extend_for_multilayer(hidden_dim, num_layers) + if not len(kernel_size) == len(hidden_dim) == num_layers: + raise ValueError('Inconsistent list length.') + + self.input_dim = input_dim + self.hidden_dim = hidden_dim + self.kernel_size = kernel_size + self.num_layers = num_layers + self.batch_first = batch_first + self.bias = bias + self.return_all_layers = return_all_layers + + cell_list = [] + for i in range(0, self.num_layers): + cur_input_dim = self.input_dim if i == 0 else self.hidden_dim[i - 1] + + cell_list.append(ConvLSTMCell(input_dim=cur_input_dim, + hidden_dim=self.hidden_dim[i], + kernel_size=self.kernel_size[i], + bias=self.bias)) + + self.cell_list = nn.ModuleList(cell_list) + + def forward(self, input_tensor, hidden_state=None): + """ + + Parameters + ---------- + input_tensor: todo + 5-D Tensor either of shape (t, b, c, h, w) or (b, t, c, h, w) + hidden_state: todo + None. todo implement stateful + + Returns + ------- + last_state_list, layer_output + """ + if not self.batch_first: + # (t, b, c, h, w) -> (b, t, c, h, w) + input_tensor = input_tensor.permute(1, 0, 2, 3, 4) + + b, _, _, h, w = input_tensor.size() + + # Implement stateful ConvLSTM + if hidden_state is not None: + raise NotImplementedError() + else: + # Since the init is done in forward. Can send image size here + hidden_state = self._init_hidden(batch_size=b, + image_size=(h, w)) + + layer_output_list = [] + last_state_list = [] + + seq_len = input_tensor.size(1) + cur_layer_input = input_tensor + + for layer_idx in range(self.num_layers): + + h, c = hidden_state[layer_idx] + output_inner = [] + for t in range(seq_len): + h, c = self.cell_list[layer_idx](input_tensor=cur_layer_input[:, t, :, :, :], + cur_state=[h, c]) + output_inner.append(h) + + layer_output = torch.stack(output_inner, dim=1) + cur_layer_input = layer_output + + layer_output_list.append(layer_output) + last_state_list.append([h, c]) + + if not self.return_all_layers: + layer_output_list = layer_output_list[-1:] + last_state_list = last_state_list[-1:] + + return layer_output_list, last_state_list + + def _init_hidden(self, batch_size, image_size): + init_states = [] + for i in range(self.num_layers): + init_states.append(self.cell_list[i].init_hidden(batch_size, image_size)) + return init_states + + @staticmethod + def _check_kernel_size_consistency(kernel_size): + if not (isinstance(kernel_size, tuple) or + (isinstance(kernel_size, list) and all([isinstance(elem, tuple) for elem in kernel_size]))): + raise ValueError('`kernel_size` must be tuple or list of tuples') + + @staticmethod + def _extend_for_multilayer(param, num_layers): + if not isinstance(param, list): + param = [param] * num_layers + return param \ No newline at end of file diff --git a/behavior_metrics/brains/gazebo/f1/torch_utils/deepest_lstm_tinypilotnet.py b/behavior_metrics/brains/gazebo/f1/torch_utils/deepest_lstm_tinypilotnet.py new file mode 100644 index 00000000..4affa175 --- /dev/null +++ b/behavior_metrics/brains/gazebo/f1/torch_utils/deepest_lstm_tinypilotnet.py @@ -0,0 +1,45 @@ +import torch +import torch.nn as nn +from .convlstm import ConvLSTM + +class DeepestLSTMTinyPilotNet(nn.Module): + def __init__(self, image_shape, num_labels): + super(DeepestLSTMTinyPilotNet, self).__init__() + self.num_channels = image_shape[2] + self.cn_1 = nn.Conv2d(self.num_channels, 8, kernel_size=3, stride=2) + self.relu_1 = nn.ReLU() + self.cn_2 = nn.Conv2d(8, 8, kernel_size=3, stride=2) + self.relu_2 = nn.ReLU() + self.cn_3 = nn.Conv2d(8, 8, kernel_size=3, stride=2) + self.relu_3 = nn.ReLU() + self.dropout_1 = nn.Dropout(0.2) + + self.clstm_n = ConvLSTM(8, 8, (5, 5), 3, batch_first=True, bias=True, return_all_layers=False) + + self.fc_1 = nn.Linear(8*11*5, 50) + self.relu_fc_1 = nn.ReLU() + self.fc_2 = nn.Linear(50, 10) + self.relu_fc_2 = nn.ReLU() + self.fc_3 = nn.Linear(10, num_labels) + + def forward(self, img): + out = self.cn_1(img) + out = self.relu_1(out) + out = self.cn_2(out) + out = self.relu_2(out) + out = self.cn_3(out) + out = self.relu_3(out) + out = self.dropout_1(out) + # add additional dimension at 1 + out = out.unsqueeze(1) + + _, last_states = self.clstm_n(out) + out = last_states[0][0] # 0 for layer index, 0 for h index + # flatten + out = out.reshape(out.size(0), -1) + out = self.fc_1(out) + out = self.relu_fc_1(out) + out = self.fc_2(out) + out = self.relu_fc_2(out) + out = self.fc_3(out) + return out diff --git a/behavior_metrics/brains/gazebo/f1/torch_utils/pilotnet.py b/behavior_metrics/brains/gazebo/f1/torch_utils/pilotnet.py new file mode 100644 index 00000000..153928ae --- /dev/null +++ b/behavior_metrics/brains/gazebo/f1/torch_utils/pilotnet.py @@ -0,0 +1,58 @@ +import torch +import torch.nn as nn + + +class PilotNet(nn.Module): + def __init__(self, + image_shape, + num_labels): + super(PilotNet, self).__init__() + + self.img_height = image_shape[0] + self.img_width = image_shape[1] + self.num_channels = image_shape[2] + + self.output_size = num_labels + + self.ln_1 = nn.BatchNorm2d(self.num_channels, eps=1e-03) + + self.cn_1 = nn.Conv2d(self.num_channels, 24, kernel_size=5, stride=2) + self.cn_2 = nn.Conv2d(24, 36, kernel_size=5, stride=2) + self.cn_3 = nn.Conv2d(36, 48, kernel_size=5, stride=2) + self.cn_4 = nn.Conv2d(48, 64, kernel_size=3, stride=1) + self.cn_5 = nn.Conv2d(64, 64, kernel_size=3, stride=1) + + self.fc_1 = nn.Linear(1 * 18 * 64, 1164) + self.fc_2 = nn.Linear(1164, 100) + self.fc_3 = nn.Linear(100, 50) + self.fc_4 = nn.Linear(50, 10) + self.fc_5 = nn.Linear(10, self.output_size) + + def forward(self, img): + + out = self.ln_1(img) + + out = self.cn_1(out) + out = torch.relu(out) + out = self.cn_2(out) + out = torch.relu(out) + out = self.cn_3(out) + out = torch.relu(out) + out = self.cn_4(out) + out = torch.relu(out) + out = self.cn_5(out) + out = torch.relu(out) + + out = out.reshape(out.size(0), -1) + + out = self.fc_1(out) + out = torch.relu(out) + out = self.fc_2(out) + out = torch.relu(out) + out = self.fc_3(out) + out = torch.relu(out) + out = self.fc_4(out) + out = torch.relu(out) + out = self.fc_5(out) + + return out diff --git a/behavior_metrics/brains/gazebo/f1/torch_utils/pilotnetStacked.py b/behavior_metrics/brains/gazebo/f1/torch_utils/pilotnetStacked.py new file mode 100644 index 00000000..6d72e6bf --- /dev/null +++ b/behavior_metrics/brains/gazebo/f1/torch_utils/pilotnetStacked.py @@ -0,0 +1,59 @@ +import torch +import torch.nn as nn + + +class PilotNet(nn.Module): + def __init__(self, + image_shape, + num_labels, + horizon): + super(PilotNet, self).__init__() + + self.img_height = image_shape[0] + self.img_width = image_shape[1] + self.num_channels = horizon * image_shape[2] + + self.output_size = num_labels + + self.ln_1 = nn.BatchNorm2d(self.num_channels, eps=1e-03) + + self.cn_1 = nn.Conv2d(self.num_channels, 36, kernel_size=5, stride=2) + self.cn_2 = nn.Conv2d(36, 48, kernel_size=5, stride=2) + self.cn_3 = nn.Conv2d(48, 64, kernel_size=5, stride=2) + self.cn_4 = nn.Conv2d(64, 80, kernel_size=3, stride=1) + self.cn_5 = nn.Conv2d(80, 80, kernel_size=3, stride=1) + + self.fc_1 = nn.Linear(1 * 18 * 80, 1164) + self.fc_2 = nn.Linear(1164, 100) + self.fc_3 = nn.Linear(100, 50) + self.fc_4 = nn.Linear(50, 10) + self.fc_5 = nn.Linear(10, self.output_size) + + def forward(self, img): + + out = self.ln_1(img) + + out = self.cn_1(out) + out = torch.relu(out) + out = self.cn_2(out) + out = torch.relu(out) + out = self.cn_3(out) + out = torch.relu(out) + out = self.cn_4(out) + out = torch.relu(out) + out = self.cn_5(out) + out = torch.relu(out) + + out = out.reshape(out.size(0), -1) + + out = self.fc_1(out) + out = torch.relu(out) + out = self.fc_2(out) + out = torch.relu(out) + out = self.fc_3(out) + out = torch.relu(out) + out = self.fc_4(out) + out = torch.relu(out) + out = self.fc_5(out) + + return out \ No newline at end of file diff --git a/behavior_metrics/brains/f1rl/utils/__init__.py b/behavior_metrics/brains/gazebo/f1rl/__init__.py similarity index 100% rename from behavior_metrics/brains/f1rl/utils/__init__.py rename to behavior_metrics/brains/gazebo/f1rl/__init__.py diff --git a/behavior_metrics/brains/f1rl/brain_f1_dummy.py