def define_jobs_context(self, context):
boot_root = self.get_boot_root()
data_central = self.get_data_central()
GlobalConfig.global_load_dir('default')
recipe_agentlearn_by_parallel_concurrent(context, data_central,
Exp23.explogs_learn, n=8, only_agents=['exp23_diffeof', 'exp23_diffeo_fast'])
recipe_agentlearn_by_parallel(context, data_central,
Exp23.explogs_learn,
only_agents=['stats2'])
from diffeo2dds_learn.programs.devel.save_video import video_visualize_diffeo_stream1_robot
for c, id_robot in iterate_context_names(context, Exp23.robots):
out = os.path.join(context.get_output_dir(),
'videos', '%s-diffeo_stream1.mp4' % id_robot)
c.comp_config(video_visualize_diffeo_stream1_robot,
id_robot=id_robot, boot_root=boot_root,
out=out)
for id_robot in Exp23.robots:
recipe_episodeready_by_convert2(context, boot_root, id_robot)
jobs_publish_learning_agents_robots(context, boot_root,
Exp23.agents, Exp23.robots)
def get_simple_scenarios(context):
pomdp_scenarios = [
dict(id_pomdp='idec-test01',
expected_ntrajectories=2,
expected_nbits=0,
expected_nstates=1),
dict(id_pomdp='idec-test02',
expected_ntrajectories=2,
expected_nbits=0,
expected_nstates=1),
dict(id_pomdp='idec-test03',
expected_ntrajectories=4,
expected_nbits=1,
expected_nstates=2),
dict(id_pomdp='idec-test04',
expected_ntrajectories=3,
expected_nbits=0,
expected_nstates=1),
]
from pkg_resources import resource_filename # @UnresolvedImport
dirs = [
resource_filename("tmdp", "configs"),
resource_filename("gridworld", "configs"),
]
GlobalConfig.global_load_dirs(dirs)
ts = []
for t in pomdp_scenarios:
t['pomdp'] = context.comp_config(instance_mdp, t['id_pomdp'])
ts.append(t)
return ts
def define_jobs_context(self, context):
GlobalConfig.global_load_dir('${B11_SRC}/bvapps/bdse1')
rm = context.get_report_manager()
rm.set_html_resources_prefix('jbds-est')
data_central = self.get_data_central()
jobs_learn_real(context, data_central,
real_robots=JBDSEstimation.real_robots,
explogs_learn=JBDSEstimation.explogs_learn)
jobs_learn_simulations(context, data_central,
simulated_robots=JBDSEstimation.simulated_robots,
num_sim_episodes=1000,
max_episode_len=30,
episodes_per_tranche=50,
explorer='expsw1')
r = job_report_learn(context, JBDSEstimation.combs_estimation)
context.add_report(r, 'learn_global')
jobs_tex(context, JBDSEstimation.combs_estimation)
jobs_servo(context, data_central,
combinations=JBDSEstimation.combs_servo,
explogs_test=JBDSEstimation.grids)
jobs_report_summary_servo_xy(context,
combinations=JBDSEstimation.combs_servo,
explogs_test=JBDSEstimation.grids_xy)
r = report_summary_servo_theta(context,
combinations=JBDSEstimation.combs_servo_th,
explogs_test=JBDSEstimation.grids_th)
context.add_report(r, 'servo_theta_global')
def define_jobs_context(self, context):
from pkg_resources import resource_filename # @UnresolvedImport
config_dir = resource_filename("yc1304.uzhturtle", "config")
GlobalConfig.global_load_dir(config_dir)
GlobalConfig.global_load_dir('${DATASET_UZHTURTLE}')
rm = context.get_report_manager()
rm.set_html_resources_prefix('uzh-turtle-stats')
data_central = self.get_data_central()
logs = list(self.get_explogs_by_tag('uzhturtle'))
agents = ['stats2', 'bdse_e1_ss']
robots = ['uzhturtle_un1_cf1', 'uzhturtle_un1_cf1_third']
for c, id_explog in iterate_context_explogs(context, logs):
