repo stringlengths 7 90 | file_url stringlengths 81 315 | file_path stringlengths 4 228 | content stringlengths 0 32.8k | language stringclasses 1
value | license stringclasses 7
values | commit_sha stringlengths 40 40 | retrieved_at stringdate 2026-01-04 14:38:15 2026-01-05 02:33:18 | truncated bool 2
classes |
|---|---|---|---|---|---|---|---|---|
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/people/wu_ros_tools/easy_markers/src/easy_markers/generator.py | people/wu_ros_tools/easy_markers/src/easy_markers/generator.py | import roslib; roslib.load_manifest('easy_markers')
import tf
import rospy
from visualization_msgs.msg import Marker, MarkerArray
from geometry_msgs.msg import Point, Quaternion
def get_point(position, scale=1.0):
pt = Point()
if position is None:
pt.x = 0.0
pt.y = 0.0
pt.z = 0.0
el... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/people/wu_ros_tools/easy_markers/src/easy_markers/interactive.py | people/wu_ros_tools/easy_markers/src/easy_markers/interactive.py | import roslib; roslib.load_manifest('easy_markers')
from easy_markers.generator import MarkerGenerator
from interactive_markers.interactive_marker_server import *
from interactive_markers.menu_handler import *
from visualization_msgs.msg import InteractiveMarkerControl
TYPEDATA = {
'rotate_x': [1,1,0,0, Interacti... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/people/wu_ros_tools/easy_markers/src/easy_markers/__init__.py | people/wu_ros_tools/easy_markers/src/easy_markers/__init__.py | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false | |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/people/wu_ros_tools/kalman_filter/setup.py | people/wu_ros_tools/kalman_filter/setup.py | #!/usr/bin/env python
from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup
package_info = generate_distutils_setup(
packages=['kalman_filter'],
package_dir={'': 'src'},
)
setup(**package_info)
| python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/people/wu_ros_tools/kalman_filter/src/kalman_filter/__init__.py | people/wu_ros_tools/kalman_filter/src/kalman_filter/__init__.py | #!/usr/bin/python
class Kalman:
def __init__(self, Q=.002, R=1.0, P=.01):
self.x = None
self.Q = Q
self.R = R
self.P = P
self.p = None
def update(self, values):
N = len(values)
if self.x is None:
self.x = values
self.p = [self.P]*N
else:
for i in range(N):
self.p[i] += self.Q
k = se... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/people/people_velocity_tracker/scripts/tracker.py | people/people_velocity_tracker/scripts/tracker.py | #!/usr/bin/python
import roslib; roslib.load_manifest('people_velocity_tracker')
import rospy
import tf
import math
from geometry_msgs.msg import Point, Vector3
from geometry_msgs.msg import Twist, TwistWithCovariance
from people_msgs.msg import PositionMeasurementArray, Person, People
from easy_markers.generator impor... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/people/people_velocity_tracker/scripts/static.py | people/people_velocity_tracker/scripts/static.py | #!/usr/bin/python
import roslib; roslib.load_manifest('people_velocity_tracker')
import rospy
import sys
from people_msgs.msg import Person, People
class VelocityTracker(object):
def __init__(self):
self.ppub = rospy.Publisher('/people', People, queue_size=10)
def spin(self):
rate = rospy.Ra... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/people/face_detector/scripts/face_detector_action_client.py | people/face_detector/scripts/face_detector_action_client.py | #! /usr/bin/env python
import roslib; roslib.load_manifest('face_detector')
import rospy
# Brings in the SimpleActionClient
import actionlib
# Brings in the messages used by the face_detector action, including the
# goal message and the result message.
import face_detector.msg
def face_detector_client():
# Crea... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/laser_filters/test/fake_laser.py | laser_filters/test/fake_laser.py | #!/usr/bin/python
PKG = 'laser_filters' # this package name
import roslib; roslib.load_manifest(PKG)
import rospy
from sensor_msgs.msg import LaserScan
from Numeric import ones
def laser_test():
pub = rospy.Publisher('laser_scan', LaserScan)
rospy.init_node('laser_test')
laser_msg = LaserScan()
lase... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/Python-RVO2/setup.py | Python-RVO2/setup.py | from setuptools import setup, Extension
from setuptools.command.build_ext import build_ext as _build_ext
from Cython.Build import cythonize
class BuildRvo2Ext(_build_ext):
"""Builds RVO2 before our module."""
