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main.py
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from ilqr_solver import LogBarrieriLQR, NNiLQR
from scenario.car_parking import CarParking
from scenario.quadcopter import QuadCopter
from scenario.robotic_arm_tracking import RoboticArmTracking
from utils.Logger import logger
import matplotlib.pyplot as plt
# if __name__ == "__main__":
# for i in range(10):
# try:
# logger.set_folder_name("QuadCopter_" + str(i), remove_existing_folder=False).set_is_use_logger(True).set_is_save_json(True)
# scenario = QuadCopter()
# NNiLQR(gaussian_noise_sigma=[[0.1], [0.1], [0.1], [0.1]], iLQR_max_iter=100).init(scenario).solve()
# except Exception as e:
# pass
# continue
# scenario = QuadCopter()
# scenario.play("QuadCopter_9")
# logger.set_folder_name("QuadCopter_Log", remove_existing_folder=False).set_is_use_logger(True).set_is_save_json(True)
# scenario = QuadCopter()
# LogBarrieriLQR().init(scenario).solve()
# scenario.play("QuadCopter_Log")
# if __name__ == "__main__":
# for i in range(10):
# try:
# logger.set_folder_name("CarParking_" + str(i), remove_existing_folder=False).set_is_use_logger(True).set_is_save_json(True)
# scenario = CarParking()
# NNiLQR(gaussian_noise_sigma=[[0.01], [0.1]], iLQR_max_iter=100).init(scenario).solve()
# except Exception as e:
# pass
# continue
# scenario = CarParking()
# scenario.play("CarParking_9")
# logger.set_folder_name("CarParking_Log", remove_existing_folder=False).set_is_use_logger(True).set_is_save_json(True)
# scenario = CarParking()
# LogBarrieriLQR().init(scenario).solve()
# scenario.play("CarParking_Log")
if __name__ == "__main__":
for i in range(10):
try:
logger.set_folder_name("RoboticArmTracking_" + str(i), remove_existing_folder=False).set_is_use_logger(True).set_is_save_json(True)
scenario = RoboticArmTracking()
NNiLQR(gaussian_noise_sigma=[[0.1], [0.1]], iLQR_max_iter=100, training_stopping_criterion=0.01, decay_rate_max_iters=200).init(scenario).solve()
except Exception as e:
pass
continue
scenario = RoboticArmTracking()
scenario.play("RoboticArmTracking_9")
logger.set_folder_name("RoboticArmTracking_log", remove_existing_folder=False).set_is_use_logger(True).set_is_save_json(True)
scenario = RoboticArmTracking()
LogBarrieriLQR().init(scenario).solve()
scenario.play("RoboticArmTracking_log")
plt.show()