3.19. Robot SimulationΒΆ

[1]:

import jyro.simulator as jy
import random
import numpy as np

[2]:

robot = jy.Pioneer("Pioneer", 3.5, 2, 0)
robot.addDevice(jy.Pioneer16Sonars())
robot.addDevice(jy.DepthCamera(4))
light_sensors = jy.PioneerFrontLightSensors(3.0)
light_sensors.lightMode = 'ambient'
robot.addDevice(light_sensors)

[2]:
_images/Robot_Simulation_2_0.svg
[3]:

def worldf(physics):
    physics.addBox(0, 0, 4, 4, fill="backgroundgreen", wallcolor="gray")
    physics.addLight(2, 0.75, 1.0) # increased brightness for new linear version of lights

[4]:

sim = jy.VSimulator(robot, worldf)

[5]:

camera = robot.device["camera"]

[6]:

image = camera.getImage()
image

[6]:
_images/Robot_Simulation_6_0.png 
[7]:

image.size

[7]:

(60, 40)

[8]:

data = camera.getData()
data.shape

[8]:

(40, 60, 3)

[9]:

robot.move(0.50, 0.35)

[10]:

sim.step()

[11]:

robot = jy.Pioneer("Pioneer", 3.5, 2, 0)
robot.addDevice(jy.Pioneer16Sonars())
robot.addDevice(jy.Camera())
light_sensors = jy.PioneerFrontLightSensors(3.0)
light_sensors.lightMode = 'ambient'
robot.addDevice(light_sensors)

[11]:
_images/Robot_Simulation_11_0.svg
[12]:

sim = jy.VSimulator(robot, worldf)

[13]:

camera = robot.device["camera"]
image = camera.getImage()
image

[13]:
_images/Robot_Simulation_13_0.png 
[14]:

data = camera.getData()
data.shape

[14]:

(40, 60, 3)

[15]:

def random_action():
    """Generate a random action from a limited set of possible settings"""
    possible = [-1.0, -0.5, 0.0, 0.5, 1.0]
    return [random.choice(possible), random.choice(possible)]

def get_senses(robot):
    light = robot["light"].getData()
    sonar = [v/3.0 for v in robot["sonar"].getData()]
    camera = robot["camera"].getData()
    return [light, sonar, camera]

[16]:

senses = get_senses(robot)
list(map(len, senses))

[16]:

[2, 16, 40]

[17]:

robot.history = []

def brain(robot):
    senses = get_senses(robot)
    net.propagate(senses)
    translate, rotate = random_action()
    #self.move(translate, rotate)
    robot.history.append(robot.getPose())
    robot.move(0.50, 0.35)

[18]:

robot.brain = brain

[19]:

import conx as cx

Using TensorFlow backend.
ConX, version 3.7.4

[20]:

net = cx.Network("Robot Prediction Network")

net.add(cx.Layer("light", 2),
        cx.Layer("sonar", 16),
        cx.ImageLayer("camera", (40,60), 3),
        cx.FlattenLayer("flatten"),
        cx.Conv2DLayer("conv", 16, (3,3), keep_aspect_ratio=True),
        cx.Layer("hidden", 50, activation="relu"),
        cx.Layer("output1", 2, activation="sigmoid"),
        cx.Layer("hidden2", 5, activation="sigmoid"),
        cx.Layer("hidden3", 10, activation="sigmoid", dropout=0.25),
        cx.Layer("hidden4", 10, activation="sigmoid"),
        cx.Layer("output2", 5, activation="sigmoid"))

[20]:

'output2'

[21]:

net.connect("sonar", "hidden2")
net.connect("light", "hidden")
net.connect("camera", "conv")
net.connect("conv", "flatten")
net.connect("flatten", "hidden2")
net.connect("hidden", "hidden2")
net.connect("hidden2", "hidden3")
##net.connect("hidden2", "output2")
net.connect("hidden3", "output2")
net.connect("hidden3", "hidden4")
net.connect("hidden4", "output1")

[22]:

net.compile(error="mean_squared_error", optimizer="adam")

[23]:

cx.maximum(get_senses(robot))

[23]:

1.2321053632934627

[24]:

net.picture(get_senses(robot), hspace=200, scale=1)

[24]:
Layer: output1 (output) output range: (0, 1) shape = (2,) Keras class = Dense activation = sigmoidoutput1Layer: output2 (output) output range: (0, 1) shape = (5,) Keras class = Dense activation = sigmoidoutput2Layer: hidden4 (hidden) output range: (0, 1) shape = (10,) Keras class = Dense activation = sigmoidhidden4Layer: hidden3 (hidden) output range: (0, 1) shape = (10,) dropout = 0.25 Keras class = Dense activation = sigmoidhidden3⦻Layer: hidden2 (hidden) output range: (0, 1) shape = (5,) Keras class = Dense activation = sigmoidhidden2Layer: flatten (hidden) output range: (-Infinity, +Infinity) Keras class = FlattenflattenLayer: hidden (hidden) output range: (0, +Infinity) shape = (50,) Keras class = Dense activation = reluhiddenLayer: conv (hidden) output range: (-Infinity, +Infinity) Keras class = Conv2Dconv166Layer: light (input) output range: (0.08961089734771652, 1.2321053632934627) shape = (2,) Keras class = InputlightLayer: sonar (input) output range: (-Infinity, +Infinity) shape = (16,) Keras class = InputsonarLayer: camera (input) output range: (-Infinity, +Infinity) shape = (40, 60, 3) Keras class = InputcameraRobot Prediction Network
[25]:

net.propagate_to_features("conv", get_senses(robot), scale=3)