def run(self):
# Build RVO2
import os
import os.path
import subproce... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/Python-RVO2/example.py | Python-RVO2/example.py | #!/usr/bin/env python
import rvo2
sim = rvo2.PyRVOSimulator(1/60., 1.5, 5, 1.5, 2, 0.4, 2)
# Pass either just the position (the other parameters then use
# the default values passed to the PyRVOSimulator constructor),
# or pass all available parameters.
a0 = sim.addAgent((0, 0))
a1 = sim.addAgent((1, 0))
a2 = sim.ad... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/navigation/base_local_planner/setup.py | navigation/base_local_planner/setup.py | #!/usr/bin/env python
from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup
d = generate_distutils_setup(
packages = ['local_planner_limits'],
package_dir = {'': 'src'},
)
setup(**d)
| python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/navigation/base_local_planner/src/local_planner_limits/__init__.py | navigation/base_local_planner/src/local_planner_limits/__init__.py | # Generic set of parameters to use with base local planners
# To use:
#
# from local_planner_limits import add_generic_localplanner_params
# gen = ParameterGenerator()
# add_generic_localplanner_params(gen)
# ...
#
# Using these standard parameters instead of your own allows easier switching of local planners
# ne... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/navigation/amcl/test/basic_localization.py | navigation/amcl/test/basic_localization.py | #!/usr/bin/env python
import sys
import time
from math import fmod, pi
import unittest
import rospy
import rostest
from tf2_msgs.msg import TFMessage
import PyKDL
from std_srvs.srv import Empty
class TestBasicLocalization(unittest.TestCase):
def setUp(self):
self.tf = None
self.target_x = None
... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/navigation/amcl/test/set_pose.py | navigation/amcl/test/set_pose.py | #!/usr/bin/env python
import rospy
import math
import PyKDL
from geometry_msgs.msg import PoseWithCovarianceStamped
class PoseSetter(rospy.SubscribeListener):
def __init__(self, pose, stamp, publish_time):
self.pose = pose
self.stamp = stamp
self.publish_time = publish_time
def peer... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/navigation/map_server/test/consumer.py | navigation/map_server/test/consumer.py | #!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2008, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/navigation/fake_localization/static_odom_broadcaster.py | navigation/fake_localization/static_odom_broadcaster.py | #!/usr/bin/python
#
# Similar to static_transform_broadcaster, this node constantly publishes
# static odometry information (Odometry msg and tf). This can be used
# with fake_localization to evaluate planning algorithms without running
# an actual robot with odometry or localization
#
# Author: Armin Hornung
# Licens... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/scan_to_angle.py | turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/scan_to_angle.py | #! /usr/bin/python
#***********************************************************
# Software License Agreement (BSD License)
#
# Copyright (c) 2008, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following c... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/calibrate.py | turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/calibrate.py | #! /usr/bin/python
#***********************************************************
# Software License Agreement (BSD License)
#
# Copyright (c) 2008, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following c... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/turtlebot_apps/turtlebot_actions/scripts/test_move.py | turtlebot_apps/turtlebot_actions/scripts/test_move.py | #!/usr/bin/env python
import roslib
roslib.load_manifest('turtlebot_actions')
import rospy
import os
import sys
import time
import math
from turtlebot_actions.msg import *
from actionlib_msgs.msg import *
import actionlib
'''
Very simple move action test - commands the robot to turn 45 degrees and travel 0.5 met... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/turtlebot_apps/turtlebot_actions/scripts/test_fiducial.py | turtlebot_apps/turtlebot_actions/scripts/test_fiducial.py | #!/usr/bin/env python
import roslib
roslib.load_manifest('turtlebot_actions')
import rospy
import os
import sys
import time
from turtlebot_actions.msg import *
from actionlib_msgs.msg import *
import actionlib
def main():
rospy.init_node("find_fiducial_pose_test")
# Construct action ac
rospy.loginfo("Star... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/turtlebot_apps/turtlebot_follower/scripts/switch.py | turtlebot_apps/turtlebot_follower/scripts/switch.py | #!/usr/bin/env python