explog = get_conftools_explogs().instance(id_explog)
print id_explog, explog
jobs_learn_parallel(context,
data_central=data_central,
explogs_learn=logs,
agents=agents, robots=robots,
episodes_per_tranche=2)
def get_simple_scenarios(context):
pomdp_scenarios = [
dict(id_pomdp='idec-test01',
expected_ntrajectories=2,
expected_nbits=0,
expected_nstates=1),
dict(id_pomdp='idec-test02',
expected_ntrajectories=2,
expected_nbits=0,
expected_nstates=1),
dict(id_pomdp='idec-test03',
expected_ntrajectories=4,
expected_nbits=1,
expected_nstates=2),
dict(id_pomdp='idec-test04',
expected_ntrajectories=3,
expected_nbits=0,
expected_nstates=1),
]
from pkg_resources import resource_filename # @UnresolvedImport
dirs = [
resource_filename("tmdp", "configs"),
resource_filename("gridworld", "configs"),
]
GlobalConfig.global_load_dirs(dirs)
ts = []
for t in pomdp_scenarios:
t['pomdp'] = context.comp_config(instance_mdp, t['id_pomdp'])
ts.append(t)
return ts
def get_output_signals(self):
dirnames = self.config.config_dirs.split(':')
for d in dirnames:
if d:
GlobalConfig.global_load_dir(d)
rawlog = self.config.rawlog
id_rawlog, self.rawlog = get_conftools_rawlogs().instance_smarter(rawlog)
all_signals = self.rawlog.get_signals()
if self.config.signals is None:
self.signals = list(all_signals.keys())
else:
signal_list = filter(lambda x: x, self.config.signals.split(','))
if not signal_list:
msg = 'Bad format: %r.' % self.config.signals
raise BadConfig(msg, self, 'signals')
self.signals = []
for s in signal_list:
if not s in all_signals:
msg = ('Signal %r not present in log %r (available: %r)' %
(s, id_rawlog, all_signals.keys()))
raise BadConfig(msg, self, 'signals')
self.signals.append(s)
return self.signals
def main(self):
rospy.init_node('servo_demo', disable_signals=True)
self.info('Started.')
contracts.disable_all()
boot_root = rospy.get_param('~boot_root')
boot_root = expand_environment(boot_root)
config_dir = rospy.get_param('~config_dir')
id_robot_learned = rospy.get_param('~id_robot_learn')
self.info('loading %r' % config_dir)
GlobalConfig.global_load_dir(config_dir)
id_agent = rospy.get_param('~id_agent')
self.id_robot = rospy.get_param('~id_robot')
self.sleep = rospy.get_param('~sleep', 0.005)
self.info('sleep: %s' % self.sleep)
self.error_threshold = float(rospy.get_param('~error_threshold'))
raise_if_no_state = rospy.get_param('~raise_if_no_state', True)
data_central = DataCentral(boot_root)
ag_st = load_agent_state(data_central,
id_agent,
id_robot_learned,
reset_state=False,
raise_if_no_state=raise_if_no_state)
self.agent, state = ag_st
self.info('Loaded state: %s' % state)
self.servo_agent = self.agent.get_servo()
bo_config = get_boot_config()
self.robot = bo_config.robots.instance(self.id_robot)
self.boot_spec = self.robot.get_spec()
self.publish_info_init()
self.y = None
self.y_goal = None
self.started_now = False
self.stopped_now = False
self.e0 = 1
self.e = 1
self.last_boot_data = None
self.state = STATE_WAIT
self.info('Defining services')
rospy.Service('set_goal', Empty, self.srv_set_goal)
rospy.Service('start_servo', Empty, self.srv_start_servo)
rospy.Service('stop_servo', Empty, self.srv_stop_servo)
self.info('Finished initialization')
self.count = 0
self.go()
def main(self):
rospy.init_node('servo_demo', disable_signals=True)
self.info('Started.')