b/behavior_metrics/brains/gazebo/f1rl/brain_f1_dummy.py similarity index 100% rename from behavior_metrics/brains/f1rl/brain_f1_dummy.py rename to behavior_metrics/brains/gazebo/f1rl/brain_f1_dummy.py diff --git a/behavior_metrics/brains/f1rl/f1_follow_line_camera_dqn.py b/behavior_metrics/brains/gazebo/f1rl/f1_follow_line_camera_dqn.py similarity index 98% rename from behavior_metrics/brains/f1rl/f1_follow_line_camera_dqn.py rename to behavior_metrics/brains/gazebo/f1rl/f1_follow_line_camera_dqn.py index 1d7c9ae6..0482698b 100755 --- a/behavior_metrics/brains/f1rl/f1_follow_line_camera_dqn.py +++ b/behavior_metrics/brains/gazebo/f1rl/f1_follow_line_camera_dqn.py @@ -17,8 +17,8 @@ from gym import logger, wrappers from keras import backend as K -from brains.f1rl.utils.settings import my_board -from brains.f1rl.utils.dqn import DeepQ +from brains.gazebo.f1rl.utils.settings import my_board +from brains.gazebo.f1rl.utils.dqn import DeepQ # To equal the inputs, we set the channels first and the image next. diff --git a/behavior_metrics/brains/f1rl/f1_follow_line_qlearn.py b/behavior_metrics/brains/gazebo/f1rl/f1_follow_line_qlearn.py similarity index 96% rename from behavior_metrics/brains/f1rl/f1_follow_line_qlearn.py rename to behavior_metrics/brains/gazebo/f1rl/f1_follow_line_qlearn.py index 3549ecc0..88cecf62 100755 --- a/behavior_metrics/brains/f1rl/f1_follow_line_qlearn.py +++ b/behavior_metrics/brains/gazebo/f1rl/f1_follow_line_qlearn.py @@ -3,14 +3,14 @@ import pickle import gym -from brains.f1rl.utils import liveplot +from brains.gazebo.f1rl.utils import liveplot import gym_gazebo import numpy as np from gym import logger, wrappers -from brains.f1rl.utils.qlearn import QLearn +from brains.gazebo.f1rl.utils.qlearn import QLearn -import brains.f1rl.utils.settings as settings -from brains.f1rl.utils.settings import actions_set +import brains.gazebo.f1rl.utils.settings as settings +from brains.gazebo.f1rl.utils.settings import actions_set def render(): diff --git a/behavior_metrics/brains/f1rl/f1_follow_line_qlearn_laser.py b/behavior_metrics/brains/gazebo/f1rl/f1_follow_line_qlearn_laser.py similarity index 97% rename from behavior_metrics/brains/f1rl/f1_follow_line_qlearn_laser.py rename to behavior_metrics/brains/gazebo/f1rl/f1_follow_line_qlearn_laser.py index e87a3a9d..276737e4 100755 --- a/behavior_metrics/brains/f1rl/f1_follow_line_qlearn_laser.py +++ b/behavior_metrics/brains/gazebo/f1rl/f1_follow_line_qlearn_laser.py @@ -6,10 +6,10 @@ import numpy as np from gym import logger, wrappers -import brains.f1rl.utils.settings as settings -from brains.f1rl.utils.qlearn import QLearn -from brains.f1rl.utils.settings import actions_set -from brains.f1rl.utils import liveplot +import brains.gazebo.f1rl.utils.settings as settings +from brains.gazebo.f1rl.utils.qlearn import QLearn +from brains.gazebo.f1rl.utils.settings import actions_set +from brains.gazebo.f1rl.utils import liveplot class Brain: """Specific brain for the f1 robot with q learning.""" diff --git a/behavior_metrics/brains/f1rl/train.py b/behavior_metrics/brains/gazebo/f1rl/train.py similarity index 95% rename from behavior_metrics/brains/f1rl/train.py rename to behavior_metrics/brains/gazebo/f1rl/train.py index 85ada9b4..17e2ed16 100755 --- a/behavior_metrics/brains/f1rl/train.py +++ b/behavior_metrics/brains/gazebo/f1rl/train.py @@ -2,13 +2,13 @@ from datetime import datetime import pickle import gym -from brains.f1rl.utils import liveplot +from brains.gazebo.f1rl.utils import liveplot import gym_gazebo import numpy as np from gym import logger, wrappers -from brains.f1rl.utils.qlearn import QLearn -import brains.f1rl.utils.settings as settings -from brains.f1rl.utils.settings import actions_set +from brains.gazebo.f1rl.utils.qlearn import QLearn +import brains.gazebo.f1rl.utils.settings as settings +from brains.gazebo.f1rl.utils.settings import actions_set def render(): diff --git a/behavior_metrics/brains/turtlebot/__init__.py b/behavior_metrics/brains/gazebo/f1rl/utils/__init__.py similarity index 100% rename from behavior_metrics/brains/turtlebot/__init__.py rename to behavior_metrics/brains/gazebo/f1rl/utils/__init__.py diff --git a/behavior_metrics/brains/f1rl/utils/dqn.py b/behavior_metrics/brains/gazebo/f1rl/utils/dqn.py similarity index 100% rename from behavior_metrics/brains/f1rl/utils/dqn.py rename to behavior_metrics/brains/gazebo/f1rl/utils/dqn.py diff --git a/behavior_metrics/brains/f1rl/utils/liveplot.py b/behavior_metrics/brains/gazebo/f1rl/utils/liveplot.py similarity index 100% rename from behavior_metrics/brains/f1rl/utils/liveplot.py rename to behavior_metrics/brains/gazebo/f1rl/utils/liveplot.py diff --git a/behavior_metrics/brains/f1rl/utils/memory.py b/behavior_metrics/brains/gazebo/f1rl/utils/memory.py similarity index 100% rename from behavior_metrics/brains/f1rl/utils/memory.py rename to behavior_metrics/brains/gazebo/f1rl/utils/memory.py diff --git a/behavior_metrics/brains/f1rl/utils/qlearn.py b/behavior_metrics/brains/gazebo/f1rl/utils/qlearn.py similarity index 100% rename from behavior_metrics/brains/f1rl/utils/qlearn.py rename to behavior_metrics/brains/gazebo/f1rl/utils/qlearn.py diff --git a/behavior_metrics/brains/f1rl/utils/ros_gazebo_pose.py b/behavior_metrics/brains/gazebo/f1rl/utils/ros_gazebo_pose.py similarity index 100% rename from behavior_metrics/brains/f1rl/utils/ros_gazebo_pose.py rename to behavior_metrics/brains/gazebo/f1rl/utils/ros_gazebo_pose.py diff --git a/behavior_metrics/brains/f1rl/utils/settings.py b/behavior_metrics/brains/gazebo/f1rl/utils/settings.py similarity index 100% rename from behavior_metrics/brains/f1rl/utils/settings.py rename to behavior_metrics/brains/gazebo/f1rl/utils/settings.py diff --git a/behavior_metrics/configs/default_carla_tf_lite.yml b/behavior_metrics/brains/gazebo/turtlebot/__init__.py similarity index 100% rename from behavior_metrics/configs/default_carla_tf_lite.yml rename to behavior_metrics/brains/gazebo/turtlebot/__init__.py diff --git a/behavior_metrics/brains/turtlebot/brain_turtlebot_opencv2.py b/behavior_metrics/brains/gazebo/turtlebot/brain_turtlebot_opencv2.py similarity index 100% rename from behavior_metrics/brains/turtlebot/brain_turtlebot_opencv2.py rename to behavior_metrics/brains/gazebo/turtlebot/brain_turtlebot_opencv2.py diff --git a/behavior_metrics/configs/CARLA_launch_files/CARLA_object_files/main_car.json b/behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/main_car.json similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/CARLA_object_files/main_car.json rename to behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/main_car.json diff --git a/behavior_metrics/configs/CARLA_launch_files/CARLA_object_files/parked_bike_car_objects.json b/behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/parked_bike_car_objects.json similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/CARLA_object_files/parked_bike_car_objects.json rename to behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/parked_bike_car_objects.json diff --git a/behavior_metrics/configs/CARLA_launch_files/CARLA_object_files/parked_bike_objects.json b/behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/parked_bike_objects.json similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/CARLA_object_files/parked_bike_objects.json rename to behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/parked_bike_objects.json diff --git a/behavior_metrics/configs/CARLA_launch_files/CARLA_object_files/parked_car_objects.json b/behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/parked_car_objects.json similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/CARLA_object_files/parked_car_objects.json rename to behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/parked_car_objects.json diff --git a/behavior_metrics/configs/CARLA_launch_files/CARLA_object_files/pedestrian_objects.json b/behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/pedestrian_objects.json similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/CARLA_object_files/pedestrian_objects.json rename to behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/pedestrian_objects.json diff --git a/behavior_metrics/configs/CARLA_launch_files/CARLA_object_files/pedestrian_parked_bike_car_objects.json b/behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/pedestrian_parked_bike_car_objects.json similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/CARLA_object_files/pedestrian_parked_bike_car_objects.json rename to behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/pedestrian_parked_bike_car_objects.json diff --git a/behavior_metrics/configs/CARLA_launch_files/CARLA_object_files/single_ad_car.json b/behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/single_ad_car.json similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/CARLA_object_files/single_ad_car.json rename to behavior_metrics/configs/CARLA/CARLA_launch_files/CARLA_object_files/single_ad_car.json diff --git a/behavior_metrics/configs/CARLA_launch_files/single_ad_npc_waypoint_publisher.