# license removed for brevity
import rospy
from geometry_msgs.msg import Twist
from sensor_msgs.msg import Joy
# This script will listen for joystick button 5 being toggled and
# send zero speed messages to the mux to disable the follower until
# button 5 is pressed again.
class BehaviorSwitch(o... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/scripts/sarl_original_node.py | sarl_star_ros/scripts/sarl_original_node.py | #!/usr/bin/python2.7
# Author: Keyu Li <kyli@link.cuhk.edu.hk>
from __future__ import division
import logging
import os
import torch
import numpy as np
from nav_msgs.msg import Odometry, OccupancyGrid
import configparser
import gym
import tf
from crowd_nav.policy.policy_factory import policy_factory
from crowd_sim.env... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/scripts/__init__.py | sarl_star_ros/scripts/__init__.py | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false | |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/scripts/sarl_star_node.py | sarl_star_ros/scripts/sarl_star_node.py | #!/usr/bin/python2.7
# Author: Keyu Li <kyli@link.cuhk.edu.hk>
from __future__ import division
import logging
import os
import torch
import numpy as np
from nav_msgs.msg import Odometry, OccupancyGrid
import configparser
import gym
import tf
from crowd_nav.policy.policy_factory import policy_factory
from crowd_sim.env... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/setup.py | sarl_star_ros/CrowdNav/setup.py | from setuptools import setup
setup(
name='crowdnav',
version='0.0.1',
packages=[
'crowd_nav',
'crowd_nav.configs',
'crowd_nav.policy',
'crowd_nav.utils',
'crowd_sim',
'crowd_sim.envs',
'crowd_sim.envs.policy',
'crowd_sim.envs.utils',
],
... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/__init__.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/__init__.py | from gym.envs.registration import register
register(
id='CrowdSim-v0',
entry_point='crowd_sim.envs:CrowdSim',
)
| python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/__init__.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/__init__.py | from .crowd_sim import CrowdSim
| python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/crowd_sim.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/crowd_sim.py | import logging
import gym
import matplotlib.lines as mlines
import numpy as np
import rvo2
import torch
from matplotlib import patches
from numpy.linalg import norm
from crowd_sim.envs.utils.human import Human
from crowd_sim.envs.utils.info import *
from crowd_sim.envs.utils.utils import point_to_segment_dist
class C... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/utils/state.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/utils/state.py | class FullState(object):
def __init__(self, px, py, vx, vy, radius, gx, gy, v_pref, theta):
self.px = px
self.py = py
self.vx = vx
self.vy = vy
self.radius = radius
self.gx = gx
self.gy = gy
self.v_pref = v_pref
self.theta = theta
self... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/utils/robot.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/utils/robot.py | from crowd_sim.envs.utils.agent import Agent
from crowd_sim.envs.utils.state import JointState
class Robot(Agent):
def __init__(self, config, section):
super().__init__(config, section)
def act(self, ob):
if self.policy is None:
raise AttributeError('Policy attribute has to be set... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/utils/human.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/utils/human.py | from crowd_sim.envs.utils.agent import Agent
from crowd_sim.envs.utils.state import JointState
class Human(Agent):
def __init__(self, config, section):
super().__init__(config, section)
def act(self, ob):
"""
The state for human is its full state and all other agents' observable state... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/utils/action.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/utils/action.py | from collections import namedtuple
ActionXY = namedtuple('ActionXY', ['vx', 'vy'])
ActionRot = namedtuple('ActionRot', ['v', 'r'])
| python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/utils/utils.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/utils/utils.py | import numpy as np
def point_to_segment_dist(x1, y1, x2, y2, x3, y3):
"""
Calculate the closest distance between point(x3, y3) and a line segment with two endpoints (x1, y1), (x2, y2)
"""
px = x2 - x1
py = y2 - y1
if px == 0 and py == 0:
return np.linalg.norm((x3-x1, y3-y1))
u =... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/utils/__init__.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/utils/__init__.py | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false | |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/utils/info.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/utils/info.py | class Timeout(object):
def __init__(self):
pass
def __str__(self):
return 'Timeout'
class ReachGoal(object):
def __init__(self):
pass
def __str__(self):
return 'Reaching goal'
class Danger(object):
def __init__(self, min_dist):
self.min_dist = min_dist
... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/utils/agent.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/utils/agent.py | import numpy as np
from numpy.linalg import norm
import abc
import logging
from crowd_sim.envs.policy.policy_factory import policy_factory
from crowd_sim.envs.utils.action import ActionXY, ActionRot
from crowd_sim.envs.utils.state import ObservableState, FullState
class Agent(object):
def __init__(self, config, s... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/policy/orca.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/policy/orca.py | import numpy as np
import rvo2
from crowd_sim.envs.policy.policy import Policy
from crowd_sim.envs.utils.action import ActionXY
class ORCA(Policy):
def __init__(self):
"""
timeStep The time step of the simulation.