contracts.disable_all()
boot_root = rospy.get_param('~boot_root')
boot_root = expand_environment(boot_root)
config_dir = rospy.get_param('~config_dir')
id_robot_learned = rospy.get_param('~id_robot_learn')
self.info('loading %r' % config_dir)
GlobalConfig.global_load_dir(config_dir)
id_agent = rospy.get_param('~id_agent')
self.id_robot = rospy.get_param('~id_robot')
self.sleep = rospy.get_param('~sleep', 0.005)
self.info('sleep: %s' % self.sleep)
self.error_threshold = float(rospy.get_param('~error_threshold'))
raise_if_no_state = rospy.get_param('~raise_if_no_state', True)
data_central = DataCentral(boot_root)
ag_st = load_agent_state(data_central, id_agent, id_robot_learned,
reset_state=False,
raise_if_no_state=raise_if_no_state)
self.agent, state = ag_st
self.info('Loaded state: %s' % state)
self.servo_agent = self.agent.get_servo()
bo_config = get_boot_config()
self.robot = bo_config.robots.instance(self.id_robot)
self.boot_spec = self.robot.get_spec()
self.publish_info_init()
self.y = None
self.y_goal = None
self.started_now = False
self.stopped_now = False
self.e0 = 1
self.e = 1
self.last_boot_data = None
self.state = STATE_WAIT
self.info('Defining services')
rospy.Service('set_goal', Empty, self.srv_set_goal)
rospy.Service('start_servo', Empty, self.srv_start_servo)
rospy.Service('stop_servo', Empty, self.srv_stop_servo)
self.info('Finished initialization')
self.count = 0
self.go()
def jobs_comptests(context):
# configuration
from conf_tools import GlobalConfig
GlobalConfig.global_load_dir("example_package.configs")
# mcdp_lang_tests
from . import unittests
# instantiation
from comptests import jobs_registrar
jobs_registrar(context, get_example_package_config())
def jobs_comptests(context):
# configuration
from conf_tools import GlobalConfig
GlobalConfig.global_load_dir("example_package.configs")
# mcdp_lang_tests
from . import unittests
# instantiation
from comptests import jobs_registrar
jobs_registrar(context, get_example_package_config())
def define_jobs_context(self, context):
data_central = self.get_data_central()
GlobalConfig.global_load_dir('default')
agents = Exp33.agents
robots = Exp33.robots
explogs_learn = Exp33.explogs_learn
explogs_test = Exp33.explogs_test
jobs_learnp_and_servo(context, data_central=data_central,
explogs_learn=explogs_learn,
explogs_test=explogs_test, agents=agents, robots=robots)
def define_jobs_context(self, context):
boot_root = self.get_boot_root()
data_central = self.get_data_central()
GlobalConfig.global_load_dir('default')
recipe_agentlearn_by_parallel_concurrent_reps(context, data_central,
Exp32.explogs_learn, n=8, max_reps=10)
for id_robot in Exp32.robots:
recipe_episodeready_by_convert2(context, boot_root, id_robot)
jobs_publish_learning_agents_robots(context, boot_root,
Exp32.agents, Exp32.robots)
def define_jobs_context(self, context):
boot_root = self.get_boot_root()
data_central = self.get_data_central()
GlobalConfig.global_load_dir("default")
recipe_agentlearn_by_parallel_concurrent_reps(
context, data_central, Exp27.explogs_learn, n=8, max_reps=20, only_agents=["exp23_diffeof"]
)
recipe_agentlearn_by_parallel(context, data_central, Exp27.explogs_learn, only_agents=["stats2", "cmdstats"])
for id_robot in Exp27.robots:
recipe_episodeready_by_convert2(context, boot_root, id_robot)
jobs_publish_learning_agents_robots(context, boot_root, Exp27.agents, Exp27.robots)
def comp_config_dynamic(self, f, *args, **kwargs) -> Promise:
""" Defines jobs that will take a "context" argument to define
more jobs. """
config_state = GlobalConfig.get_state()
# so that compmake can use a good name
if not 'command_name' in kwargs:
kwargs['command_name'] = f.__name__
return self.comp_dynamic(wrap_state_dynamic, config_state, f, *args, **kwargs)
def comp_config(self, f, *args, **kwargs):
"""
Like comp, but we also automatically save the GlobalConfig state.
