def start_experiment(num_ga_iters=50,
num_atr_iters=5,
trials_per_task=5,
experiment_name='eigenhand_ate_threshold_3_object'):
interface = eigenhand_db_interface.EGHandDBaseInterface()
task_prototype = eigenhand_db_objects.Task(task_type_id=4, task_time=60)
em = experiment_manager.ExperimentManager(num_ga_iters,
num_atr_iters,
task_models.small_model_dict,
task_prototype,
trials_per_task,
ate.weighted_threshold_ATE_hand,
interface,
experiment_name=experiment_name)
print 'clearing old database'
try:
interface.prepare_gen_0()
except:
em.kill_existing()
interface.prepare_gen_0()
print 'starting experiment'
em.run_experiment()
em.restore_to_new_dbase()
output_results(em)
return em
def restore_experiment(num_ga_iters=50,
num_atr_iters=5,
trials_per_task=5,
experiment_name='eigenhand_ate_threshold'):
interface = eigenhand_db_interface.EGHandDBaseInterface()
task_prototype = eigenhand_db_objects.Task(task_type_id=4, task_time=60)
em = experiment_manager.ExperimentManager(num_ga_iters,
num_atr_iters,
task_models.small_model_dict,
task_prototype,
trials_per_task,
ate.weighted_threshold_ATE_hand,
interface,
experiment_name=experiment_name)
em.restore_to_new_dbase()
def continue_experiment(num_ga_iters=50,
num_atr_iters=5,
trials_per_task=5,
experiment_name='default'):
task_prototype = eigenhand_db_objects.Task(task_type_id=4, task_time=60)
em = experiment_manager.ExperimentManager(num_ga_iters,
num_atr_iters,
task_models.small_model_dict,
task_prototype,
trials_per_task,
ate.weighted_threshold_ATE_hand,
[],
experiment_name=experiment_name)
#em.kill_existing()
em.db_interface = eigenhand_db_interface.EGHandDBaseInterface()
print 'killed existing \n'
em.restore_all()
print 'restored grasps \n'
em.run_experiment()
print 'ran experiment \n '
em.restore_all()
# Replace 8 with the number of cores you so desire.
import os
import sys
import pathlib
sys.path.append(str(pathlib.Path(__file__).parent.absolute()) + "/../")
import numpy as np
from matplotlib import pyplot as plt
import initial_conditions as init
import experiment_manager as Exp
# Initial conditions are at t=1st Jan 1979 and we will integrate for 100 years.
orbits = 100
# Create an experiment manager for running experiments and handling data.
manager = Exp.ExperimentManager("apophis_baseline")
# Get initial conditions function
problem = init.GetApophis1979
# Number of outputs over the span of our integration (careful as too many points will eat file storage)
output_samples = 2500
# We want to vary the tolerance of TES from 10^-1 to 10^-6 and run an integration
# at each value of tolerance chosen i.e. "samples" integrations
samples = 21
tols_tes = np.logspace(-2, -6, samples)
for tol in tols_tes:
# Create a config dictionary for parametrising an "experiment".
config = {}
"""
@brief To upload the current version of the server side software, including the graspit binary,
the graspit_dispatcher and the graspit monitor, run python ./update_server_files.py from the command line on tonga.
Before uploading, run mk_linux_mosek, and then ./static_mosek_link_cmd on tonga.
"""
import subprocess
import experiment_manager
em = experiment_manager.ExperimentManager(num_ga_iters=0,
num_atr_iters=0,
task_model_list=[],
task_prototype=[],
trials_per_task=0,
eval_functor=[],
db_interface=[])
em.kill_existing()
target_name = "[email protected]:~/gm/"
file_names = [
"graspit_dispatcher.py", "graspit_dispatch_monitor.py", "../bin/graspit"
]
def upload_file(file_name):
args = ["scp", file_name, target_name]
s = subprocess.Popen(args)
return s.poll()