Must be positive.
neighborDist The default... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/policy/policy.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/policy/policy.py | import abc
import numpy as np
class Policy(object):
def __init__(self):
"""
Base class for all policies, has an abstract method predict().
"""
self.trainable = False
self.phase = None
self.model = None
self.device = None
self.last_state = None
... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/policy/__init__.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/policy/__init__.py | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false | |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/policy/linear.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/policy/linear.py | import numpy as np
from crowd_sim.envs.policy.policy import Policy
from crowd_sim.envs.utils.action import ActionXY
class Linear(Policy):
def __init__(self):
super().__init__()
self.trainable = False
self.kinematics = 'holonomic'
self.multiagent_training = True
def configure(s... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/policy/policy_factory.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_sim/envs/policy/policy_factory.py | from crowd_sim.envs.policy.linear import Linear
from crowd_sim.envs.policy.orca import ORCA
def none_policy():
return None
policy_factory = dict()
policy_factory['linear'] = Linear
policy_factory['orca'] = ORCA
policy_factory['none'] = none_policy
| python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/train.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/train.py | import sys
import logging
import argparse
import configparser
import os
import shutil
import torch
import gym
import git
from crowd_sim.envs.utils.robot import Robot
from crowd_nav.utils.trainer import Trainer
from crowd_nav.utils.memory import ReplayMemory
from crowd_nav.utils.explorer import Explorer
from crowd_nav.p... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/__init__.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/__init__.py | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false | |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/test.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/test.py | import os
import sys
sys.path.append(os.path.dirname(os.path.abspath(__file__)) + '/../../')
import logging
import argparse
import configparser
import os
import torch
import numpy as np
import gym
from crowd_nav.utils.explorer import Explorer
from crowd_nav.policy.policy_factory import policy_factory
from crowd_sim.env... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/utils/memory.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/utils/memory.py | from torch.utils.data import Dataset
# memory: list(state,value)
class ReplayMemory(Dataset):
def __init__(self, capacity):
self.capacity = capacity
self.memory = list()
self.position = 0
def push(self, item):
# replace old experience with new experience
if len(self.me... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/utils/plot.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/utils/plot.py | import re
import argparse
import matplotlib.pyplot as plt
import numpy as np
def running_mean(x, n):
cumsum = np.cumsum(np.insert(x, 0, 0))
return (cumsum[n:] - cumsum[:-n]) / float(n)
def main():
parser = argparse.ArgumentParser()
parser.add_argument('log_files', type=str, nargs='+')
parser.add... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/utils/trainer.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/utils/trainer.py | import logging
import torch.nn as nn
import torch.optim as optim
from torch.autograd import Variable
from torch.utils.data import DataLoader
class Trainer(object):
def __init__(self, model, memory, device, batch_size):
"""
Train the trainable model of a policy
"""
self.model = mod... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/utils/__init__.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/utils/__init__.py | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false | |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/utils/explorer.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/utils/explorer.py | import logging
import copy
import torch
from crowd_sim.envs.utils.info import *
class Explorer(object):
def __init__(self, env, robot, device, memory=None, gamma=None, target_policy=None):
self.env = env
self.robot = robot
self.device = device
self.memory = memory
self.gamm... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/configs/__init__.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/configs/__init__.py | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false | |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/policy/lstm_rl.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/policy/lstm_rl.py | import torch
import torch.nn as nn
import numpy as np
import logging
from crowd_nav.policy.cadrl import mlp
from crowd_nav.policy.multi_human_rl import MultiHumanRL
class ValueNetwork1(nn.Module):
def __init__(self, input_dim, self_state_dim, mlp_dims, lstm_hidden_dim):
super().__init__()
self.sel... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/policy/sarl.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/policy/sarl.py | import torch
import torch.nn as nn
from torch.nn.functional import softmax
import logging
from crowd_nav.policy.cadrl import mlp
from crowd_nav.policy.multi_human_rl import MultiHumanRL
class ValueNetwork(nn.Module):
def __init__(self, input_dim, self_state_dim, mlp1_dims, mlp2_dims, mlp3_dims, attention_dims, wi... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/policy/cadrl.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/policy/cadrl.py | import torch
