def runChoice():
checkL = True
fileName = 'setupHitVelgamma6.xml'
rs = ReadXmlFile(fileName)
nameTheta = 'Best'
nameF = 'results_folder'
nbret = 5
generateFromCMAESNController(nbret, rs, nameTheta, nameF)
plotVelocityProfile("OPTI",rs,nameF)
plotXYPositions("OPTI",rs, nameF,"All",False)
plotCostColorMap("OPTI",rs, nameF)
plotTimeDistanceTarget(nameF, rs)
plotFittsLaw(nameF, rs)
plotTimeColorMap("OPTI",rs, nameF)
plotScattergram("OPTI",nameF, rs)
def runChoice():
checkL = True
fileName = 'setupHitVelgamma6.xml'
rs = ReadXmlFile(fileName)
nameTheta = 'Best'
nameF = 'results_folder'
nbret = 5
generateFromCMAESNController(nbret, rs, nameTheta, nameF)
plotVelocityProfile("OPTI", rs, nameF)
plotXYPositions("OPTI", rs, nameF, "All", False)
plotCostColorMap("OPTI", rs, nameF)
plotTimeDistanceTarget(nameF, rs)
plotFittsLaw(nameF, rs)
plotTimeColorMap("OPTI", rs, nameF)
plotScattergram("OPTI", nameF, rs)
def trainAndCompare(self, K, noise):
self.rs.deltaK = K
for i in self.rs.sizeOfTarget:
launchCMAESForAllPoint(self.rs, i, None, noise)
resultPath = os.getcwd() + "../Data/CMAESK" + str(K) + "/"
resultName = "geneForHits/finalX/x.last"
nameTheta = "Best"
name = "geneForHits"
nbret = 50
generateFromCMAESNController(nbret, self.rs, nameTheta, name, noise)
result1 = np.loadtxt(resultPath + "0.005/" + resultName)
result2 = np.loadtxt(resultPath + "0.01/" + resultName)
result3 = np.loadtxt(resultPath + "0.02/" + resultName)
result4 = np.loadtxt(resultPath + "0.04/" + resultName)
return -(cp.kl(result1, self.experiment1, 0.0025) +
cp.kl(result2, self.experiment2, 0.005) +
cp.kl(result3, self.experiment3, 0.01) +
cp.kl(result4, self.experiment4, 0.02))
def trainAndCompare(self, K, noise):
self.rs.deltaK = K
for i in self.rs.sizeOfTarget:
launchCMAESForAllPoint(self.rs, i, None, noise)
resultPath = os.getcwd() + "../Data/CMAESK" + str(K) + "/"
resultName = "geneForHits/finalX/x.last"
nameTheta = "Best"
name = "geneForHits"
nbret = 50
generateFromCMAESNController(nbret, self.rs, nameTheta, name, noise)
result1 = np.loadtxt(resultPath + "0.005/" + resultName)
result2 = np.loadtxt(resultPath + "0.01/" + resultName)
result3 = np.loadtxt(resultPath + "0.02/" + resultName)
result4 = np.loadtxt(resultPath + "0.04/" + resultName)
return -(
cp.kl(result1, self.experiment1, 0.0025)
+ cp.kl(result2, self.experiment2, 0.005)
+ cp.kl(result3, self.experiment3, 0.01)
+ cp.kl(result4, self.experiment4, 0.02)
)
def chooseFunction(choix, rs):
if choix == 1:
rorc = input("enter 1 if from Regression, anything if from previous CMAES: ")
save = False
rorc = int(rorc)
if rorc == 1:
save = True
c = Chrono()
launchCMAESForAllTargetSizesMulti(rs)
c.stop()
elif choix == 2:
# TODO: Choose the kinematic model
nameTheta = raw_input("Name of the controller file: ")
name = raw_input("Folder where you want to save the results: ")
nbret = input("Number of repeat for each trajectory (int): ")
nbret = int(nbret)
generateFromCMAES(nbret, rs, nameTheta, name)
elif choix == 3:
nameF = raw_input("Folder where the results are saved: ")
plotVelocityProfile("OPTI", rs, nameF)
elif choix == 4:
nameF = raw_input("Folder where the results are saved: ")
rorc = input("enter 1 if XY or 2 if Joint results: ")
rorc = int(rorc)
if rorc == 1:
plotXYPositions("OPTI", rs, nameF, "All", False)
else:
plotArticularPositions("OPTI", rs, nameF)
elif choix == 5:
nameF = raw_input("Folder where the results are saved: ")
tSize = raw_input("Target Size: ")
plotMuscularActivations("OPTI", rs, nameF, tSize)
elif choix == 6:
nameF = raw_input("Folder where the results are saved: ")
# tSize = raw_input('Target Size: ')
# plotCostColorMap("OPTI",nameF,tSize)
plotCostColorMap("OPTI", rs, nameF)
elif choix == 7:
nameF = raw_input("Folder where the results are saved: ")
plotTimeDistanceTarget(nameF, rs)
elif choix == 8:
nameF = raw_input("Folder where the results are saved: ")
plotPerfSizeDist(nameF, rs)
elif choix == 9:
nameF = raw_input("Folder where the results are saved: ")
plotFittsLaw(nameF, rs)
elif choix == 10:
nameF = raw_input("Folder where the results are saved: ")
plotTimeColorMap("OPTI", rs, nameF)
elif choix == 11:
rorc = input("enter 0 if Brent, 1 if Regression or 2 if CMAES results: ")
rorc = int(rorc)
if rorc == 0:
trajectoriesAnimation("Brent", rs)
elif rorc == 1:
nameF = raw_input("Folder where the results are saved: ")
trajectoriesAnimation("RBFN", rs, nameF)
elif rorc == 2:
nameF = raw_input("Folder where the results are saved: ")
tSize = raw_input("Target Size: ")
trajectoriesAnimation("OPTI", rs, nameF, tSize)
elif choix == 12:
nameF = raw_input("Folder where the results are saved: ")
