namosim package
Subpackages
- namosim.agents package
- namosim.algorithms package
- namosim.display package
- namosim.mapgen package
- namosim.navigation package
- namosim.scripts package
- namosim.utils package
- Submodules
- namosim.utils.collision module
- namosim.utils.connectivity module
- namosim.utils.conversion module
add_group()add_shapely_geometry_to_svg()clean_attributes()color_clamp()concave_hull_polygon()dom2dict()ellipse2pathd()line2pathd()polygon2pathd()polygon_to_triangle_vertices()polyline2pathd()rect2pathd()rgb_tuple_to_hex()set_all_id_attributes_as_ids()shapely_geometry_to_svg_pathd()svg_pathd_to_shapely_geometry()
- namosim.utils.stats_utils module
- namosim.utils.svg_to_png module
- namosim.utils.utils module
- Module contents
- namosim.world package
Submodules
namosim.config module
namosim.data_models module
- namosim.data_models.AgentBehaviorYamlConfig
alias of
StilmanBehaviorConfigYamlModel
- class namosim.data_models.AgentConfigXmlModel(*, agent_id: str, goals: List[GoalConfigModel] = [], behavior: NavigationOnlyBehaviorConfigModel | RRTAgentConfigModel | TeleopBehaviorConfigModel | StilmanBehaviorConfigModel | StilmanRRTStarBehaviorConfigModel)[source]
Bases:
BaseXmlModel- agent_id: str
- behavior: NavigationOnlyBehaviorConfigModel | RRTAgentConfigModel | TeleopBehaviorConfigModel | StilmanBehaviorConfigModel | StilmanRRTStarBehaviorConfigModel
- goals: List[GoalConfigModel]
- model_config: ClassVar[ConfigDict] = {}
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- class namosim.data_models.AgentConfigYamlModel(*, id: str, initial_pose: List[float] | None = None, radius: float, behavior: StilmanBehaviorConfigYamlModel)[source]
Bases:
BaseModel- behavior: StilmanBehaviorConfigYamlModel
- id: str
- initial_pose: List[float] | None
- model_config: ClassVar[ConfigDict] = {}
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- radius: float
- class namosim.data_models.BaseBehaviorConfigModel[source]
Bases:
BaseXmlModel- model_config: ClassVar[ConfigDict] = {}
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- class namosim.data_models.BaseBehaviorConfigYamlModel[source]
Bases:
BaseModel- model_config: ClassVar[ConfigDict] = {}
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- class namosim.data_models.BaseRLAgentConfigModel(*, mode: Literal['learn', 'execute'] = 'learn', checkpoint: str | None = None)[source]
Bases:
BaseBehaviorConfigModel- checkpoint: str | None
- mode: Literal['learn', 'execute']
- model_config: ClassVar[ConfigDict] = {}
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- class namosim.data_models.GoalConfigModel(*, goal_id: str)[source]
Bases:
BaseXmlModel- goal_id: str
- model_config: ClassVar[ConfigDict] = {}
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- class namosim.data_models.GoalYamlModel(*, id: str, pose: List[float])[source]
Bases:
BaseModel- id: str
- model_config: ClassVar[ConfigDict] = {}
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- pose: List[float]
- class namosim.data_models.MapYamlConfigModel(*, image: str, mode: str, resolution: float, origin: List[float], negate: int | bool, occupied_thresh: float, free_thresh: float)[source]
Bases:
BaseModel- free_thresh: float
- image: str
- mode: str
- model_config: ClassVar[ConfigDict] = {}
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- negate: int | bool
- occupied_thresh: float
- origin: List[float]
- resolution: float
- class namosim.data_models.NamoConfigXmlModel(*, cell_size_cm: float, collision_margin_cm: float | None = None, random_seed: int = 10, generate_report: bool = True, agents: List[AgentConfigXmlModel] = [])[source]
Bases:
BaseXmlModel- agents: List[AgentConfigXmlModel]
- cell_size_cm: float
- collision_margin_cm: float | None
- generate_report: bool
- model_config: ClassVar[ConfigDict] = {}
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- random_seed: int
- class namosim.data_models.NamoConfigYamlModel(*, map_yaml: str, svg_file: str | None = None, agents: List[AgentConfigYamlModel] = [], collision_margin_cm: float | None = None, random_seed: int = 10, generate_report: bool = False)[source]
Bases:
BaseModel- agents: List[AgentConfigYamlModel]
- collision_margin_cm: float | None
- generate_report: bool
- map_yaml: str
- model_config: ClassVar[ConfigDict] = {}
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- random_seed: int
- svg_file: str | None
Bases:
BaseBehaviorConfigModelConfiguration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- class namosim.data_models.Pose2D(x, y, degrees)[source]
Bases:
NamedTuple- degrees: float
Alias for field number 2
- x: float
Alias for field number 0
- y: float
Alias for field number 1
- class namosim.data_models.RRTAgentConfigModel(*, type: Literal['rrt'], use_kd_tree: bool = True)[source]