import torch.nn as nn
import numpy as np
import itertools
import logging
from crowd_sim.envs.policy.policy import Policy
from crowd_sim.envs.utils.action import ActionRot, ActionXY
from crowd_sim.envs.utils.state import ObservableState, FullState
def mlp(input_dim, mlp_dims, last_relu=False):
layers ... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/policy/__init__.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/policy/__init__.py | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false | |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/policy/multi_human_rl.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/policy/multi_human_rl.py | import torch
import numpy as np
from crowd_sim.envs.utils.action import ActionRot, ActionXY
from crowd_nav.policy.cadrl import CADRL
class MultiHumanRL(CADRL):
def __init__(self):
super().__init__()
def predict(self, state):
"""
A base class for all methods that takes pairwise joint s... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/policy/policy_factory.py | sarl_star_ros/CrowdNav/build/lib.linux-x86_64-2.7/crowd_nav/policy/policy_factory.py | from crowd_sim.envs.policy.policy_factory import policy_factory
from crowd_nav.policy.cadrl import CADRL
from crowd_nav.policy.lstm_rl import LstmRL
from crowd_nav.policy.sarl import SARL
policy_factory['cadrl'] = CADRL
policy_factory['lstm_rl'] = LstmRL
policy_factory['sarl'] = SARL
| python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_sim/__init__.py | sarl_star_ros/CrowdNav/build/lib/crowd_sim/__init__.py | from gym.envs.registration import register
register(
id='CrowdSim-v0',
entry_point='crowd_sim.envs:CrowdSim',
)
| python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/__init__.py | sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/__init__.py | from .crowd_sim import CrowdSim
| python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/crowd_sim.py | sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/crowd_sim.py | import logging
import gym
import matplotlib.lines as mlines
import numpy as np
import rvo2
import torch
from matplotlib import patches
from numpy.linalg import norm
from crowd_sim.envs.utils.human import Human
from crowd_sim.envs.utils.info import *
from crowd_sim.envs.utils.utils import point_to_segment_dist
class C... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/utils/state.py | sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/utils/state.py | class FullState(object):
def __init__(self, px, py, vx, vy, radius, gx, gy, v_pref, theta):
self.px = px
self.py = py
self.vx = vx
self.vy = vy
self.radius = radius
self.gx = gx
self.gy = gy
self.v_pref = v_pref
self.theta = theta
self... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/utils/robot.py | sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/utils/robot.py | from crowd_sim.envs.utils.agent import Agent
from crowd_sim.envs.utils.state import JointState
class Robot(Agent):
def __init__(self, config, section):
super().__init__(config, section)
def act(self, ob):
if self.policy is None:
raise AttributeError('Policy attribute has to be set... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/utils/human.py | sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/utils/human.py | from crowd_sim.envs.utils.agent import Agent
from crowd_sim.envs.utils.state import JointState
class Human(Agent):
def __init__(self, config, section):
super().__init__(config, section)
def act(self, ob):
"""
The state for human is its full state and all other agents' observable state... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/utils/action.py | sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/utils/action.py | from collections import namedtuple
ActionXY = namedtuple('ActionXY', ['vx', 'vy'])
ActionRot = namedtuple('ActionRot', ['v', 'r'])
| python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/utils/utils.py | sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/utils/utils.py | import numpy as np
def point_to_segment_dist(x1, y1, x2, y2, x3, y3):
"""
Calculate the closest distance between point(x3, y3) and a line segment with two endpoints (x1, y1), (x2, y2)
"""
px = x2 - x1
py = y2 - y1
if px == 0 and py == 0:
return np.linalg.norm((x3-x1, y3-y1))
u =... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/utils/__init__.py | sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/utils/__init__.py | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false | |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/utils/info.py | sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/utils/info.py | class Timeout(object):
def __init__(self):
pass
def __str__(self):
return 'Timeout'
class ReachGoal(object):
def __init__(self):
pass
def __str__(self):
return 'Reaching goal'
class Danger(object):
def __init__(self, min_dist):
self.min_dist = min_dist
... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/utils/agent.py | sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/utils/agent.py | import numpy as np
from numpy.linalg import norm
import abc
import logging
from crowd_sim.envs.policy.policy_factory import policy_factory
from crowd_sim.envs.utils.action import ActionXY, ActionRot
from crowd_sim.envs.utils.state import ObservableState, FullState
class Agent(object):
def __init__(self, config, s... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/policy/orca.py | sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/policy/orca.py | import numpy as np
import rvo2
from crowd_sim.envs.policy.policy import Policy
from crowd_sim.envs.utils.action import ActionXY
class ORCA(Policy):
def __init__(self):
"""
timeStep The time step of the simulation.