"""
config_state = GlobalConfig.get_state()
# so that compmake can use a good name
kwargs['command_name'] = f.__name__
return self.comp(wrap_state, config_state, f, *args, **kwargs)
def comp_config_dynamic(self, f, *args, **kwargs):
""" Defines jobs that will take a "context" argument to define
more jobs. """
config_state = GlobalConfig.get_state()
# so that compmake can use a good name
if not "command_name" in kwargs:
kwargs["command_name"] = f.__name__
return self.comp_dynamic(wrap_state_dynamic, config_state, f, *args, **kwargs)
def define_jobs_context(self, context):
CompTests.global_output_dir = self.get_options().output
self.info('Setting output dir to %s' % CompTests.global_output_dir)
CompTests.output_dir_for_current_test = None
GlobalConfig.global_load_dir('default')
modules = self.get_modules()
if self.options.circle:
env = os.environ
v_index, v_total = 'CIRCLE_NODE_INDEX', 'CIRCLE_NODE_TOTAL'
if v_index in env and v_total in env:
index = int(os.environ[v_index])
total = int(os.environ[v_total])
msg = 'Detected I am worker #%s of %d in CircleCI.' % (index, total)
self.info(msg)
mine = []
for i in range(len(modules)):
if i % total == index:
mine.append(modules[i])
msg = 'I am only doing these modules: %s, instead of %s' % (mine, modules)
self.info(msg)
modules = mine
if not modules:
raise Exception('No modules found.') # XXX: what's the nicer way?
options = self.get_options()
do_coverage = options.coverage
if do_coverage:
import coverage
coverage.process_startup()
if not options.nonose:
self.instance_nosetests_jobs(context, modules, do_coverage)
#self.instance_nosesingle_jobs(context, modules)
if not options.nocomp:
self.instance_comptests_jobs(context, modules,
create_reports=options.reports,
do_coverage=do_coverage)
def define_jobs_context(self, context):
GlobalConfig.global_load_dir('default')
modules = self.get_modules()
if not modules:
raise Exception('No modules found.') # XXX: what's the nicer way?
options = self.get_options()
if not options.nonose:
do_coverage = options.coverage
self.instance_nosetests_jobs(context, modules, do_coverage)
#self.instance_nosesingle_jobs(context, modules)
if not options.nocomp:
self.instance_comptests_jobs(context, modules,
create_reports=options.reports)
def define_jobs_context(self, context):
boot_root = self.get_boot_root()
data_central = self.get_data_central()
GlobalConfig.global_load_dir('default')
recipe_agentlearn_by_parallel(context, data_central, Exp29.explogs_learn)
for id_robot in Exp29.robots:
recipe_episodeready_by_convert2(context, boot_root, id_robot)
combinations = iterate_context_names_pair(context, Exp29.nmaps, Exp29.robots)
for c, id_episode, id_robot in combinations:
jobs_navigation_map(c,
outdir=context.get_output_dir(),
data_central=data_central,
id_robot=id_robot,
id_episode=id_episode)
def comp_config(self, f, *args, **kwargs) -> Promise:
"""
Like comp, but we also automatically save the GlobalConfig state.