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/single_ad_npc_waypoint_publisher.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/single_ad_npc_waypoint_publisher.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/single_ad_npc_waypoint_publisher.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_01_anticlockwise.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_anticlockwise.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_01_anticlockwise.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_anticlockwise.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_01_anticlockwise_no_gui.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_anticlockwise_no_gui.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_01_anticlockwise_no_gui.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_anticlockwise_no_gui.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_01_anticlockwise_parked_bike.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_anticlockwise_parked_bike.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_01_anticlockwise_parked_bike.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_anticlockwise_parked_bike.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_01_anticlockwise_parked_bike_car.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_anticlockwise_parked_bike_car.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_01_anticlockwise_parked_bike_car.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_anticlockwise_parked_bike_car.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_01_anticlockwise_parked_vehicle.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_anticlockwise_parked_vehicle.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_01_anticlockwise_parked_vehicle.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_anticlockwise_parked_vehicle.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_01_anticlockwise_pedestrian.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_anticlockwise_pedestrian.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_01_anticlockwise_pedestrian.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_anticlockwise_pedestrian.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_01_anticlockwise_pedestrian_parked_bike_car.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_anticlockwise_pedestrian_parked_bike_car.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_01_anticlockwise_pedestrian_parked_bike_car.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_anticlockwise_pedestrian_parked_bike_car.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_01_anticlockwise_single_ad_npc.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_anticlockwise_single_ad_npc.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_01_anticlockwise_single_ad_npc.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_anticlockwise_single_ad_npc.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_01_clockwise.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_clockwise.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_01_clockwise.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_clockwise.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_01_clockwise_no_gui.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_clockwise_no_gui.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_01_clockwise_no_gui.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_01_clockwise_no_gui.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_02_anticlockwise.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_02_anticlockwise.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_02_anticlockwise.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_02_anticlockwise.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_02_anticlockwise_low.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_02_anticlockwise_low.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_02_anticlockwise_low.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_02_anticlockwise_low.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_02_anticlockwise_no_gui.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_02_anticlockwise_no_gui.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_02_anticlockwise_no_gui.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_02_anticlockwise_no_gui.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_02_clockwise.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_02_clockwise.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_02_clockwise.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_02_clockwise.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_02_clockwise_no_gui.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_02_clockwise_no_gui.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_02_clockwise_no_gui.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_02_clockwise_no_gui.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_03_anticlockwise.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_03_anticlockwise.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_03_anticlockwise.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_03_anticlockwise.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_03_anticlockwise_no_gui.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_03_anticlockwise_no_gui.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_03_anticlockwise_no_gui.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_03_anticlockwise_no_gui.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_03_clockwise.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_03_clockwise.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_03_clockwise.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_03_clockwise.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_03_clockwise_no_gui.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_03_clockwise_no_gui.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_03_clockwise_no_gui.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_03_clockwise_no_gui.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_04_anticlockwise.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_04_anticlockwise.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_04_anticlockwise.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_04_anticlockwise.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_04_anticlockwise_no_gui.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_04_anticlockwise_no_gui.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_04_anticlockwise_no_gui.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_04_anticlockwise_no_gui.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_04_clockwise.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_04_clockwise.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_04_clockwise.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_04_clockwise.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_04_clockwise_no_gui.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_04_clockwise_no_gui.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_04_clockwise_no_gui.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_04_clockwise_no_gui.