Must be positive.
neighborDist The default... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/policy/policy.py | sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/policy/policy.py | import abc
import numpy as np
class Policy(object):
def __init__(self):
"""
Base class for all policies, has an abstract method predict().
"""
self.trainable = False
self.phase = None
self.model = None
self.device = None
self.last_state = None
... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/policy/__init__.py | sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/policy/__init__.py | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false | |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/policy/linear.py | sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/policy/linear.py | import numpy as np
from crowd_sim.envs.policy.policy import Policy
from crowd_sim.envs.utils.action import ActionXY
class Linear(Policy):
def __init__(self):
super().__init__()
self.trainable = False
self.kinematics = 'holonomic'
self.multiagent_training = True
def configure(s... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/policy/policy_factory.py | sarl_star_ros/CrowdNav/build/lib/crowd_sim/envs/policy/policy_factory.py | from crowd_sim.envs.policy.linear import Linear
from crowd_sim.envs.policy.orca import ORCA
def none_policy():
return None
policy_factory = dict()
policy_factory['linear'] = Linear
policy_factory['orca'] = ORCA
policy_factory['none'] = none_policy
| python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_nav/train.py | sarl_star_ros/CrowdNav/build/lib/crowd_nav/train.py | import sys
import logging
import argparse
import configparser
import os
import shutil
import torch
import gym
import git
from crowd_sim.envs.utils.robot import Robot
from crowd_nav.utils.trainer import Trainer
from crowd_nav.utils.memory import ReplayMemory
from crowd_nav.utils.explorer import Explorer
from crowd_nav.p... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_nav/__init__.py | sarl_star_ros/CrowdNav/build/lib/crowd_nav/__init__.py | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false | |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_nav/test.py | sarl_star_ros/CrowdNav/build/lib/crowd_nav/test.py | import logging
import argparse
import configparser
import os
import torch
import numpy as np
import gym
from crowd_nav.utils.explorer import Explorer
from crowd_nav.policy.policy_factory import policy_factory
from crowd_sim.envs.utils.robot import Robot
from crowd_sim.envs.policy.orca import ORCA
def main():
pars... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_nav/utils/memory.py | sarl_star_ros/CrowdNav/build/lib/crowd_nav/utils/memory.py | from torch.utils.data import Dataset
class ReplayMemory(Dataset):
def __init__(self, capacity):
self.capacity = capacity
self.memory = list()
self.position = 0
def push(self, item):
# replace old experience with new experience
if len(self.memory) < self.position + 1:
... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_nav/utils/plot.py | sarl_star_ros/CrowdNav/build/lib/crowd_nav/utils/plot.py | import re
import argparse
import matplotlib.pyplot as plt
import numpy as np
def running_mean(x, n):
cumsum = np.cumsum(np.insert(x, 0, 0))
return (cumsum[n:] - cumsum[:-n]) / float(n)
def main():
parser = argparse.ArgumentParser()
parser.add_argument('log_files', type=str, nargs='+')
parser.add... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_nav/utils/trainer.py | sarl_star_ros/CrowdNav/build/lib/crowd_nav/utils/trainer.py | import logging
import torch.nn as nn
import torch.optim as optim
from torch.autograd import Variable
from torch.utils.data import DataLoader
class Trainer(object):
def __init__(self, model, memory, device, batch_size):
"""
Train the trainable model of a policy
"""