"""
config_state = GlobalConfig.get_state()
# so that compmake can use a good name
if not 'command_name' in kwargs:
kwargs['command_name'] = f.__name__
return self.comp(wrap_state, config_state, f, *args, **kwargs)
def define_jobs_context(self, context):
from pkg_resources import resource_filename # @UnresolvedImport
config_dir = resource_filename("yc1304.uzhturtle", "config")
GlobalConfig.global_load_dir(config_dir)
GlobalConfig.global_load_dir("${DATASET_UZHTURTLE}")
rm = context.get_report_manager()
rm.set_html_resources_prefix("uzh-turtle-plots")
data_central = self.get_data_central()
id_robot = "uzhturtle_un1_cf1_third"
recipe_episodeready_by_convert2(context, boot_root=self.get_boot_root())
logs = list(self.get_explogs_by_tag("uzhturtle"))
for c, id_explog in iterate_context_explogs(context, logs):
jobs_turtleplot(c, data_central, id_robot, id_episode=id_explog)
def define_jobs_context(self, context):
boot_root = self.get_boot_root()
data_central = self.get_data_central()
GlobalConfig.global_load_dir('default')
recipe_agentlearn_by_parallel_concurrent(context, data_central, \
Exp24.explogs_learn, n=8, only_agents=['exp23_diffeof', 'exp23_diffeo_fast'])
recipe_agentlearn_by_parallel(context, data_central,
Exp24.explogs_learn,
only_agents=['stats2'])
for id_robot in Exp24.robots:
recipe_episodeready_by_convert2(context, boot_root, id_robot)
jobs_publish_learning_agents_robots(context, boot_root,
Exp24.agents, Exp24.robots)
def define_jobs_context(self, context):
boot_root = self.get_boot_root()
data_central = self.get_data_central()
# for vehicles
GlobalConfig.global_load_dir('${B11_SRC}/bvapps/bdse1')
recipe_episodeready_by_convert2(context, boot_root)
recipe_episodeready_by_simulation_tranches(context, data_central,
explorer=Exp42.explorer,
episodes=Exp42.simulated_episodes,
max_episode_len=30,
episodes_per_tranche=50)
for c in Exp42.combinations:
recipe_agentlearn_by_parallel(context, data_central, c['episodes'],
only_robots=[c['id_robot']],
intermediate_reports=False,
episodes_per_tranche=50)
jobs_publish_learning_agents_robots(context, boot_root,
Exp42.agents, Exp42.robots)
def main():
from vehicles_cairo import (cairo_ref_frame, cairo_rototranslate,
vehicles_cairo_display_png)
# Instance robot object
id_robot = 'r_cam_A'
filename = 'test.png'
resolution = 0.5
config = get_boot_config()
cd1 = '/Users/andrea/scm/boot11_env/src/vehicles/src/vehicles/configs'
cd2 = '/Users/andrea/scm/boot11_env/src/bvapps/bo_app1/config'
GlobalConfig.global_load_dir('default')
GlobalConfig.global_load_dir(cd1)
GlobalConfig.global_load_dir(cd2)
robot = config.robots.instance(id_robot) # @UndefinedVariable
robot.new_episode()
locations = get_grid(robot=robot, debug=True,
world=robot.world,
vehicle=robot.vehicle, resolution=resolution)
poses = [f['pose'] for f in locations]
# poses = elastic(poses, alpha=0.1, num_iterations=20)
print('Converting to yaml...')