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_05_anticlockwise.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_05_anticlockwise.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_05_anticlockwise.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_05_anticlockwise.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_05_anticlockwise_no_gui.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_05_anticlockwise_no_gui.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_05_anticlockwise_no_gui.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_05_anticlockwise_no_gui.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_05_clockwise.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_05_clockwise.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_05_clockwise.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_05_clockwise.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_05_clockwise_no_gui.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_05_clockwise_no_gui.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_05_clockwise_no_gui.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_05_clockwise_no_gui.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_06_anticlockwise.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_06_anticlockwise.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_06_anticlockwise.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_06_anticlockwise.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_06_anticlockwise_no_gui.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_06_anticlockwise_no_gui.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_06_anticlockwise_no_gui.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_06_anticlockwise_no_gui.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_06_clockwise.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_06_clockwise.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_06_clockwise.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_06_clockwise.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_06_clockwise_no_gui.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_06_clockwise_no_gui.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_06_clockwise_no_gui.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_06_clockwise_no_gui.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_07_anticlockwise.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_07_anticlockwise.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_07_anticlockwise.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_07_anticlockwise.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_07_anticlockwise_no_gui.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_07_anticlockwise_no_gui.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_07_anticlockwise_no_gui.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_07_anticlockwise_no_gui.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_07_clockwise.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_07_clockwise.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_07_clockwise.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_07_clockwise.launch diff --git a/behavior_metrics/configs/CARLA_launch_files/town_07_clockwise_no_gui.launch b/behavior_metrics/configs/CARLA/CARLA_launch_files/town_07_clockwise_no_gui.launch similarity index 100% rename from behavior_metrics/configs/CARLA_launch_files/town_07_clockwise_no_gui.launch rename to behavior_metrics/configs/CARLA/CARLA_launch_files/town_07_clockwise_no_gui.launch diff --git a/behavior_metrics/configs/default_carla.yml b/behavior_metrics/configs/CARLA/default_carla.yml similarity index 85% rename from behavior_metrics/configs/default_carla.yml rename to behavior_metrics/configs/CARLA/default_carla.yml index a25024b3..ddc3427c 100644 --- a/behavior_metrics/configs/default_carla.yml +++ b/behavior_metrics/configs/CARLA/default_carla.yml @@ -33,21 +33,21 @@ Behaviors: Topic: '/carla/ego_vehicle/vehicle_control_cmd' MaxV: 3 MaxW: 0.3 - BrainPath: 'brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning.py' + BrainPath: 'brains/CARLA/brain_carla_slow_and_turn.py' PilotTimeCycle: 50 # Turn up to reduce number of control decisions AsyncMode: True # Set to False to control simulator time Parameters: - Model: '20230724-125225_pilotnet_CARLA_19_05_dataset_bird_eye_300_epochs_no_flip_3_output_both_directions_all_towns_adam_AFFINE_OPTIMIZATION_PAPER_UPDATED_SHAPE_pretrained_cp.h5' + Model: '' ImageCropped: True ImageSize: [ 200,66 ] ImageNormalized: True PredictionsNormalized: True GPU: True - UseOptimized: True + UseOptimized: False ImageTranform: '' Type: 'CARLA' Simulation: - World: configs/CARLA_launch_files/town_02_anticlockwise.launch + World: configs/CARLA/CARLA_launch_files/town_02_anticlockwise.launch RandomSpawnPoint: False Dataset: In: '/tmp/my_bag.bag' diff --git a/behavior_metrics/configs/default_carla_autopilot.yml b/behavior_metrics/configs/CARLA/default_carla_autopilot.yml similarity index 96% rename from behavior_metrics/configs/default_carla_autopilot.yml rename to behavior_metrics/configs/CARLA/default_carla_autopilot.yml index 5421f3ff..2eeeb996 100644 --- a/behavior_metrics/configs/default_carla_autopilot.yml +++ b/behavior_metrics/configs/CARLA/default_carla_autopilot.yml @@ -47,7 +47,7 @@ Behaviors: Type: 'CARLA' RandomSpawnPoint: False Simulation: - World: configs/CARLA_launch_files/town_01_anticlockwise.launch + World: configs/CARLA/CARLA_launch_files/town_01_anticlockwise.launch Dataset: In: '/tmp/my_bag.bag' Out: '' diff --git a/behavior_metrics/configs/CARLA/default_carla_multiple.yml b/behavior_metrics/configs/CARLA/default_carla_multiple.yml new file mode 100644 index 00000000..94a761f4 --- /dev/null +++ b/behavior_metrics/configs/CARLA/default_carla_multiple.yml @@ -0,0 +1,146 @@ +Behaviors: + Robot: + Sensors: + Cameras: + Camera_0: + Name: 'camera_0' + Topic: '/carla/ego_vehicle/rgb_front/image' + Camera_1: + Name: 'camera_1' + Topic: '/carla/ego_vehicle/rgb_view/image' + Camera_2: + Name: 'camera_2' + Topic: '/carla/ego_vehicle/semantic_segmentation_front/image' + Camera_3: + Name: 'camera_3' + Topic: '/carla/ego_vehicle/dvs_front/image' + Pose3D: + Pose3D_0: + Name: 'pose3d_0' + Topic: '/carla/ego_vehicle/odometry' + BirdEyeView: + BirdEyeView_0: + Name: 'bird_eye_view_0' + Topic: '' + Speedometer: + Speedometer_0: + Name: 'speedometer_0' + Topic: '/carla/ego_vehicle/speedometer' + Actuators: + CARLA_Motors: + Motors_0: + Name: 'motors_0' + Topic: '/carla/ego_vehicle/vehicle_control_cmd' + MaxV: 3 + MaxW: 0.3 + + BrainPath: [ + 'brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning.py', + 'brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch.py', + ] + PilotTimeCycle: 50 + AsyncMode: True + Parameters: + Model: [ + 'pilotnet.h5', + 'pilotnet_model.pth' + ] + ImageCropped: True + ImageSize: [ 100,50 ] + ImageNormalized: True + PredictionsNormalized: True + GPU: True + UseOptimized: False + ImageTranform: '' + Type: 'CARLA' + Experiment: + Name: "Experiment name" + Description: "Experiment description" + UseWorldTimeouts: True + Timeout: [10, 10, 10, 10, 10, 10, 10] # for each world! + Repetitions: 5 + Simulation: + World: [ + configs/CARLA/CARLA_launch_files/town_01_anticlockwise_no_gui.launch, + configs/CARLA/CARLA_launch_files/town_02_anticlockwise_no_gui.launch, + configs/CARLA/CARLA_launch_files/town_03_anticlockwise_no_gui.launch, + configs/CARLA/CARLA_launch_files/town_04_anticlockwise_no_gui.launch, + configs/CARLA/CARLA_launch_files/town_05_anticlockwise_no_gui.launch, + configs/CARLA/CARLA_launch_files/town_06_anticlockwise_no_gui.launch, + configs/CARLA/CARLA_launch_files/town_07_anticlockwise_no_gui.launch + ] + RandomSpawnPoint: False + SpawnPoints: [ + [ + "10.0, 2.0, 1.37, 0.0, 0.0, 180.0", + "300.0, -330.0, 1.37, 0.0, 0.0, 0.0", + "397.0, -50.0, 1.37, 0.0, 0.0, 90.0", + "392.0, -50.0, 1.37, 0.0, 0.0, -90.0", + "20.0, -327.0, 1.37, 0.0, 0.0, 180.0" + ], + [ + "55.3, -105.6, 1.37, 0.0, 0.0, 180.0", + "-7.0, -270.6, 1.37, 0.0, 0.0, -90.0", + "-3.0, -270.6, 1.37, 0.0, 0.0, 