self.model = mode... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_nav/utils/__init__.py | sarl_star_ros/CrowdNav/build/lib/crowd_nav/utils/__init__.py | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false | |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_nav/utils/explorer.py | sarl_star_ros/CrowdNav/build/lib/crowd_nav/utils/explorer.py | import logging
import copy
import torch
from crowd_sim.envs.utils.info import *
class Explorer(object):
def __init__(self, env, robot, device, memory=None, gamma=None, target_policy=None):
self.env = env
self.robot = robot
self.device = device
self.memory = memory
self.gamm... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_nav/policy/lstm_rl.py | sarl_star_ros/CrowdNav/build/lib/crowd_nav/policy/lstm_rl.py | import torch
import torch.nn as nn
import numpy as np
import logging
from crowd_nav.policy.cadrl import mlp
from crowd_nav.policy.multi_human_rl import MultiHumanRL
class ValueNetwork1(nn.Module):
def __init__(self, input_dim, self_state_dim, mlp_dims, lstm_hidden_dim):
super().__init__()
self.sel... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_nav/policy/sarl.py | sarl_star_ros/CrowdNav/build/lib/crowd_nav/policy/sarl.py | import torch
import torch.nn as nn
from torch.nn.functional import softmax
import logging
from crowd_nav.policy.cadrl import mlp
from crowd_nav.policy.multi_human_rl import MultiHumanRL
class ValueNetwork(nn.Module):
def __init__(self, input_dim, self_state_dim, mlp1_dims, mlp2_dims, mlp3_dims, attention_dims, wi... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_nav/policy/cadrl.py | sarl_star_ros/CrowdNav/build/lib/crowd_nav/policy/cadrl.py | import torch
import torch.nn as nn
import numpy as np
import itertools
import logging
from crowd_sim.envs.policy.policy import Policy
from crowd_sim.envs.utils.action import ActionRot, ActionXY
from crowd_sim.envs.utils.state import ObservableState, FullState
def mlp(input_dim, mlp_dims, last_relu=False):
layers ... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_nav/policy/multi_human_rl.py | sarl_star_ros/CrowdNav/build/lib/crowd_nav/policy/multi_human_rl.py | import torch
import numpy as np
from crowd_sim.envs.utils.action import ActionRot, ActionXY
from crowd_nav.policy.cadrl import CADRL
class MultiHumanRL(CADRL):
def __init__(self):
super().__init__()
def predict(self, state):
"""
A base class for all methods that takes pairwise joint s... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/build/lib/crowd_nav/policy/policy_factory.py | sarl_star_ros/CrowdNav/build/lib/crowd_nav/policy/policy_factory.py | from crowd_sim.envs.policy.policy_factory import policy_factory
from crowd_nav.policy.cadrl import CADRL
from crowd_nav.policy.lstm_rl import LstmRL
from crowd_nav.policy.sarl import SARL
policy_factory['cadrl'] = CADRL
policy_factory['lstm_rl'] = LstmRL
policy_factory['sarl'] = SARL
| python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_sim/__init__.py | sarl_star_ros/CrowdNav/crowd_sim/__init__.py | from gym.envs.registration import register
register(
id='CrowdSim-v0',
entry_point='crowd_sim.envs:CrowdSim',
)
| python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_sim/envs/__init__.py | sarl_star_ros/CrowdNav/crowd_sim/envs/__init__.py | from .crowd_sim import CrowdSim
| python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_sim/envs/crowd_sim.py | sarl_star_ros/CrowdNav/crowd_sim/envs/crowd_sim.py | # Author: Changan Chen <changanvr@gmail.com>
# Modified by: Keyu Li <kyli@link.cuhk.edu.hk>
from __future__ import absolute_import
import logging
import gym
import matplotlib.lines as mlines
import numpy as np
import rvo2
import torch
from matplotlib import patches
from numpy.linalg import norm
from crowd_sim.envs.uti... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_sim/envs/utils/state.py | sarl_star_ros/CrowdNav/crowd_sim/envs/utils/state.py | class FullState(object):
def __init__(self, px, py, vx, vy, radius, gx, gy, v_pref, theta):
self.px = px
self.py = py
self.vx = vx