robot.vehicle.set_pose(poses[0])
state = robot.to_yaml()
pprint(state)
print(yaml_dump(state))
def extra_draw_world(cr):
for pose in poses:
with cairo_rototranslate(cr, SE2_from_SE3(pose)):
cairo_ref_frame(cr, l=0.5,
x_color=[0, 0, 0], y_color=[0, 0, 0])
plotting_params = {}
plotting_params['extra_draw_world'] = extra_draw_world
print('Writing to: %r' % filename)
vehicles_cairo_display_png(filename, width=800, height=800,
sim_state=state,
**plotting_params)
print('... done')
def initial_setup(self):
config_dirs = self.get_config_dirs()
GlobalConfig.global_load_dirs(config_dirs)
def define_jobs_context(self, context):
# Load defaults for everybody
GlobalConfig.global_load_dir('default')
# Load our specific config
from pkg_resources import resource_filename # @UnresolvedImport
config_dir = resource_filename("dptr1", "configs")
GlobalConfig.global_load_dir(config_dir)
# So we can load objects we create
GlobalConfig.global_load_dir(context.get_output_dir())
# get_diffeo2ddslearn_config().load('default')
# First, learn the diffeomorphisms
stream = "orbit-pt256-80"
estimator = 'test_ddsest_unc_refine2' # "n35s"
max_displ = 0.35
learned = context.subtask(DDSLLearn, estimator=estimator, stream=stream,
max_displ=max_displ)
rm = context.get_resource_manager()
rm.set_resource(learned, 'discdds', id_discdds='test_ddsest_unc_refine2_orbit-pt256-80')
# dp plearn -s $stream -l n35s -c "clean *summarize*; parmake "
# dp plearn -s $stream -l n35o -c "clean *summarize*; parmake "
distances = "L1,L2,L1w,L2w,cL2,cL1,cD10,D10,cD20,D20,cD30,D30,N10,N20,N30,cN10,cN20,cN30"
# dp dist-stats -o $out/dp-dist-stats -d $distances -s $stream -c "clean report*; parmake"
context.subtask(DPDistStats, streams=stream, distances=distances)
dds_orbit = "%s-%s" % (estimator, stream)
# dp pred-stats -o $out/dp-pred-stats -d $distances -s $stream --dds $stream-n35s -c "clean report*; parmake"
# dp pred-stats -o $out/dp-pred-stats -d $distances -s $stream --dds $stream-n35o -c "clean report*; parmake"
context.subtask(DPPredStats,
distances=distances, streams=stream, dds=dds_orbit)
# dp1 show-discdds-geo -o $out/dp-show-discdds-geo -t 0.04 dcl4r80
dds_cl = 'sym-dcl4r-80'
context.subtask(DPShowGeo, discdds=dds_cl, tolerance=0.4)
# dp1 show-discdds-geo -o $out/dp-show-discdds-geo h1orbit-pt256-80-n35s
context.subtask(DPShowGeo, discdds=dds_orbit, tolerance=0.3)
# dp1 show-discdds-fill -o $out/dp-show-discdds-fill -v 0.5 h1orbit-pt256-80-n35s
context.subtask(DPShowFill, min_visibility=0.5, discdds=dds_orbit)
# dp1 show-discdds-fill -o $out/dp-show-discdds-fill -v 0.5 dpx1
context.subtask(DPShowFill, min_visibility=0.5, discdds='sym-dpx1-80')
# dp1 show-discdds-fill -o $out/dp-show-discdds-fill --collapse_threshold 0.5 -v 0.5 dtx1
context.subtask(DPShowFill, min_visibility=0.5, discdds='sym-dtx1-80', collapse_threshold=0.5)
# dp1 show-discdds-fill -o $out/dp-show-discdds-fill -v 0.5 dcl4r80
context.subtask(DPShowFill, min_visibility=0.5, discdds=dds_cl, collapse_threshold=0.5)
context.subtask(DPShowFill, min_visibility=0.5, discdds='sym-dpx3-80')
context.subtask(DPShowFill, min_visibility=0.5, discdds='sym-dptcam3-80')
c_planning = context.child('planning')
alltestcases = []
for delay in range(1, 13):
# XXX: I didn't want to change the name in the configuration
pattern = 'tc_h1orbit-pt256-80-n35s_d%d' % (delay) + '_%03d'
tcs = c_planning.subtask(DPLogCases, stream=stream, pattern=pattern,