90.0", + "100.0, -303.0, 1.37, 0.0, 0.0, 180.0", + "190.0, -150.0, 1.37, 0.0, 0.0, -90.0" + ], + [ + "246.0, 150.0, 1.37, 0.0, 0.0, 90.0", + "243.0, -100., 1.37, 0.0, 0.0, 90.0", + "-88.0, 170, 1.37, 0.0, 0.0, -90.0", + "232.0, 0.0, 1.37, 0.0, 0.0, -90.0", + "-50.0, 195, 1.37, 0.0, 0.0, 0.0" + ], + [ + "381.5, 60.0, 1.37, 0.0, 0.0, -90.0", + "-16.0, -184.6, 1.37, 0.0, 0.0, -90.0", + "381.5, 60.0, 1.37, 0.0, 0.0, -90.0", + "-16.0, -184.6, 1.37, 0.0, 0.0, -90.0", + "381.5, 60.0, 1.37, 0.0, 0.0, -90.0" + ], + [ + "20, -187.5, 1.37, 0.0, 0.0, 180.0", + "210.1, -87.3, 1.37, 0.0, 0.0, 90.0", + "189, -87.3, 1.37, 0.0, 0.0, -90.0", + "20, -187.5, 1.37, 0.0, 0.0, 180.0", + "210.1, -87.3, 1.37, 0.0, 0.0, 90.0" + ], + [ + "659.0, -70.5, 1.37, 0.0, 0.0, -90.0", + "351.5, 10.5, 1.37, 0.0, 0.0, 0.0", + "351.5, 24.5, 1.37, 0.0, 0.0, 180.0", + "672.5, -70.5, 1.37, 0.0, 0.0, 90.0", + "659.0, -70.5, 1.37, 0.0, 0.0, -90.0" + ], + [ + "-3.0, 243.0, 1.37, 0.0, 0.0, 180.0", + "70.5, 5.0, 1.37, 0.0, 0.0, 60.0", + "-184.5, -107.2, 1.37, 0.0, 0.0, 180.0", + "-3.0, 243.0, 1.37, 0.0, 0.0, 180.0", + "70.5, 5.0, 1.37, 0.0, 0.0, 60.0" + ] + ] + Dataset: + In: '/tmp/my_bag.bag' + Out: '' + Stats: + Out: './' + PerfectLap: './perfect_bags/lap-simple-circuit.bag' + Layout: + Frame_0: + Name: frame_0 + Geometry: [1, 1, 1, 1] + Data: rgbimage + Frame_1: + Name: frame_1 + Geometry: [0, 1, 1, 1] + Data: rgbimage + Frame_2: + Name: frame_2 + Geometry: [0, 2, 1, 1] + Data: rgbimage + Frame_3: + Name: frame_3 + Geometry: [1, 2, 1, 1] + Data: rgbimage diff --git a/behavior_metrics/configs/default_carla_multiple_simple.yml b/behavior_metrics/configs/CARLA/default_carla_multiple_simple.yml similarity index 79% rename from behavior_metrics/configs/default_carla_multiple_simple.yml rename to behavior_metrics/configs/CARLA/default_carla_multiple_simple.yml index 5b371e25..9891f9ec 100644 --- a/behavior_metrics/configs/default_carla_multiple_simple.yml +++ b/behavior_metrics/configs/CARLA/default_carla_multiple_simple.yml @@ -57,17 +57,17 @@ Behaviors: World: [ - configs/CARLA_launch_files/town_04_anticlockwise_no_gui.launch, - configs/CARLA_launch_files/town_04_clockwise_no_gui.launch, + configs/CARLA/CARLA_launch_files/town_04_anticlockwise_no_gui.launch, + configs/CARLA/CARLA_launch_files/town_04_clockwise_no_gui.launch, - configs/CARLA_launch_files/town_05_anticlockwise_no_gui.launch, - configs/CARLA_launch_files/town_05_clockwise_no_gui.launch, + configs/CARLA/CARLA_launch_files/town_05_anticlockwise_no_gui.launch, + configs/CARLA/CARLA_launch_files/town_05_clockwise_no_gui.launch, - configs/CARLA_launch_files/town_06_anticlockwise_no_gui.launch, - configs/CARLA_launch_files/town_06_clockwise_no_gui.launch, + configs/CARLA/CARLA_launch_files/town_06_anticlockwise_no_gui.launch, + configs/CARLA/CARLA_launch_files/town_06_clockwise_no_gui.launch, - configs/CARLA_launch_files/town_07_anticlockwise_no_gui.launch, - configs/CARLA_launch_files/town_07_clockwise_no_gui.launch + configs/CARLA/CARLA_launch_files/town_07_anticlockwise_no_gui.launch, + configs/CARLA/CARLA_launch_files/town_07_clockwise_no_gui.launch ] Dataset: In: '/tmp/my_bag.bag' diff --git a/behavior_metrics/configs/default_carla_multiple_tensorflow_optimizations.yml b/behavior_metrics/configs/CARLA/default_carla_multiple_tensorflow_optimizations.yml similarity index 98% rename from behavior_metrics/configs/default_carla_multiple_tensorflow_optimizations.yml rename to behavior_metrics/configs/CARLA/default_carla_multiple_tensorflow_optimizations.yml index bb014e02..1c38024b 100644 --- a/behavior_metrics/configs/default_carla_multiple_tensorflow_optimizations.yml +++ b/behavior_metrics/configs/CARLA/default_carla_multiple_tensorflow_optimizations.yml @@ -83,7 +83,7 @@ Behaviors: Repetitions: 5 Simulation: World: [ - configs/CARLA_launch_files/town_02_anticlockwise_no_gui.launch, + configs/CARLA/CARLA_launch_files/town_02_anticlockwise_no_gui.launch, ] RandomSpawnPoint: False SpawnPoints: [ diff --git a/behavior_metrics/configs/default_carla_parked_bike.yml b/behavior_metrics/configs/CARLA/default_carla_parked_bike.yml similarity index 96% rename from behavior_metrics/configs/default_carla_parked_bike.yml rename to behavior_metrics/configs/CARLA/default_carla_parked_bike.yml index 340db817..aa72b9aa 100644 --- a/behavior_metrics/configs/default_carla_parked_bike.yml +++ b/behavior_metrics/configs/CARLA/default_carla_parked_bike.yml @@ -47,7 +47,7 @@ Behaviors: ImageTranform: '' Type: 'CARLA' Simulation: - World: configs/CARLA_launch_files/town_01_anticlockwise_parked_bike.launch + World: configs/CARLA/CARLA_launch_files/town_01_anticlockwise_parked_bike.launch RandomSpawnPoint: False Dataset: In: '/tmp/my_bag.bag' diff --git a/behavior_metrics/configs/default_carla_parked_bike_car.yml b/behavior_metrics/configs/CARLA/default_carla_parked_bike_car.yml similarity index 96% rename from behavior_metrics/configs/default_carla_parked_bike_car.yml rename to behavior_metrics/configs/CARLA/default_carla_parked_bike_car.yml index 7761704d..e47e48a6 100644 --- a/behavior_metrics/configs/default_carla_parked_bike_car.yml +++ b/behavior_metrics/configs/CARLA/default_carla_parked_bike_car.yml @@ -47,7 +47,7 @@ Behaviors: ImageTranform: '' Type: 'CARLA' Simulation: - World: configs/CARLA_launch_files/town_01_anticlockwise_parked_bike_car.launch + World: configs/CARLA/CARLA_launch_files/town_01_anticlockwise_parked_bike_car.launch RandomSpawnPoint: False Dataset: In: '/tmp/my_bag.bag' diff --git a/behavior_metrics/configs/default_carla_parked_vehicle.yml b/behavior_metrics/configs/CARLA/default_carla_parked_vehicle.yml similarity index 96% rename from behavior_metrics/configs/default_carla_parked_vehicle.yml rename to behavior_metrics/configs/CARLA/default_carla_parked_vehicle.yml index e99f3656..5808d6a8 100644 --- a/behavior_metrics/configs/default_carla_parked_vehicle.yml +++ b/behavior_metrics/configs/CARLA/default_carla_parked_vehicle.yml @@ -47,7 +47,7 @@ Behaviors: ImageTranform: '' Type: 'CARLA' Simulation: - World: configs/CARLA_launch_files/town_01_anticlockwise_parked_vehicle.launch + World: configs/CARLA/CARLA_launch_files/town_01_anticlockwise_parked_vehicle.launch RandomSpawnPoint: False Dataset: In: '/tmp/my_bag.bag' diff --git a/behavior_metrics/configs/default_carla_pedestrian.yml b/behavior_metrics/configs/CARLA/default_carla_pedestrian.yml similarity index 96% rename from behavior_metrics/configs/default_carla_pedestrian.yml rename to behavior_metrics/configs/CARLA/default_carla_pedestrian.yml index 92d463ae..9654c06f 100644 --- a/behavior_metrics/configs/default_carla_pedestrian.yml +++ b/behavior_metrics/configs/CARLA/default_carla_pedestrian.yml @@ -47,7 +47,7 @@ Behaviors: ImageTranform: '' Type: 'CARLA' Simulation: - World: configs/CARLA_launch_files/town_01_anticlockwise_pedestrian.launch + World: configs/CARLA/CARLA_launch_files/town_01_anticlockwise_pedestrian.launch RandomSpawnPoint: False Dataset: In: '/tmp/my_bag.bag' diff --git a/behavior_metrics/configs/default_carla_pedestrian_parked_bike_car.yml b/behavior_metrics/configs/CARLA/default_carla_pedestrian_parked_bike_car.yml similarity index 95% rename from behavior_metrics/configs/default_carla_pedestrian_parked_bike_car.yml rename to behavior_metrics/configs/CARLA/default_carla_pedestrian_parked_bike_car.yml index d3d36a8f..54358fad 100644 --- a/behavior_metrics/configs/default_carla_pedestrian_parked_bike_car.yml +++ b/behavior_metrics/configs/CARLA/default_carla_pedestrian_parked_bike_car.yml @@ -47,7 +47,7 @@ Behaviors: ImageTranform: '' Type: 'CARLA' Simulation: - World: configs/CARLA_launch_files/town_01_anticlockwise_pedestrian_parked_bike_car.launch + World: configs/CARLA/CARLA_launch_files/town_01_anticlockwise_pedestrian_parked_bike_car.launch RandomSpawnPoint: False Dataset: In: '/tmp/my_bag.bag' diff --git a/behavior_metrics/configs/default_carla_single_ad_npc.yml b/behavior_metrics/configs/CARLA/default_carla_single_ad_npc.yml similarity index 92% rename from behavior_metrics/configs/default_carla_single_ad_npc.yml rename to behavior_metrics/configs/CARLA/default_carla_single_ad_npc.yml index 