Python ScenicSampler.fromScenario Examples

Example #1

File: falsify.py Project: arjunsd/perception-falsification

def main():

    # path = '../Scenic-devel/examples/carla/pedestrian.scenic'
    path = 'fullScenario.scenic'
    sampler = ScenicSampler.fromScenario(path)
    falsifier_params = DotMap(
        n_iters=1,
        save_error_table=True,
        save_safe_table=True,
        error_table_path="failures_file.txt",
    )
    falsifier_params.fal_thres = 4
    # falsifier_params.fal_thres = 7
    server_options = DotMap(maxSteps=800, verbosity=0)
    falsifier = generic_falsifier(sampler=sampler,
                                  falsifier_params=falsifier_params,
                                  server_class=ScenicServer,
                                  server_options=server_options,
                                  monitor=specification_monitor(specification))
    t0 = time.time()
    falsifier.run_falsifier()
    t = time.time() - t0
    print(
        f'Generated {len(falsifier.samples)} samples in {t} seconds with 1 worker'
    )
    print(f'Number of counterexamples: {len(falsifier.error_table.table)}')

Example #2

File: test_scenic.py Project: jeffjunzhang/VerifAI

def test_webots_road(pathToLocalFile):
    path = pathToLocalFile('scenic_road.scenic')
    sampler = ScenicSampler.fromScenario(path)

    for i in range(3):
        sample = sampler.nextSample()
        print(f'Sample #{i}:')
        print(sample)

Example #3

def test_driving_dynamic(pathToLocalFile):
    path = pathToLocalFile('scenic_driving.scenic')
    sampler = ScenicSampler.fromScenario(path)
    falsifier_params = DotMap(
        n_iters=3,
        save_error_table=False,
        save_safe_table=False,
    )
    server_options = DotMap(maxSteps=2, verbosity=3)
    falsifier = generic_falsifier(sampler=sampler,
                                  falsifier_params=falsifier_params,
                                  server_class=ScenicServer,
                                  server_options=server_options)
    falsifier.run_falsifier()

Example #4

File: scenic_cones_sampler.py Project: shromonag/VerifAI

from verifai.samplers.scenic_sampler import ScenicSampler
from dotmap import DotMap
from verifai.falsifier import generic_falsifier

path_to_scenic_file = 'lane_cones.sc'
sampler = ScenicSampler.fromScenario(path_to_scenic_file)

MAX_ITERS = 20
PORT = 8888
MAXREQS = 5
BUFSIZE = 4096

falsifier_params = DotMap()
falsifier_params.port = PORT
falsifier_params.n_iters = MAX_ITERS
falsifier_params.maxreqs = MAXREQS
falsifier_params.bufsize = BUFSIZE
falsifier_params.save_error_table = False
falsifier_params.save_good_samples = False

falsifier = generic_falsifier(sampler=sampler,
                              sampler_type='scenic',
                              falsifier_params=falsifier_params)

falsifier.run_falsifier()

print("Scenic Samples")
for i in falsifier.samples.keys():
    print("Sample: ", i)
    print(falsifier.samples[i])

Example #5

def test_driving(pathToLocalFile):
    path = pathToLocalFile('scenic_driving.scenic')
    sampler = ScenicSampler.fromScenario(path)
    runSampler(sampler)

Example #6

def test_webots_road(pathToLocalFile):
    path = pathToLocalFile('scenic_road.scenic')
    sampler = ScenicSampler.fromScenario(path)
    runSampler(sampler)