Merge branch 'main' of https://github.com/ll7/robot_sf_ll7

examples/simulate_with_svg_map.py

@@ -58,7 +58,9 @@ def main():
     """Simulate a random policy with a map defined in SVG format."""
     logger.info("Simulating a random policy with the map.")
 
-    svg_file = "maps/svg_maps/02_simple_maps.svg"
+    #svg_file = "maps/svg_maps/02_simple_maps.svg"
+    #svg_file = "maps/svg_maps/03_mid_object.svg"
+    svg_file = "maps/svg_maps/04_small_mid_object.svg"
 
     logger.info("Converting SVG map to MapDefinition object.")
     logger.info(f"SVG file: {svg_file}")

examples/view_recording.py

@@ -0,0 +1,71 @@
+"""Simulate a random policy with a map defined in SVG format and view the recording."""
+import os
+from pathlib import Path
+
+import numpy as np
+from loguru import logger
+
+from robot_sf.nav.svg_map_parser import SvgMapConverter
+from robot_sf.nav.map_config import MapDefinition, MapDefinitionPool
+from robot_sf.gym_env.env_config import SimulationSettings, EnvSettings
+from robot_sf.gym_env.robot_env import RobotEnv
+from robot_sf.sensor.sensor_fusion import OBS_RAYS, OBS_DRIVE_STATE
+from robot_sf.robot.differential_drive import DifferentialDriveSettings
+from robot_sf.render.playback_recording import load_states_and_visualize
+
+
+
+
+logger.info("Simulate a random policy with a map defined in SVG format.")
+
+def test_simulation(map_definition: MapDefinition):
+    """Test the simulation with a random policy."""
+
+    logger.info("Creating the environment.")
+    env_config = EnvSettings(
+        map_pool=MapDefinitionPool(map_defs={"my_map": map_definition})
+        )
+    env = RobotEnv(env_config, debug=True, recording_enabled=True)  # Activate recording
+
+    env.reset()
+
+    logger.info("Simulating the random policy.")
+    for _ in range(1000):
+        action = env.action_space.sample()
+        env.step(action)
+        env.render()
+
+    env.reset()  # Save the recording
+    env.exit()
+
+def convert_map(svg_file: str):
+    """Create MapDefinition from svg file."""
+
+    logger.info("Converting SVG map to MapDefinition object.")
+    logger.info(f"SVG file: {svg_file}")
+
+    converter = SvgMapConverter(svg_file)
+    return converter.map_definition
+
+def get_file():
+    """Get the latest recorded file."""
+
+    filename = max(
+        os.listdir('recordings'), key=lambda x: os.path.getctime(os.path.join('recordings', x)))
+    return Path('recordings', filename)
+
+
+
+def main():
+    """Simulate a random policy with a map defined in SVG format and view the recording."""
+
+    # Create example recording
+    map_def = convert_map("maps/svg_maps/02_simple_maps.svg")
+    test_simulation(map_def)
+
+    # Load the states from the file and view the recording
+    load_states_and_visualize(get_file())
+
+
+if __name__ == "__main__":
+    main()

robot_sf/gym_env/robot_env.py

@@ -63,6 +63,7 @@ def __init__(
             a dictionary as input and returns a float as reward.
         - debug (bool): If True, enables debugging information such as 
             visualizations.
+        - recording_enabled (bool): If True, enables recording of the simulation
         """
 
         # Environment configuration details