dds=dds_orbit, delay=delay)
alltestcases.extend(tcs)
# for id_tc in id_tc2job:
# testcases = get_conftools_testcases()
# testcases.add_spec(id_tc, 'generated', ['', {}])
c_planning.checkpoint('testcases')
# nice -n 10 dp batch -o out.tr1/dp-batch tr1_orbit_r80 -c "parmake n=6"
# nice -n 10 dp batch -o out.tr1/dp-batch tr1_park_r80 -c "parmake n=4"
# nice -n 10 dp batch -o out.tr1/dp-batch tr1_park_r128 -c "parmake n=4"
batches = ['tr1_orbit_r80', 'tr1_park_r80', 'tr1_park_r128']
c_planning.subtask(DPBatch, batches=",".join(batches), alltestcases=alltestcases)
def initial_setup(self):
GlobalConfig.global_load_dir(self.options.config)
def initial_setup(self):
options = self.get_options()
# Load configurations for all modules
self.info('loading config: %r' % options.directory)
GlobalConfig.global_load_dir(options.directory)
def initial_setup(self):
options = self.get_options()
# Load configurations for all modules
GlobalConfig.global_load_dirs(options.config_dirs)
def initial_setup(self):
options = self.get_options()
# Load configurations for all modules
GlobalConfig.global_load_dirs(options.config_dirs)
from mocdp.dp_report.html import ast_to_html
import os
from contracts import contract
from conf_tools import locate_files, GlobalConfig
GlobalConfig.global_load_dir('mocdp')
from reprep.utils.natsorting import natsorted
files = [os.path.join('../../mocdp/', f)
for f in [
'examples/example-battery/battery.mcdp',
'examples/example-catalogue/catalogue1.mcdp',
'examples/example-catalogue/choose.mcdp',
'examples/example-catalogue/catalogue_plus_coproduct-compacter.mcdp',
]]
files.extend([
'big2.mcdp',
])
descriptions = {
'battery': """
## Energetics + actuation
This example shows co-design of **energetics** (choose the battery)
and **actuation**. The **recursive co-design constraint** is that the actuators
must generate lift to transport the battery, and the battery must provide
power to the actuators.
def initial_setup(self):
rs2b_config = get_rs2b_config()
rs2b_config.load(rs2b_config.get_default_dir())
if self.options.config != '':
GlobalConfig.global_load_dir(self.options.config)
def initial_setup(self):
options = self.get_options()
# Load configurations for all modules
self.info('loading config: %r' % options.directory)
GlobalConfig.global_load_dir(options.directory)
def initial_setup(self):
config_dirs = self.get_config_dirs()
GlobalConfig.global_load_dirs(config_dirs)
np.seterr(all='raise')
from mocdp.dp_report.html import ast_to_html
import os
from contracts import contract
from conf_tools import locate_files, GlobalConfig
GlobalConfig.global_load_dir('mocdp')
from reprep.utils.natsorting import natsorted
files = [
os.path.join('../../mocdp/', f) for f in [
'examples/example-battery/battery.mcdp',
'examples/example-catalogue/catalogue1.mcdp',
'examples/example-catalogue/choose.mcdp',
'examples/example-catalogue/catalogue_plus_coproduct-compacter.mcdp',
]
]
files.extend([
'big2.mcdp',
])
descriptions = {
'battery':
"""
## Energetics + actuation
This example shows co-design of **energetics** (choose the battery)
and **actuation**. The **recursive co-design constraint** is that the actuators
must generate lift to transport the battery, and the battery must provide
def define_jobs_context(self, context):
# Load defaults for everybody
GlobalConfig.global_load_dir('default')