Bases:
BaseBehaviorConfigModel- model_config: ClassVar[ConfigDict] = {}
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- type: Literal['rrt']
- use_kd_tree: bool
- class namosim.data_models.StilmanBehaviorConfigModel(*, type: Literal['stilman_2005_behavior'], parameters: StilmanBehaviorParametersModel)[source]
Bases:
BaseBehaviorConfigModel- model_config: ClassVar[ConfigDict] = {}
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- parameters: StilmanBehaviorParametersModel
- type: Literal['stilman_2005_behavior']
- class namosim.data_models.StilmanBehaviorConfigYamlModel(*, type: Literal['stilman_2005_behavior'] = 'stilman_2005_behavior', parameters: StilmanBehaviorParametersYamlModel = StilmanBehaviorParametersYamlModel(check_new_local_opening_before_global=True, activate_grids_logging=False, push_only=False, robot_rotation_unit_angle=15.0, manip_search_bound_percentage=0.1, use_social_cost=True, resolve_conflicts=True, resolve_deadlocks=True, deadlock_strategy='', drive_type='differential', grab_start_distance=None, grab_end_distance=None, conflict_horizon=40))[source]
Bases:
BaseBehaviorConfigYamlModel- model_config: ClassVar[ConfigDict] = {}
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- parameters: StilmanBehaviorParametersYamlModel
- type: Literal['stilman_2005_behavior']
- class namosim.data_models.StilmanBehaviorParametersModel(*, check_new_local_opening_before_global: bool = True, activate_grids_logging: bool = False, push_only: bool = False, robot_rotation_unit_angle: float = 15, manip_search_bound_percentage: float = 0.1, use_social_cost: bool = True, resolve_conflicts: bool = True, resolve_deadlocks: bool = True, deadlock_strategy: Literal['SOCIAL', 'DISTANCE', ''] = '', drive_type: Literal['holonomic', 'differential'] = 'differential', grab_start_distance: float | None = None, grab_end_distance: float | None = None, conflict_horizon: int = 40)[source]
Bases:
BaseXmlModel- activate_grids_logging: bool
- check_new_local_opening_before_global: bool
- conflict_horizon: int
- deadlock_strategy: Literal['SOCIAL', 'DISTANCE', '']
- drive_type: Literal['holonomic', 'differential']
- grab_end_distance: float | None
- grab_start_distance: float | None
- manip_search_bound_percentage: float
- model_config: ClassVar[ConfigDict] = {}
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- push_only: bool
- resolve_conflicts: bool
- resolve_deadlocks: bool
- robot_rotation_unit_angle: float
- use_social_cost: bool
- class namosim.data_models.StilmanBehaviorParametersYamlModel(*, check_new_local_opening_before_global: bool = True, activate_grids_logging: bool = False, push_only: bool = False, robot_rotation_unit_angle: float = 15.0, manip_search_bound_percentage: float = 0.1, use_social_cost: bool = True, resolve_conflicts: bool = True, resolve_deadlocks: bool = True, deadlock_strategy: Literal['SOCIAL', 'DISTANCE', ''] = '', drive_type: Literal['holonomic', 'differential'] = 'differential', grab_start_distance: float | None = None, grab_end_distance: float | None = None, conflict_horizon: int = 40)[source]
Bases:
BaseModel- activate_grids_logging: bool
- check_new_local_opening_before_global: bool
- conflict_horizon: int
- deadlock_strategy: Literal['SOCIAL', 'DISTANCE', '']
- drive_type: Literal['holonomic', 'differential']
- grab_end_distance: float | None
- grab_start_distance: float | None
- manip_search_bound_percentage: float
- model_config: ClassVar[ConfigDict] = {}
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- push_only: bool
- resolve_conflicts: bool
- resolve_deadlocks: bool
- robot_rotation_unit_angle: float
- use_social_cost: bool
- class namosim.data_models.StilmanRRTBehaviorConfigModel(*, type: Literal['stilman_rrt'], parameters: StilmanBehaviorParametersModel)[source]
Bases:
BaseBehaviorConfigModel- model_config: ClassVar[ConfigDict] = {}
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- parameters: StilmanBehaviorParametersModel
- type: Literal['stilman_rrt']
- class namosim.data_models.StilmanRRTStarBehaviorConfigModel(*, type: Literal['stilman_rrt_star_behavior'], parameters: StilmanBehaviorParametersModel)[source]
Bases:
BaseBehaviorConfigModel- model_config: ClassVar[ConfigDict] = {}
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- parameters: StilmanBehaviorParametersModel
- type: Literal['stilman_rrt_star_behavior']
- class namosim.data_models.TeleopBehaviorConfigModel(*, type: Literal['teleop_behavior'])[source]
Bases:
BaseBehaviorConfigModel- model_config: ClassVar[ConfigDict] = {}
Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].
- type: Literal['teleop_behavior']
- namosim.data_models.namo_config_from_yaml(file_path: str) NamoConfigYamlModel[source]