6b4eb063..55a9eb48 100644 --- a/behavior_metrics/configs/default_carla_single_ad_npc.yml +++ b/behavior_metrics/configs/CARLA/default_carla_single_ad_npc.yml @@ -47,8 +47,8 @@ Behaviors: ImageTranform: '' Type: 'CARLA' Simulation: - World: configs/CARLA_launch_files/town_01_anticlockwise_single_ad_npc.launch - WaypointPublisher: configs/CARLA_launch_files/single_ad_npc_waypoint_publisher.launch + World: configs/CARLA/CARLA_launch_files/town_01_anticlockwise_single_ad_npc.launch + WaypointPublisher: configs/CARLA/CARLA_launch_files/single_ad_npc_waypoint_publisher.launch RandomSpawnPoint: False Dataset: In: '/tmp/my_bag.bag' diff --git a/behavior_metrics/configs/default_carla_subjective_vision.yml b/behavior_metrics/configs/CARLA/default_carla_subjective_vision.yml similarity index 96% rename from behavior_metrics/configs/default_carla_subjective_vision.yml rename to behavior_metrics/configs/CARLA/default_carla_subjective_vision.yml index 6215ddeb..fc0be152 100644 --- a/behavior_metrics/configs/default_carla_subjective_vision.yml +++ b/behavior_metrics/configs/CARLA/default_carla_subjective_vision.yml @@ -47,7 +47,7 @@ Behaviors: ImageTranform: '' Type: 'CARLA' Simulation: - World: configs/CARLA_launch_files/town_02_anticlockwise_low.launch + World: configs/CARLA/CARLA_launch_files/town_02_anticlockwise_low.launch RandomSpawnPoint: False Dataset: In: '/tmp/my_bag.bag' diff --git a/behavior_metrics/configs/default_carla_tensor_rt.yml b/behavior_metrics/configs/CARLA/default_carla_tensor_rt.yml similarity index 96% rename from behavior_metrics/configs/default_carla_tensor_rt.yml rename to behavior_metrics/configs/CARLA/default_carla_tensor_rt.yml index 6034475d..fe6b7102 100644 --- a/behavior_metrics/configs/default_carla_tensor_rt.yml +++ b/behavior_metrics/configs/CARLA/default_carla_tensor_rt.yml @@ -47,7 +47,7 @@ Behaviors: ImageTranform: '' Type: 'CARLA' Simulation: - World: configs/CARLA_launch_files/town_02_anticlockwise.launch + World: configs/CARLA/CARLA_launch_files/town_02_anticlockwise.launch RandomSpawnPoint: False Dataset: In: '/tmp/my_bag.bag' diff --git a/behavior_metrics/configs/CARLA/default_carla_tensorflow.yml b/behavior_metrics/configs/CARLA/default_carla_tensorflow.yml new file mode 100644 index 00000000..46fae066 --- /dev/null +++ b/behavior_metrics/configs/CARLA/default_carla_tensorflow.yml @@ -0,0 +1,74 @@ +Behaviors: + Robot: + Sensors: + Cameras: + Camera_0: + Name: 'camera_0' + Topic: '/carla/ego_vehicle/rgb_front/image' + Camera_1: + Name: 'camera_1' + Topic: '/carla/ego_vehicle/rgb_view/image' + Camera_2: + Name: 'camera_2' + Topic: '/carla/ego_vehicle/semantic_segmentation_front/image' + Camera_3: + Name: 'camera_3' + Topic: '/carla/ego_vehicle/dvs_front/image' + Pose3D: + Pose3D_0: + Name: 'pose3d_0' + Topic: '/carla/ego_vehicle/odometry' + BirdEyeView: + BirdEyeView_0: + Name: 'bird_eye_view_0' + Topic: '' + Speedometer: + Speedometer_0: + Name: 'speedometer_0' + Topic: '/carla/ego_vehicle/speedometer' + Actuators: + CARLA_Motors: + Motors_0: + Name: 'motors_0' + Topic: '/carla/ego_vehicle/vehicle_control_cmd' + MaxV: 3 + MaxW: 0.3 + BrainPath: 'brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning.py' + PilotTimeCycle: 50 # Turn up to reduce number of control decisions + AsyncMode: True # Set to False to control simulator time + Parameters: + Model: 'pilotnet.h5' + ImageCropped: True + ImageSize: [ 200,66 ] + ImageNormalized: True + PredictionsNormalized: True + GPU: True + UseOptimized: False + ImageTranform: '' + Type: 'CARLA' + Simulation: + World: configs/CARLA/CARLA_launch_files/town_02_anticlockwise.launch + RandomSpawnPoint: False + Dataset: + In: '/tmp/my_bag.bag' + Out: '' + Stats: + Out: './' + PerfectLap: './perfect_bags/lap-simple-circuit.bag' + Layout: + Frame_0: + Name: frame_0 + Geometry: [1, 1, 1, 1] + Data: rgbimage + Frame_1: + Name: frame_1 + Geometry: [0, 1, 1, 1] + Data: rgbimage + Frame_2: + Name: frame_2 + Geometry: [0, 2, 1, 1] + Data: rgbimage + Frame_3: + Name: frame_3 + Geometry: [1, 2, 1, 1] + Data: rgbimage diff --git a/behavior_metrics/models/tf_models/tf_models.txt b/behavior_metrics/configs/CARLA/default_carla_tf_lite.yml similarity index 100% rename from behavior_metrics/models/tf_models/tf_models.txt rename to behavior_metrics/configs/CARLA/default_carla_tf_lite.yml diff --git a/behavior_metrics/configs/default_carla_torch.yml b/behavior_metrics/configs/CARLA/default_carla_torch.yml similarity index 96% rename from behavior_metrics/configs/default_carla_torch.yml rename to behavior_metrics/configs/CARLA/default_carla_torch.yml index 4479ddad..6f9865d2 100644 --- a/behavior_metrics/configs/default_carla_torch.yml +++ b/behavior_metrics/configs/CARLA/default_carla_torch.yml @@ -47,7 +47,7 @@ Behaviors: ImageTranform: '' Type: 'CARLA' Simulation: - World: configs/CARLA_launch_files/town_02_anticlockwise.launch + World: configs/CARLA/CARLA_launch_files/town_02_anticlockwise.launch RandomSpawnPoint: False Dataset: In: '/tmp/my_bag.bag' diff --git a/behavior_metrics/configs/default_carla_traffic.yml b/behavior_metrics/configs/CARLA/default_carla_traffic.yml similarity index 94% rename from behavior_metrics/configs/default_carla_traffic.yml rename to behavior_metrics/configs/CARLA/default_carla_traffic.yml index 36f505d0..ebb625ef 100644 --- a/behavior_metrics/configs/default_carla_traffic.yml +++ b/behavior_metrics/configs/CARLA/default_carla_traffic.yml @@ -33,7 +33,7 @@ Behaviors: Topic: '/carla/ego_vehicle/vehicle_control_cmd' MaxV: 3 MaxW: 0.3 - BrainPath: 'brains/CARLA/brain_carla_bird_eye_deep_learning.py' + BrainPath: 'brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning.py' PilotTimeCycle: 50 AsyncMode: False Parameters: @@ -47,7 +47,7 @@ Behaviors: ImageTranform: '' Type: 'CARLA' Simulation: - World: configs/CARLA_launch_files/town_01_anticlockwise.launch + World: configs/CARLA/CARLA_launch_files/town_01_anticlockwise.launch RandomSpawnPoint: False NumberOfVehicle: 50 NumberOfWalker: 50 diff --git a/behavior_metrics/configs/default_carla_multiple.yml b/behavior_metrics/configs/default_carla_multiple.yml deleted file mode 100644 index d1f9a756..00000000 --- a/behavior_metrics/configs/default_carla_multiple.yml +++ /dev/null @@ -1,148 +0,0 @@ -Behaviors: - Robot: - Sensors: - Cameras: - Camera_0: - Name: 'camera_0' - Topic: '/carla/ego_vehicle/rgb_front/image' - Camera_1: - Name: 'camera_1' - Topic: '/carla/ego_vehicle/rgb_view/image' - Camera_2: - Name: 'camera_2' - Topic: '/carla/ego_vehicle/semantic_segmentation_front/image' - Camera_3: - Name: 'camera_3' - Topic: '/carla/ego_vehicle/dvs_front/image' - Pose3D: - Pose3D_0: - Name: 'pose3d_0' - Topic: '/carla/ego_vehicle/odometry' - BirdEyeView: - BirdEyeView_0: - Name: 'bird_eye_view_0' - Topic: '' - Speedometer: - Speedometer_0: - Name: 'speedometer_0' - Topic: '/carla/ego_vehicle/speedometer' - Actuators: - CARLA_Motors: - Motors_0: - Name: 'motors_0' - Topic: '/carla/ego_vehicle/vehicle_control_cmd' - MaxV: 3 - MaxW: 0.3 - - BrainPath: [ - 'brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_tensor_rt.py', - 'brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_tensor_rt.py', - 'brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning_tensor_rt.py', - ] - PilotTimeCycle: 50 - AsyncMode: True - Parameters: - Model: [ - 'optimized_pilotnet_models_tensorflow/pilotnet_tftrt_fp32', - 'optimized_pilotnet_models_tensorflow/pilotnet_tftrt_fp16', - 'optimized_pilotnet_models_tensorflow/pilotnet_tftrt_int8_2', - ] - ImageCropped: True - ImageSize: [ 100,50 ] - ImageNormalized: True - PredictionsNormalized: True - GPU: True - UseOptimized: True - ImageTranform: '' - Type: 'CARLA' - Experiment: - Name: "Experiment name" - Description: "Experiment description" - UseWorldTimeouts: True - Timeout: [10] # for each world! - Repetitions: 5 - Simulation: - World: [ - configs/CARLA_launch_files/town_01_anticlockwise_no_gui.launch, - configs/CARLA_launch_files/town_02_anticlockwise_no_gui.launch, - configs/CARLA_launch_files/town_03_anticlockwise_no_gui.launch, - configs/CARLA_launch_files/town_04_anticlockwise_no_gui.launch, - configs/CARLA_launch_files/town_05_anticlockwise_no_gui.launch, - configs/CARLA_launch_files/town_06_anticlockwise_no_gui.launch, - configs/CARLA_launch_files/town_07_anticlockwise_no_gui.launch - ] - RandomSpawnPoint: False - SpawnPoints: [ - [ - "10.0, 2.0, 1.37, 0.0, 0.0, 180.0", - "300.0, -330.0, 1.37, 0.0, 0.0, 0.0", - "397.0, -50.0, 1.37, 0.0, 0.0, 90.0", - "392.0, -50.0, 1.37, 0.0, 0.0, -90.0", - "20.0, -327.0, 1.37, 0.0, 0.0, 180.0" - ], - [ - "55.3, -105.6, 1.37, 0.0, 0.0, 180.0", - "-7.0, -270.6, 1.37, 0.0, 0.0, -90.0", - "-3.0, -270.6, 1.37, 0.0, 0.0, 90.0", - "100.0, -303.0, 1.37, 0.0, 0.0, 180.0", - "190.0, -150.0, 1.37, 0.0, 0.0, -90.0" - ], - [ - "246.0, 150.0, 1.37, 0.0, 0.0, 90.0", - "243.0, -100., 1.37, 0.0, 0.0, 90.0", - "-88.0, 170, 1.37, 0.0, 0.0, -90.0", - "232.0, 0.0, 1.37, 0.0, 0.0, -90.0", - "-50.0, 195, 1.37, 0.0, 0.0, 0.0" - ], - [ - "381.5, 60.0, 1.37, 0.0, 0.0, -90.0", - "-16.0, -184.6, 1.37, 0.0, 0.0, -90.0", - "381.5, 60.0, 1.37, 0.0, 0.0, -90.0", - "-16.0, -184.6, 1.37, 0.0, 0.0, -90.0", - "381.5, 60.0, 1.37, 0.0, 0.0, -90.0" - ], - [ - "20, -187.5, 1.37, 0.0, 0.0, 180.0", - "210.1, -87.3, 1.37, 0.0, 0.0, 90.0", - "189, -87.3, 1.37, 0.0, 0.0, -90.0", - "20, -187.5, 1.37, 0.0, 0.0, 180.0", - "210.1, -87.3, 1.37, 0.0, 0.0, 90.0" - ], - [ - "659.0, -70.5, 1.37, 0.0, 0.0, -90.0", - "351.5, 10.5, 1.37, 0.0, 0.0, 0.0", - "351.5, 24.5, 1.37, 0.0, 0.0, 180.0", - "672.5, -70.5, 1.37, 0.0, 0.0, 90.0", - "659.0, -70.5, 1.37, 0.0, 0.0, -90.0" - ], - [ - "-3.0, 243.0, 1.37, 0.0, 0.0, 180.0", - "70.5, 5.0, 1.37, 0.0, 0.0, 60.0", - "-184.5, -107.2, 1.37, 0.0, 0.0, 180.0", - "-3.0, 243.0, 1.37, 0.0, 0.0, 180.0", - "70.5, 5.0, 1.37, 0.0, 0.0, 60.0" - ] - ] - Dataset: - In: '/tmp/my_bag.bag' - Out: '' - Stats: - Out: './' - PerfectLap: './perfect_bags/lap-simple-circuit.bag' - Layout: - Frame_0: - Name: frame_0 - Geometry: [1, 1, 1, 1] - Data: rgbimage - Frame_1: - Name: frame_1 - Geometry: [0, 1, 1, 1] - Data: rgbimage - Frame_2: - Name: frame_2 - Geometry: [0, 2, 1, 1] - Data: rgbimage - Frame_3: - Name: frame_3 - Geometry: [1, 2, 1, 1] - Data: rgbimage diff --git a/behavior_metrics/configs/DL-tensorflow.yml b/behavior_metrics/configs/gazebo/DL-tensorflow.yml similarity index 96% rename from behavior_metrics/configs/DL-tensorflow.yml rename to behavior_metrics/configs/gazebo/DL-tensorflow.yml index 84e4a0c6..9383c7cd 100644 --- a/behavior_metrics/configs/DL-tensorflow.yml +++ b/behavior_metrics/configs/gazebo/DL-tensorflow.yml @@ -17,7 +17,7 @@ Behaviors: MaxV: 3 MaxW: 0.3 - BrainPath: 'brains/f1/brain_f1_keras.py' + BrainPath: 'brains/gazebo/f1/brain_f1_keras.py' PilotTimeCycle: 50 Parameters: Model: '[model_name].h5' diff --git a/behavior_metrics/configs/DL-torch-lstm.yml b/behavior_metrics/configs/gazebo/DL-torch-lstm.yml similarity index 95% rename from behavior_metrics/configs/DL-torch-lstm.yml rename to behavior_metrics/configs/gazebo/DL-torch-lstm.yml index 8f7d639e..38c12de0 100644 --- a/behavior_metrics/configs/DL-torch-lstm.yml +++ b/behavior_metrics/configs/gazebo/DL-torch-lstm.yml @@ -16,7 +16,7 @@ Behaviors: Topic: '/F1ROS/cmd_vel' MaxV: 3 MaxW: 0.3 - BrainPath: 'brains/f1/brain_f1_torch-lstm.py' + BrainPath: 'brains/gazebo/ssf1/brain_f1_torch-lstm.py' PilotTimeCycle: 50 Parameters: Model: 'model_lstm_pilotnet_torch.ckpt' diff --git a/behavior_metrics/configs/DL-torch-stacked.yml b/behavior_metrics/configs/gazebo/DL-torch-stacked.yml similarity index 95% rename from behavior_metrics/configs/DL-torch-stacked.yml rename to behavior_metrics/configs/gazebo/DL-torch-stacked.yml index ec6432b1..87b7c122 100644 --- a/behavior_metrics/configs/DL-torch-stacked.yml +++ b/behavior_metrics/configs/gazebo/DL-torch-stacked.yml @@ -16,7 +16,7 @@ Behaviors: Topic: '/F1ROS/cmd_vel' MaxV: 3 MaxW: 0.3 - BrainPath: 'brains/f1/brain_f1_torchstacked.py' + BrainPath: 'brains/gazebo/f1/brain_f1_torchstacked.py' PilotTimeCycle: 50 Parameters: Model: 'model_pilotnet_torch_h5_extreme.ckpt' diff --git a/behavior_metrics/configs/DL-torch.yml b/behavior_metrics/configs/gazebo/DL-torch.yml similarity index 96% rename from behavior_metrics/configs/DL-torch.yml rename to behavior_metrics/configs/gazebo/DL-torch.yml index 6ddf6782..8b9f1ea6 100644 --- a/behavior_metrics/configs/DL-torch.yml +++ b/behavior_metrics/configs/gazebo/DL-torch.yml @@ -16,7 +16,7 @@ Behaviors: Topic: '/F1ROS/cmd_vel' MaxV: 3 MaxW: 0.3 - BrainPath: 'brains/f1/brain_f1_torch.py' + BrainPath: 'brains/gazebo/f1/brain_f1_torch.py' PilotTimeCycle: 50 Parameters: Model: 'baseline.pth' diff --git a/behavior_metrics/configs/default-drone.yml b/behavior_metrics/configs/gazebo/default-drone.yml similarity index 100% rename from behavior_metrics/configs/default-drone.yml rename to behavior_metrics/configs/gazebo/default-drone.yml diff --git a/behavior_metrics/configs/default-multiple.yml b/behavior_metrics/configs/gazebo/default-multiple.yml similarity index 93% rename from behavior_metrics/configs/default-multiple.yml rename to behavior_metrics/configs/gazebo/default-multiple.yml index 58da4295..d8facdb9 100644 --- a/behavior_metrics/configs/default-multiple.yml +++ b/behavior_metrics/configs/gazebo/default-multiple.yml @@ -16,7 +16,7 @@ Behaviors: Topic: '/F1ROS/cmd_vel' MaxV: 3 MaxW: 0.3 - BrainPath: ['brains/f1/brain_f1_follow_line_dqn.py', 'brains/f1/brain_f1_follow_line_qlearn.py'] + BrainPath: ['brains/gazebo/f1/brain_f1_follow_line_dqn.py', 'brains/gazebo/f1/brain_f1_follow_line_qlearn.py'] PilotTimeCycle: 50 Parameters: # Model: ['model_deepest_lstm_cropped_250_norm_max_pooling.h5', 'model_deepest_lstm_cropped_250_norm_test.h5'] diff --git a/behavior_metrics/configs/default-rl-dqn.yml b/behavior_metrics/configs/gazebo/default-rl-dqn.yml similarity index 95% rename from behavior_metrics/configs/default-rl-dqn.yml rename to behavior_metrics/configs/gazebo/default-rl-dqn.yml index a9fa160c..60e51aa4 100644 --- a/behavior_metrics/configs/default-rl-dqn.yml +++ b/behavior_metrics/configs/gazebo/default-rl-dqn.yml @@ -17,7 +17,7 @@ Behaviors: MaxV: 3 MaxW: 0.3 - BrainPath: 'brains/f1/brain_f1_follow_line_dqn.py' + BrainPath: 'brains/gazebo/f1/brain_f1_follow_line_dqn.py' PilotTimeCycle: 50 Parameters: ImageTranform: '' diff --git a/behavior_metrics/configs/default-rl-qlearn.yml b/behavior_metrics/configs/gazebo/default-rl-qlearn.yml similarity index 94% rename from behavior_metrics/configs/default-rl-qlearn.yml rename to behavior_metrics/configs/gazebo/default-rl-qlearn.yml index 1f220904..43c1f04e 100644 --- a/behavior_metrics/configs/default-rl-qlearn.yml +++ b/behavior_metrics/configs/gazebo/default-rl-qlearn.yml @@ -17,7 +17,7 @@ Behaviors: MaxV: 3 MaxW: 0.3 - BrainPath: 'brains/f1/brain_f1_follow_line_qlearn.py' + BrainPath: 'brains/gazebo/f1/brain_f1_follow_line_qlearn.py' PilotTimeCycle: 50 Parameters: ImageTranform: '' diff --git a/behavior_metrics/configs/default-rl.yml b/behavior_metrics/configs/gazebo/default-rl.yml similarity index 100% rename from behavior_metrics/configs/default-rl.yml rename to behavior_metrics/configs/gazebo/default-rl.yml diff --git a/behavior_metrics/configs/default.yml b/behavior_metrics/configs/gazebo/default.yml similarity index 95% rename from behavior_metrics/configs/default.yml rename to behavior_metrics/configs/gazebo/default.yml index ee29f3be..65e26565 100644 --- a/behavior_metrics/configs/default.yml +++ b/behavior_metrics/configs/gazebo/default.yml @@ -17,7 +17,7 @@ Behaviors: MaxV: 3 MaxW: 0.3 - BrainPath: 'brains/f1/brain_f1_opencv.py' + BrainPath: 'brains/gazebo/f1/brain_f1_opencv.py' PilotTimeCycle: 50 Parameters: ImageTranform: '' diff --git a/behavior_metrics/configs/torch-multiple.yml b/behavior_metrics/configs/gazebo/torch-multiple.yml similarity index 90% rename from behavior_metrics/configs/torch-multiple.yml rename to behavior_metrics/configs/gazebo/torch-multiple.yml index 8510feed..cf50acab 100644 --- a/behavior_metrics/configs/torch-multiple.yml +++ b/behavior_metrics/configs/gazebo/torch-multiple.yml @@ -16,7 +16,7 @@ Behaviors: Topic: '/F1ROS/cmd_vel' MaxV: 3 MaxW: 0.3 - BrainPath: ['brains/f1/brain_f1_torch.py', 'brains/f1/brain_f1_torch.py', 'brains/f1/brain_f1_torch.py', 'brains/f1/brain_f1_torch.py', 