# Load our specific config
from pkg_resources import resource_filename # @UnresolvedImport
config_dir = resource_filename("dptr1", "configs")
GlobalConfig.global_load_dir(config_dir)
# So we can load objects we create
GlobalConfig.global_load_dir(context.get_output_dir())
# get_diffeo2ddslearn_config().load('default')
# First, learn the diffeomorphisms
stream = "orbit-pt256-80"
estimator = 'test_ddsest_unc_refine2' # "n35s"
max_displ = 0.35
learned = context.subtask(DDSLLearn,
estimator=estimator,
stream=stream,
max_displ=max_displ)
rm = context.get_resource_manager()
rm.set_resource(learned,
'discdds',
id_discdds='test_ddsest_unc_refine2_orbit-pt256-80')
# dp plearn -s $stream -l n35s -c "clean *summarize*; parmake "
# dp plearn -s $stream -l n35o -c "clean *summarize*; parmake "
distances = "L1,L2,L1w,L2w,cL2,cL1,cD10,D10,cD20,D20,cD30,D30,N10,N20,N30,cN10,cN20,cN30"
# dp dist-stats -o $out/dp-dist-stats -d $distances -s $stream -c "clean report*; parmake"
context.subtask(DPDistStats, streams=stream, distances=distances)
dds_orbit = "%s-%s" % (estimator, stream)
# dp pred-stats -o $out/dp-pred-stats -d $distances -s $stream --dds $stream-n35s -c "clean report*; parmake"
# dp pred-stats -o $out/dp-pred-stats -d $distances -s $stream --dds $stream-n35o -c "clean report*; parmake"
context.subtask(DPPredStats,
distances=distances,
streams=stream,
dds=dds_orbit)
# dp1 show-discdds-geo -o $out/dp-show-discdds-geo -t 0.04 dcl4r80
dds_cl = 'sym-dcl4r-80'
context.subtask(DPShowGeo, discdds=dds_cl, tolerance=0.4)
# dp1 show-discdds-geo -o $out/dp-show-discdds-geo h1orbit-pt256-80-n35s
context.subtask(DPShowGeo, discdds=dds_orbit, tolerance=0.3)
# dp1 show-discdds-fill -o $out/dp-show-discdds-fill -v 0.5 h1orbit-pt256-80-n35s
context.subtask(DPShowFill, min_visibility=0.5, discdds=dds_orbit)
# dp1 show-discdds-fill -o $out/dp-show-discdds-fill -v 0.5 dpx1
context.subtask(DPShowFill, min_visibility=0.5, discdds='sym-dpx1-80')
# dp1 show-discdds-fill -o $out/dp-show-discdds-fill --collapse_threshold 0.5 -v 0.5 dtx1
context.subtask(DPShowFill,
min_visibility=0.5,
discdds='sym-dtx1-80',
collapse_threshold=0.5)
# dp1 show-discdds-fill -o $out/dp-show-discdds-fill -v 0.5 dcl4r80
context.subtask(DPShowFill,
min_visibility=0.5,
discdds=dds_cl,
collapse_threshold=0.5)
context.subtask(DPShowFill, min_visibility=0.5, discdds='sym-dpx3-80')
context.subtask(DPShowFill,
min_visibility=0.5,
discdds='sym-dptcam3-80')
c_planning = context.child('planning')
alltestcases = []
for delay in range(1, 13):
# XXX: I didn't want to change the name in the configuration
pattern = 'tc_h1orbit-pt256-80-n35s_d%d' % (delay) + '_%03d'
tcs = c_planning.subtask(DPLogCases,
stream=stream,
pattern=pattern,
dds=dds_orbit,
delay=delay)
alltestcases.extend(tcs)
# for id_tc in id_tc2job:
# testcases = get_conftools_testcases()
# testcases.add_spec(id_tc, 'generated', ['', {}])
c_planning.checkpoint('testcases')
# nice -n 10 dp batch -o out.tr1/dp-batch tr1_orbit_r80 -c "parmake n=6"
# nice -n 10 dp batch -o out.tr1/dp-batch tr1_park_r80 -c "parmake n=4"
# nice -n 10 dp batch -o out.tr1/dp-batch tr1_park_r128 -c "parmake n=4"
batches = ['tr1_orbit_r80', 'tr1_park_r80', 'tr1_park_r128']
c_planning.subtask(DPBatch,
batches=",".join(batches),
alltestcases=alltestcases)
def initial_setup(self):
config_dirs = self.get_config_dirs()
GlobalConfig.global_load_dirs(config_dirs)
np.seterr(all='raise')