self.vy = vy
self.radius = radius
self.gx = gx
self.gy = gy
self.v_pref = v_pref
self.theta = theta
self... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_sim/envs/utils/robot.py | sarl_star_ros/CrowdNav/crowd_sim/envs/utils/robot.py | from crowd_sim.envs.utils.agent import Agent
from crowd_sim.envs.utils.state import JointState
class Robot(Agent):
def __init__(self, config, section):
super(Robot, self).__init__(config, section)
def act(self, ob):
if self.policy is None:
raise AttributeError('Policy attribute ha... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_sim/envs/utils/human.py | sarl_star_ros/CrowdNav/crowd_sim/envs/utils/human.py | from crowd_sim.envs.utils.agent import Agent
from crowd_sim.envs.utils.state import JointState
class Human(Agent):
def __init__(self, config, section):
super(Human,self).__init__(config, section)
def act(self, ob):
"""
The state for human is its full state and all other agents' observ... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_sim/envs/utils/action.py | sarl_star_ros/CrowdNav/crowd_sim/envs/utils/action.py | from collections import namedtuple
ActionXY = namedtuple('ActionXY', ['vx', 'vy'])
ActionRot = namedtuple('ActionRot', ['v', 'r'])
| python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_sim/envs/utils/utils.py | sarl_star_ros/CrowdNav/crowd_sim/envs/utils/utils.py | import numpy as np
def point_to_segment_dist(x1, y1, x2, y2, x3, y3):
"""
Calculate the closest distance between point(x3, y3) and a line segment with two endpoints (x1, y1), (x2, y2)
"""
px = x2 - x1
py = y2 - y1
if px == 0 and py == 0:
return np.linalg.norm((x3-x1, y3-y1))
u =... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_sim/envs/utils/__init__.py | sarl_star_ros/CrowdNav/crowd_sim/envs/utils/__init__.py | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false | |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_sim/envs/utils/info.py | sarl_star_ros/CrowdNav/crowd_sim/envs/utils/info.py | class Timeout(object):
def __init__(self):
pass
def __str__(self):
return 'Timeout'
class ReachGoal(object):
def __init__(self):
pass
def __str__(self):
return 'Reaching goal'
class Danger(object):
def __init__(self, min_dist):
self.min_dist = min_dist
... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_sim/envs/utils/agent.py | sarl_star_ros/CrowdNav/crowd_sim/envs/utils/agent.py | from __future__ import division
import numpy as np
from numpy.linalg import norm
import abc
import logging
from crowd_sim.envs.policy.policy_factory import policy_factory
from crowd_sim.envs.utils.action import ActionXY, ActionRot
from crowd_sim.envs.utils.state import ObservableState, FullState
class Agent(object):
... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_sim/envs/policy/orca.py | sarl_star_ros/CrowdNav/crowd_sim/envs/policy/orca.py | from __future__ import division
import numpy as np
import rvo2
from crowd_sim.envs.policy.policy import Policy
from crowd_sim.envs.utils.action import ActionXY
import logging
class ORCA(Policy):
def __init__(self):
"""
timeStep The time step of the simulation.
Must b... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_sim/envs/policy/policy.py | sarl_star_ros/CrowdNav/crowd_sim/envs/policy/policy.py | import abc
import numpy as np
class Policy(object):
def __init__(self):
"""
Base class for all policies, has an abstract method predict().
"""
self.trainable = False
self.phase = None
self.model = None
self.device = None
self.last_state = None
... | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
LeeKeyu/sarl_star | https://github.com/LeeKeyu/sarl_star/blob/179e314db9a447c64219f8f108a9aae8074b555f/sarl_star_ros/CrowdNav/crowd_sim/envs/policy/__init__.py | sarl_star_ros/CrowdNav/crowd_sim/envs/policy/__init__.py | python | MIT | 179e314db9a447c64219f8f108a9aae8074b555f | 2026-01-05T07:13:38.970356Z | false |
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