'brains/f1/brain_f1_torch.py'] + BrainPath: ['brains/gazebo/f1/brain_f1_torch.py', 'brains/gazebo/f1/brain_f1_torch.py', 'brains/gazebo/f1/brain_f1_torch.py', 'brains/gazebo/f1/brain_f1_torch.py', 'brains/gazebo/f1/brain_f1_torch.py'] PilotTimeCycle: 50 Parameters: Model: ['model_pilotnet_torch.ckpt', 'model_pilotnet_torch.ckpt', 'model_pilotnet_torch.ckpt', 'model_pilotnet_torch.ckpt', 'model_pilotnet_torch.ckpt'] diff --git a/behavior_metrics/models/carla_tf_models/20221214-102705_deepestLSTMTinyPilotNet_CARLA_14_12_dataset_bird_eye_300_epochs_no_flip_3_output_both_directions_all_towns_PAPER_cp.h5 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b/behavior_metrics/models/gazebo/rl_models/qlearn/20230216-170351_Circuit-simple_States-sp1_Actions-simple_Rewards-followline_center_epsilon-0.05_epoch-4751_step-15001_reward-139266-qtable.npy similarity index 100% rename from behavior_metrics/models/rl_models/qlearn/20230216-170351_Circuit-simple_States-sp1_Actions-simple_Rewards-followline_center_epsilon-0.05_epoch-4751_step-15001_reward-139266-qtable.npy rename to behavior_metrics/models/gazebo/rl_models/qlearn/20230216-170351_Circuit-simple_States-sp1_Actions-simple_Rewards-followline_center_epsilon-0.05_epoch-4751_step-15001_reward-139266-qtable.npy diff --git a/behavior_metrics/models/gazebo/tf_models/tf_models.txt b/behavior_metrics/models/gazebo/tf_models/tf_models.txt new file mode 100644 index 00000000..e69de29b diff --git a/behavior_metrics/models/torch_models/model_lstm_pilotnet_torch.ckpt b/behavior_metrics/models/gazebo/torch_models/model_lstm_pilotnet_torch.ckpt similarity index 100% rename from behavior_metrics/models/torch_models/model_lstm_pilotnet_torch.ckpt rename to behavior_metrics/models/gazebo/torch_models/model_lstm_pilotnet_torch.ckpt diff --git a/behavior_metrics/models/torch_models/model_pilotnet_torch.ckpt b/behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch.ckpt similarity index 100% rename from behavior_metrics/models/torch_models/model_pilotnet_torch.ckpt rename to behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch.ckpt diff --git a/behavior_metrics/models/torch_models/model_pilotnet_torch_extreme.ckpt b/behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch_extreme.ckpt similarity index 100% rename from behavior_metrics/models/torch_models/model_pilotnet_torch_extreme.ckpt rename to behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch_extreme.ckpt diff --git a/behavior_metrics/models/torch_models/model_pilotnet_torch_fullimg_extreme.ckpt b/behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch_fullimg_extreme.ckpt similarity index 100% rename from behavior_metrics/models/torch_models/model_pilotnet_torch_fullimg_extreme.ckpt rename to behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch_fullimg_extreme.ckpt diff --git a/behavior_metrics/models/torch_models/model_pilotnet_torch_h2.ckpt b/behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch_h2.ckpt similarity index 100% rename from behavior_metrics/models/torch_models/model_pilotnet_torch_h2.ckpt rename to behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch_h2.ckpt diff --git a/behavior_metrics/models/torch_models/model_pilotnet_torch_h2_extreme.ckpt b/behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch_h2_extreme.ckpt similarity index 100% rename from behavior_metrics/models/torch_models/model_pilotnet_torch_h2_extreme.ckpt rename to behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch_h2_extreme.ckpt diff --git a/behavior_metrics/models/torch_models/model_pilotnet_torch_h3_extreme.ckpt b/behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch_h3_extreme.ckpt similarity index 100% rename from behavior_metrics/models/torch_models/model_pilotnet_torch_h3_extreme.ckpt rename to behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch_h3_extreme.ckpt diff --git a/behavior_metrics/models/torch_models/model_pilotnet_torch_h4.ckpt b/behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch_h4.ckpt similarity index 100% rename from behavior_metrics/models/torch_models/model_pilotnet_torch_h4.ckpt rename to behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch_h4.ckpt diff --git a/behavior_metrics/models/torch_models/model_pilotnet_torch_h4_extreme.ckpt b/behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch_h4_extreme.ckpt similarity index 100% rename from behavior_metrics/models/torch_models/model_pilotnet_torch_h4_extreme.ckpt rename to behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch_h4_extreme.ckpt diff --git a/behavior_metrics/models/torch_models/model_pilotnet_torch_h5_extreme.ckpt b/behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch_h5_extreme.ckpt similarity index 100% rename from behavior_metrics/models/torch_models/model_pilotnet_torch_h5_extreme.ckpt rename to behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch_h5_extreme.ckpt diff --git a/behavior_metrics/models/torch_models/model_pilotnet_torch_nocrop.ckpt b/behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch_nocrop.ckpt similarity index 100% rename from behavior_metrics/models/torch_models/model_pilotnet_torch_nocrop.ckpt rename to behavior_metrics/models/gazebo/torch_models/model_pilotnet_torch_nocrop.ckpt diff --git a/behavior_metrics/pilot_carla.py b/behavior_metrics/pilot_carla.py index 495c659f..dff9c27e 100644 --- a/behavior_metrics/pilot_carla.py +++ b/behavior_metrics/pilot_carla.py @@ -153,6 +153,7 @@ def run(self): logger.error(e) except Exception as ex: logger.warning(type(ex).__name__) + logger.warning(ex) logger.warning('ERROR Pilot Carla!') self.stop() self.kill() diff --git a/behavior_metrics/profiles/default.yml b/behavior_metrics/profiles/default.yml index 7e9f6644..d092cc9b 100644 --- a/behavior_metrics/profiles/default.yml +++ b/behavior_metrics/profiles/default.yml @@ -16,7 +16,7 @@ Behaviors: Topic: '/F1ROS/cmd_vel' MaxV: 3 MaxW: 0.3 - BrainPath: 'brains/f1/brain_f1_opencv.py' + BrainPath: 'brains/gazebo/f1/brain_f1_opencv.py' Type: 'f1' Simulation: World: /opt/jderobot/share/jderobot/gazebo/launch/simple_circuit.launch diff --git a/behavior_metrics/robot/configurations/f1.yml b/behavior_metrics/robot/configurations/f1.yml index da76327b..21454dd7 100644 --- a/behavior_metrics/robot/configurations/f1.yml +++ b/behavior_metrics/robot/configurations/f1.yml @@ -15,5 +15,5 @@ Robot: Topic: '/F1ROS/cmd_vel' MaxV: 3 MaxW: 0.3 - BrainPath: 'brains/f1/brain_f1_opencv.py' + BrainPath: 'brains/gazebo/f1/brain_f1_opencv.py' Type: 'formula1' \ No newline at end of file diff --git a/behavior_metrics/robot/configurations/f1_laser.yml b/behavior_metrics/robot/configurations/f1_laser.yml index 4c122006..591a3a93 100644 --- a/behavior_metrics/robot/configurations/f1_laser.yml +++ b/behavior_metrics/robot/configurations/f1_laser.yml @@ -19,5 +19,5 @@ Robot: Topic: '/F1ROS/cmd_vel' MaxV: 3 MaxW: 0.3 - BrainPath: 'brains/f1/brain_f1_opencv.py' + BrainPath: 'brains/gazebo/f1/brain_f1_opencv.py' Type: 'formula1' \ No newline at end of file diff --git a/behavior_metrics/robot/configurations/turtlebot_laser.yml b/behavior_metrics/robot/configurations/turtlebot_laser.yml index 47e71a89..44f5c67d 100644 --- a/behavior_metrics/robot/configurations/turtlebot_laser.yml +++ b/behavior_metrics/robot/configurations/turtlebot_laser.yml @@ -22,5 +22,5 @@ Robot: Topic: '/turtlebotROS/mobile_base/commands/velocity' MaxV: 3 MaxW: 0.3 - BrainPath: 'brains/f1/brain_f1_opencv2.py' + BrainPath: 'brains/gazebo/f1/brain_f1_opencv2.py' Type: 'turtlebot' \ No newline at end of file diff --git a/behavior_metrics/ui/tui/main_view.py b/behavior_metrics/ui/tui/main_view.py index 669fceb1..ebd23136 100644 --- a/behavior_metrics/ui/tui/main_view.py +++ b/behavior_metrics/ui/tui/main_view.py @@ -12,7 +12,7 @@ # This application class serves as a wrapper for the initialization of curses # and also manages the actual forms of the application -brains_dir = ROOT_PATH + '/brains/f1/brain_f1_opencv.py' +brains_dir = ROOT_PATH + '/brains/gazebo/f1/brain_f1_opencv.py' dset_dir = ROOT_PATH + '/datasets/' logs_dir = ROOT_PATH + '/logs/' logs_path = ROOT_PATH + '/logs/log.log'