[25]:

Feature 0

Feature 1

Feature 2

Feature 3

Feature 4

Feature 5

Feature 6

Feature 7

Feature 8

Feature 9

Feature 10

Feature 11

Feature 12

Feature 13

Feature 14

Feature 15
[28]:

net.dataset.append([[1] * 2, [1] * 16, data], [[1] * 2, [1] + ([1] * 4)])

[27]:

net.dashboard()

[29]:

net.picture()

[29]:
Layer: output1 (output) output range: (0, 1) shape = (2,) Keras class = Dense activation = sigmoidoutput1Layer: output2 (output) output range: (0, 1) shape = (5,) Keras class = Dense activation = sigmoidoutput2Layer: hidden4 (hidden) output range: (0, 1) shape = (10,) Keras class = Dense activation = sigmoidhidden4Layer: hidden3 (hidden) output range: (0, 1) shape = (10,) dropout = 0.25 Keras class = Dense activation = sigmoidhidden3⦻Layer: hidden2 (hidden) output range: (0, 1) shape = (5,) Keras class = Dense activation = sigmoidhidden2Layer: flatten (hidden) output range: (-Infinity, +Infinity) Keras class = FlattenflattenLayer: hidden (hidden) output range: (0, +Infinity) shape = (50,) Keras class = Dense activation = reluhiddenLayer: conv (hidden) output range: (-Infinity, +Infinity) Keras class = Conv2Dconv166Layer: light (input) output range: (0.0, 1.0) shape = (2,) Keras class = InputlightLayer: sonar (input) output range: (0.0, 1.0) shape = (16,) Keras class = InputsonarLayer: camera (input) output range: (0.44705883, 0.9529412) shape = (40, 60, 3) Keras class = InputcameraRobot Prediction Network
[34]:

net.evaluate()

========================================================
Testing validation dataset with tolerance 0.1...
Total count: 1
      correct: 0
      incorrect: 1
Total percentage correct: 0.0

[31]:

#net.delete()
#net.reset()

[35]:

if net.saved():
    net.load()
    net.plot_results()
else:
    net.train(epochs=200)
    net.save()
_images/Robot_Simulation_31_0.png 
[36]:

net.plot("all")
_images/Robot_Simulation_32_0.png 
[37]:

net.evaluate(show=True)

========================================================
Testing validation dataset with tolerance 0.1...
# | inputs | targets | outputs | result
---------------------------------------
0 | [[0.00, 0.00],[0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00],[[[0.68, 0.85, 0.90],  [0.68, 0.85, 0.90],  [0.68, 0.85, 0.90],  ...,  [0.68, 0.85, 0.90],  [0.68, 0.85, 0.90],  [0.68, 0.85, 0.90]], [[0.68, 0.85, 0.90],  [0.68, 0.85, 0.90],  [0.68, 0.85, 0.90],  ...,  [0.68, 0.85, 0.90],  [0.68, 0.85, 0.90],  [0.68, 0.85, 0.90]], [[0.68, 0.85, 0.90],  [0.68, 0.85, 0.90],  [0.68, 0.85, 0.90],  ...,  [0.68, 0.85, 0.90],  [0.68, 0.85, 0.90],  [0.68, 0.85, 0.90]], ..., [[0.93, 0.95, 0.87],  [0.93, 0.95, 0.87],  [0.93, 0.95, 0.87],  ...,  [0.93, 0.95, 0.87],  [0.93, 0.95, 0.87],  [0.93, 0.95, 0.87]], [[0.93, 0.95, 0.87],  [0.93, 0.95, 0.87],  [0.93, 0.95, 0.87],  ...,  [0.93, 0.95, 0.87],  [0.93, 0.95, 0.87],  [0.93, 0.95, 0.87]], [[0.93, 0.95, 0.87],  [0.93, 0.95, 0.87],  [0.93, 0.95, 0.87],  ...,  [0.93, 0.95, 0.87],  [0.93, 0.95, 0.87],  [0.93, 0.95, 0.87]]]] | [[0.00, 0.00],[1.00, 0.00, 0.00, 0.00, 0.00]] | [[0.24, 0.36],[0.79, 0.32, 0.25, 0.39, 0.26]] | X
Total count: 1
      correct: 0
      incorrect: 1
Total percentage correct: 0.0

[35]:

for i in range(100):
    sim.step()

[36]:

def function(simulator, index):
    cam_image = simulator.get_image()
    return (simulator.canvas.render("pil"),
            cam_image.resize((cam_image.size[0] * 4,
                              cam_image.size[1] * 4)))

[37]:

sim.playback(robot.history, function)
_images/Robot_Simulation_36_1.png
_images/Robot_Simulation_36_2.png 
[38]:

def function(simulator, index):
    cam_image = simulator.get_image()
    return simulator.canvas.render("pil")

[40]:

sim.movie(robot.history, function, movie_name="sim-robot.gif")

[40]:

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