Im trying to run this code : #!/usr/bin/env python The example presented at the

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Asked: June 13, 20262026-06-13T03:57:03+00:00 2026-06-13T03:57:03+00:00

Im trying to run this code : #!/usr/bin/env python The example presented at the

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Im trying to run this code :

#!/usr/bin/env python
"""
The example presented at the MURI review, illustrating the use of
jtlvint and automaton modules

Nok Wongpiromsarn (nok@cds.caltech.edu)
August 3, 2010

minor refactoring by SCL <slivingston@caltech.edu>
1 May 2011.

Small modifications by Yuchen Lin.
12 Aug 2011
"""

#@import_section@
import sys, os
from subprocess import call

from tulip import *
import tulip.polytope as pc
#@import_section_end@


# Specify where the smv file, spc file and aut file will go
#@filename_section@
testfile = 'robot_discrete_simple'
path = os.path.abspath(os.path.dirname(sys.argv[0]))
smvfile = os.path.join(path, 'specs', testfile+'.smv')
spcfile = os.path.join(path, 'specs', testfile+'.spc')
autfile = os.path.join(path, 'specs', testfile+'.aut')
#@filename_section_end@

# Specify the environment variables
#@envvar_section@
env_vars = {'park' : 'boolean'}
#@envvar_section_end@

# Specify the discrete system variable
# Introduce a boolean variable X0reach to handle the spec [](park -> <>X0)
# X0reach starts with TRUE. 
# [](next(X0reach) = X0 | (X0reach & !park))
#@sysdiscvar_section@
sys_disc_vars = {'X0reach' : 'boolean'}
#@sysdiscvar_section_end@

# Specify the transition system representing the continuous dynamics
#@ts_section@
disc_dynamics = prop2part.PropPreservingPartition(list_region=[], list_prop_symbol=[])

# These following propositions specify in which cell the robot is,
# i.e., Xi means that the robot is in cell Ci
disc_dynamics.list_prop_symbol = ['X0', 'X1', 'X2', 'X3', 'X4', 'X5'] 
disc_dynamics.num_prop = len(disc_dynamics.list_prop_symbol)

# Regions. Note that the first argument of Region(poly, prop) should
# be a list of polytopes. But since we are not dealing with the actual
# controller, we will just fill it with a string (think of it as a
# name of the region).  The second argument of Region(poly, prop) is a
# list that specifies which propositions in cont_props above is
# satisfied. As specified below, regioni satisfies proposition Xi.
region0 = pc.Region('C0', [1, 0, 0, 0, 0, 0])
region1 = pc.Region('C1', [0, 1, 0, 0, 0, 0])
region2 = pc.Region('C2', [0, 0, 1, 0, 0, 0])
region3 = pc.Region('C3', [0, 0, 0, 1, 0, 0])
region4 = pc.Region('C4', [0, 0, 0, 0, 1, 0])
region5 = pc.Region('C5', [0, 0, 0, 0, 0, 1])
disc_dynamics.list_region = [region0, region1, region2, region3, region4, region5]
disc_dynamics.num_regions = len(disc_dynamics.list_region)

# The transition relation between regions. disc_dynamics.trans[i][j] =
# 1 if starting from region j, the robot can move to region i while
# only staying in the union of region i and region j.
disc_dynamics.trans =   [[1, 1, 0, 1, 0, 0], \
                         [1, 1, 1, 0, 1, 0], \
                         [0, 1, 1, 0, 0, 1], \
                         [1, 0, 0, 1, 1, 0], \
                         [0, 1, 0, 1, 1, 1], \
                         [0, 0, 1, 0, 1, 1]]
#@ts_section_end@

#@specification@
assumption = 'X0reach & []<>(!park)'
guarantee = '[]<>X5 & []<>(X0reach)'
guarantee += ' & [](next(X0reach) = (X0 | (X0reach & !park)))'
#@specification_end@

# Generate input to JTLV
#@geninput@
prob = jtlvint.generateJTLVInput(env_vars, sys_disc_vars, [assumption, guarantee],
                                 {}, disc_dynamics, smvfile, spcfile, verbose=2)
#@geninput_end@

