238 lines
10 KiB
Python
238 lines
10 KiB
Python
import os
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import time
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import json
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import torch
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import dill
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import random
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import pathlib
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import evaluation
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import numpy as np
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import visualization as vis
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from argument_parser import args
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from model.online.online_trajectron import OnlineTrajectron
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from model.model_registrar import ModelRegistrar
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from environment import Environment, Scene
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import matplotlib.pyplot as plt
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if not torch.cuda.is_available() or args.device == 'cpu':
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args.device = torch.device('cpu')
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else:
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if torch.cuda.device_count() == 1:
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# If you have CUDA_VISIBLE_DEVICES set, which you should,
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# then this will prevent leftover flag arguments from
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# messing with the device allocation.
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args.device = 'cuda:0'
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args.device = torch.device(args.device)
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if args.eval_device is None:
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args.eval_device = 'cpu'
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if args.seed is not None:
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random.seed(args.seed)
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np.random.seed(args.seed)
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torch.manual_seed(args.seed)
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if torch.cuda.is_available():
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torch.cuda.manual_seed_all(args.seed)
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def create_online_env(env, hyperparams, scene_idx, init_timestep):
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test_scene = env.scenes[scene_idx]
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online_scene = Scene(timesteps=init_timestep + 1,
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map=test_scene.map,
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dt=test_scene.dt)
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online_scene.nodes = test_scene.get_nodes_clipped_at_time(
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timesteps=np.arange(init_timestep - hyperparams['maximum_history_length'],
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init_timestep + 1),
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state=hyperparams['state'])
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online_scene.robot = test_scene.robot
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online_scene.calculate_scene_graph(attention_radius=env.attention_radius,
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edge_addition_filter=hyperparams['edge_addition_filter'],
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edge_removal_filter=hyperparams['edge_removal_filter'])
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return Environment(node_type_list=env.node_type_list,
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standardization=env.standardization,
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scenes=[online_scene],
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attention_radius=env.attention_radius,
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robot_type=env.robot_type)
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def get_maps_for_input(input_dict, scene, hyperparams):
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scene_maps = list()
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scene_pts = list()
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heading_angles = list()
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patch_sizes = list()
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nodes_with_maps = list()
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for node in input_dict:
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if node.type in hyperparams['map_encoder']:
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x = input_dict[node]
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me_hyp = hyperparams['map_encoder'][node.type]
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if 'heading_state_index' in me_hyp:
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heading_state_index = me_hyp['heading_state_index']
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# We have to rotate the map in the opposit direction of the agent to match them
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if type(heading_state_index) is list: # infer from velocity or heading vector
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heading_angle = -np.arctan2(x[-1, heading_state_index[1]],
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x[-1, heading_state_index[0]]) * 180 / np.pi
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else:
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heading_angle = -x[-1, heading_state_index] * 180 / np.pi
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else:
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heading_angle = None
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scene_map = scene.map[node.type]
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map_point = x[-1, :2]
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patch_size = hyperparams['map_encoder'][node.type]['patch_size']
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scene_maps.append(scene_map)
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scene_pts.append(map_point)
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heading_angles.append(heading_angle)
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patch_sizes.append(patch_size)
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nodes_with_maps.append(node)
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if heading_angles[0] is None:
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heading_angles = None
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else:
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heading_angles = torch.Tensor(heading_angles)
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maps = scene_maps[0].get_cropped_maps_from_scene_map_batch(scene_maps,
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scene_pts=torch.Tensor(scene_pts),
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patch_size=patch_sizes[0],
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rotation=heading_angles)
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maps_dict = {node: maps[[i]] for i, node in enumerate(nodes_with_maps)}
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return maps_dict
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def main():
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# Choose one of the model directory names under the experiment/*/models folders.
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# Possibilities are 'vel_ee', 'int_ee', 'int_ee_me', or 'robot'
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model_dir = os.path.join(args.log_dir, 'int_ee')
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# Load hyperparameters from json
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config_file = os.path.join(model_dir, args.conf)
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if not os.path.exists(config_file):
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raise ValueError('Config json not found!')
