3. Human-in-the-Loop Simulation.ipynb

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     "data": {
      "text/plain": [
       "Dict{String,Any} with 4 entries:\n",
       "  \"catkin_ws_dir\"           => \"/home/schmrlng/catkin_ws\"\n",
       "  \"models_dir\"              => \"/data/trafficweaving/models\"\n",
       "  \"feature_extraction_dict\" => \"slim\"\n",
       "  \"data_dir\"                => \"/data/trafficweaving\""
      ]
     },
     "execution_count": 1,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "using JSON\n",
    "using HDF5\n",
    "using JLD\n",
    "using Interact\n",
    "using Interpolations\n",
    "using Plots\n",
    "using StaticArrays\n",
    "using TrafficWeavingPlanner\n",
    "using DifferentialDynamicsModels\n",
    "using LinearDynamicsModels\n",
    "\n",
    "if isfile(\"config.json\")\n",
    "    config = JSON.parsefile(\"config.json\")\n",
    "else\n",
    "    error(\"Please run setup.py in this directory before running any .ipynb's.\")\n",
    "end"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "WARNING: Compat.UTF8String is deprecated, use String instead.\n",
      "  likely near In[2]:9\n",
      "WARNING: Compat.UTF8String is deprecated, use String instead.\n",
      "  likely near In[2]:9\n"
     ]
    }
   ],
   "source": [
    "array_name = \"trajectories_$(config[\"feature_extraction_dict\"])\"\n",
    "base_filename = joinpath(config[\"data_dir\"], array_name)\n",
    "train_data = Dict(k => permutedims(v, ndims(v):-1:1) for (k,v) in h5open(read, base_filename * \"_train.h5\"))\n",
    "\n",
    "y_top = Float32(mean([y for y in train_data[\"car1\"][:,1,2] if y > -4]))\n",
    "y_bot = Float32(mean([y for y in train_data[\"car1\"][:,1,2] if y < -4]))\n",
    "xdd_choices = Float32[0, -3, 4, -6]\n",
    "y_targets = [y_top, y_bot]\n",
    "tibvp = SteeringBVP(TripleIntegratorDynamics(1, Float32), TimePlusQuadraticControl(SMatrix{1,1}(Float32(1e-3))))\n",
    "                                        \n",
    "include(\"traffic_weaving_control.jl\")\n",
    "nothing"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "Dict{String,Any} with 6 entries:\n",
       "  \"xh\" => -141\n",
       "  \"yh\" => -1.83284\n",
       "  \"yr\" => -6.09485\n",
       "  \"xr\" => -141\n",
       "  \"vh\" => 28\n",
       "  \"vr\" => 30"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "scenario_setup = Dict(\"xh\" => -141,\n",
    "                      \"yh\" => y_top,\n",
    "                      \"vh\" => 28,\n",
    "                      \"xr\" => -141,\n",
    "                      \"yr\" => y_bot,\n",
    "                      \"vr\" => 30)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "TrafficWeavingPlanner.setup_simulator(xh=scenario_setup[\"xh\"], yh=scenario_setup[\"yh\"], vh=scenario_setup[\"vh\"])\n",
    "TrafficWeavingPlanner.reset_simulator()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "fname = \"hitl-\" * Dates.format(now(), \"yyyy-mm-dd_HH.MM.SS\") * \".jld\"\n",
    "car1, car2 = dynamic_trial(xdd_choices, y_targets, tibvp, Float32[scenario_setup[\"xr\"],\n",
    "                                                                  scenario_setup[\"yr\"],\n",
    "                                                                  scenario_setup[\"vr\"],0,0,0]);\n",
    "save(\"/home/schmrlng/ICRA18/\" * fname, \"car1\", car1, \"car2\", car2)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {
    "scrolled": false
   },
   "outputs": [
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