# Check realizability
#@check@
realizability = jtlvint.checkRealizability(smv_file=smvfile, spc_file=spcfile,
                                           aut_file=autfile, verbose=3)
#@check_end@

# Compute an automaton
#@compaut@
jtlvint.computeStrategy(smv_file=smvfile, spc_file=spcfile, aut_file=autfile,
                        priority_kind=3, verbose=3)
aut = automaton.Automaton(autfile, [], 3)

# Remove dead-end states from automaton.
aut.trimDeadStates()
#@compaut_end@


# Visualize automaton with DOT file

# This example uses environment vs. system turn distinction.  To
# disable it, just use (the default),
if not aut.writeDotFile(fname="rdsimple_example.dot", hideZeros=True):
# if not aut.writeDotFile("rdsimple_example.dot",
#                         distinguishTurns={"env": prob.getEnvVars().keys(),
#                                           "sys": prob.getSysVars().keys()},
#                         turnOrder=("env", "sys")):
# if not aut.writeDotFileEdged(fname="rdsimple_example.dot",
#                              env_vars = prob.getEnvVars().keys(),
#                              sys_vars = prob.getSysVars().keys(),
#                              hideZeros=True):
    print "Error occurred while generating DOT file."
else:
    try:
        call("dot rdsimple_example.dot -Tpng -o rdsimple_example.png".split())
    except:
        print "Failed to create image from DOT file. To do so, try\n\ndot rdsimple_example.dot -Tpng -o rdsimple_example.png\n"


# Simulate.
#@sim@
num_it = 30
env_states = [{'X0reach': True}]
for i in range(1, num_it):
    if (i%3 == 0):
        env_states.append({'park':True})
    else:
        env_states.append({'park':False})

graph_vis = raw_input
destfile = 'rdsimple_example.gexf'
label_vars = ['park', 'cellID', 'X0reach']
delay = 2
vis_depth = 3
aut_states = grsim.grsim([aut], aut_trans_dict={}, env_states=env_states,
                         num_it=num_it, deterministic_env=False,
                         graph_vis=graph_vis, destfile=destfile,
                         label_vars=label_vars, delay=delay,
                         vis_depth=vis_depth)
#@sim_end@

However just before it ends, it fails at #simulate where it says :

Traceback (most recent call last):
  File "/Applications/Python 2.7/tulip-0.3c/examples/robot_discrete_simple.py", line 151, in <module>
    vis_depth=vis_depth)
  File "/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/site-packages/tulip/grsim.py", line 109, in grsim
    raise TypeError("Invalid arguments to grsim")
TypeError: Invalid arguments to grsim

Not sure if this info would help, but the DOT file also failed to be created ..

Failed to create image from DOT file. To do so, try

dot rdsimple_example.dot -Tpng -o rdsimple_example.png

Why is giving me a TypeError problem ? How can I fix this ?

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1 Answer

Editorial Team · Answer 1 · 2026-06-13T03:57:04+00:00

The following code from grsim throws the exception:

if not (isinstance(aut_list, list) and len(aut_list) > 0 and
        isinstance(aut_trans_dict, dict) and
        isinstance(env_states, list) and len(env_states) > 0 and
        isinstance(num_it, int) and isinstance(deterministic_env, bool) and
        isinstance(graph_vis, bool) and isinstance(destfile, str) and
        (label_vars == None or isinstance(label_vars, list)) and
        isinstance(delay, int) and isinstance(vis_depth, int)):
    raise TypeError("Invalid arguments to grsim")

Your graph_vis variable is not a bool, but the raw_input function:

graph_vis = raw_input

which you don’t even invoke.

The documentation asks for a boolean as well:

grsim.grsim(aut_list, aut_trans_dict={}, env_states=[{}], num_it=20, deterministic_env=True, graph_vis=False, destfile='sim_graph.gexf', label_vars=None, delay=2, vis_depth=3)

[…]

graph_vis – specify whether to visualize the simulation in Gephi.

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