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with open(config_file, 'r') as conf_json:
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hyperparams = json.load(conf_json)
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# Add hyperparams from arguments
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hyperparams['dynamic_edges'] = args.dynamic_edges
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hyperparams['edge_state_combine_method'] = args.edge_state_combine_method
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hyperparams['edge_influence_combine_method'] = args.edge_influence_combine_method
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hyperparams['edge_addition_filter'] = args.edge_addition_filter
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hyperparams['edge_removal_filter'] = args.edge_removal_filter
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hyperparams['batch_size'] = args.batch_size
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hyperparams['k_eval'] = args.k_eval
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hyperparams['offline_scene_graph'] = args.offline_scene_graph
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hyperparams['incl_robot_node'] = args.incl_robot_node
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hyperparams['edge_encoding'] = not args.no_edge_encoding
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hyperparams['use_map_encoding'] = args.map_encoding
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output_save_dir = os.path.join(model_dir, 'pred_figs')
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pathlib.Path(output_save_dir).mkdir(parents=True, exist_ok=True)
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eval_data_path = os.path.join(args.data_dir, args.eval_data_dict)
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with open(eval_data_path, 'rb') as f:
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eval_env = dill.load(f, encoding='latin1')
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if eval_env.robot_type is None and hyperparams['incl_robot_node']:
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eval_env.robot_type = eval_env.NodeType[0] # TODO: Make more general, allow the user to specify?
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for scene in eval_env.scenes:
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scene.add_robot_from_nodes(eval_env.robot_type)
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print('Loaded data from %s' % (eval_data_path,))
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# Creating a dummy environment with a single scene that contains information about the world.
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# When using this code, feel free to use whichever scene index or initial timestep you wish.
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scene_idx = 0
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# You need to have at least acceleration, so you want 2 timesteps of prior data, e.g. [0, 1],
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# so that you can immediately start incremental inference from the 3rd timestep onwards.
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init_timestep = 1
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eval_scene = eval_env.scenes[scene_idx]
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online_env = create_online_env(eval_env, hyperparams, scene_idx, init_timestep)
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model_registrar = ModelRegistrar(model_dir, args.eval_device)
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model_registrar.load_models(iter_num=12)
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trajectron = OnlineTrajectron(model_registrar,
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hyperparams,
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args.eval_device)
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# If you want to see what different robot futures do to the predictions, uncomment this line as well as
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# related "... += adjustment" lines below.
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# adjustment = np.stack([np.arange(13)/float(i*2.0) for i in range(6, 12)], axis=1)
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# Here's how you'd incrementally run the model, e.g. with streaming data.
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trajectron.set_environment(online_env, init_timestep)
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for timestep in range(init_timestep + 1, eval_scene.timesteps):
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input_dict = eval_scene.get_clipped_input_dict(timestep, hyperparams['state'])
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maps = None
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if hyperparams['use_map_encoding']:
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maps = get_maps_for_input(input_dict, eval_scene, hyperparams)
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robot_present_and_future = None
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if eval_scene.robot is not None and hyperparams['incl_robot_node']:
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robot_present_and_future = eval_scene.robot.get(np.array([timestep,
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timestep + hyperparams['prediction_horizon']]),
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hyperparams['state'][eval_scene.robot.type],
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padding=0.0)
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robot_present_and_future = np.stack([robot_present_and_future, robot_present_and_future], axis=0)
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# robot_present_and_future += adjustment
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start = time.time()
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dists, preds = trajectron.incremental_forward(input_dict,
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maps,
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prediction_horizon=6,
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num_samples=1,
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robot_present_and_future=robot_present_and_future,
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full_dist=True)
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end = time.time()
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print("t=%d: took %.2f s (= %.2f Hz) w/ %d nodes and %d edges" % (timestep, end - start,
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1. / (end - start), len(trajectron.nodes),
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trajectron.scene_graph.get_num_edges()))
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detailed_preds_dict = dict()
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for node in eval_scene.nodes:
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if node in preds:
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detailed_preds_dict[node] = preds[node]
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fig, ax = plt.subplots()
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vis.visualize_distribution(ax,
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dists)
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vis.visualize_prediction(ax,
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{timestep: preds},
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eval_scene.dt,
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hyperparams['maximum_history_length'],
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hyperparams['prediction_horizon'])
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if eval_scene.robot is not None and hyperparams['incl_robot_node']:
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robot_for_plotting = eval_scene.robot.get(np.array([timestep,
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timestep + hyperparams['prediction_horizon']]),
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hyperparams['state'][eval_scene.robot.type])
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# robot_for_plotting += adjustment
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ax.plot(robot_for_plotting[1:, 1], robot_for_plotting[1:, 0],
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color='r',
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linewidth=1.0, alpha=1.0)
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# Current Node Position
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circle = plt.Circle((robot_for_plotting[0, 1],
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robot_for_plotting[0, 0]),
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0.3,
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facecolor='r',
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edgecolor='k',
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lw=0.5,
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zorder=3)
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ax.add_artist(circle)
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fig.savefig(os.path.join(output_save_dir, f'pred_{timestep}.pdf'), dpi=300)
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plt.close(fig)
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if __name__ == '__main__':
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main()
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