rorc = input("enter 1 if RBFN or 2 if CMAES results: ")
# plotHitDispersion(nameF,"0.05")
rorc = int(rorc)
if rorc == 1:
plotScattergram("RBFN", nameF, rs)
elif rorc == 2:
plotScattergram("OPTI", nameF, rs)
elif choix == 13:
rorc = input("enter 1 if from RBFN, anything if from previous CMAES: ")
save = False
rorc = int(rorc)
if rorc == 1:
save = True
tSize = raw_input("Target Size: ")
c = Chrono()
launchCMAESForSpecificTargetSize(float(tSize), rs, save)
c.stop()
elif choix == 14:
plotCMAESProgress(rs)
elif choix == 15:
name = raw_input("Name of the Regression controller file: ")
fname = raw_input("Folder where you want to save the results: ")
nbret = input("Number of repeat for each trajectory (int): ")
c = Chrono()
generateRichDataFromRegression(nbret, rs, name, fname)
c.stop()
elif choix == 16:
nameTheta = raw_input("Name of the controller file: ")
name = raw_input("Folder where you want to save the results: ")
nbret = input("Number of repeat for each trajectory (int): ")
nbret = int(nbret)
c = Chrono()
generateRichDataFromCMAES(nbret, rs, nameTheta, name)
c.stop()
elif choix == 17:
plotTrajsInRepo()
elif choix == 18:
nameF = raw_input("Folder where the results are saved: ")
plotXYEstimError("OPTI", rs, nameF, "All")
elif choix == 19:
nameF = raw_input("Folder where the results are saved: ")
plotXYEstimErrorOfSpeed("OPTI", rs, nameF, "All")
elif choix == 20:
plotExperimentSetup(rs)
elif choix == 21:
plotManipulability(rs)
elif choix == 22:
plotManipulability2(rs)
elif choix == 23:
plotEstimatorPoint(rs, 0.04, 12)
elif choix == 24:
rorc = input("enter 1 if General CMAES, 2 if from scratch, anything if from previous CMAES point: ")
save = False
rorc = int(rorc)
if rorc == 1:
save = True
elif rorc == 2:
save = None
tSize = raw_input("Target Size: ")
c = Chrono()
launchCMAESForAllPoint(rs, float(tSize), save)
c.stop()
elif choix == 25:
# TODO: Test!
rorc = input("enter 1 if General CMAES, 2 if from scratch, anything if from previous CMAES point: ")
save = False
rorc = int(rorc)
if rorc == 1:
save = True
elif rorc == 2:
save = None
tSize = raw_input("Target Size: ")
points = map(int, raw_input("Point(s): ").split())
print points
lauchCMAESForListOfPoints(float(tSize), rs, save, points)
elif choix == 26:
size = raw_input("Target Size: ")
while True:
print (" Enter the number of the point you want sea, q for quit")
point = raw_input("Point: ")
if point == "q":
break
plotCMAESOnePointProgress(rs, size, point)
elif choix == 27:
# TODO: Choose the kinematic model
nameTheta = raw_input("Name of the controller file: ")
name = raw_input("Folder where you want to save the results: ")
nbret = input("Number of repeat for each trajectory (int): ")
nbret = int(nbret)
generateFromCMAESNController(nbret, rs, nameTheta, name)
elif choix == 28:
nameF = raw_input("Folder where the results are saved: ")
rorc = raw_input("Target Size: ")
plotXYPositions("OPTI", rs, nameF, rorc, False)
elif choix == 29:
nameTheta = raw_input("Name of the controller file: ")
name = raw_input("Folder where you want to save the results: ")
nbret = input("Number of repeat for each trajectory (int): ")
nbret = int(nbret)
size = raw_input("Target Size: ")
point = raw_input("Point: ")
generateFromCMAESonePoint(nbret, rs, nameTheta, name, float(size), point)
elif choix == 30:
nameF = raw_input("Folder where the results are saved: ")
# tSize = raw_input('Target Size: ')
# plotCostColorMap("OPTI",nameF,tSize)
plotCostColorMapFor12("OPTI", rs, nameF)
elif choix == 31:
size = raw_input("Target Size: ")
checkAllPoint(rs, size)
else:
return 0
return 1
def chooseFunction(choix, rs):
if choix == 1:
rorc = input("enter 1 if from Regression, anything if from previous CMAES: ")
save = False
rorc = int(rorc)
if rorc == 1:
save = True
c = Chrono()
launchCMAESForAllTargetSizesMulti(rs)
c.stop()
elif choix == 2:
#TODO: Choose the kinematic model
nameTheta = raw_input('Name of the controller file: ')
name = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
nbret = int(nbret)
generateFromCMAES(nbret, rs, nameTheta, name)
elif choix == 3:
nameF = raw_input('Folder where the results are saved: ')
plotVelocityProfile("OPTI",rs,nameF)
elif choix == 4:
nameF = raw_input('Folder where the results are saved: ')
rorc = input("enter 1 if XY or 2 if Joint results: ")
rorc = int(rorc)
if rorc == 1:
plotXYPositions("OPTI",rs, nameF,"All",False)
else:
plotArticularPositions("OPTI",rs, nameF)
elif choix == 5:
nameF = raw_input('Folder where the results are saved: ')
tSize = raw_input('Target Size: ')
plotMuscularActivations("OPTI",rs,nameF,tSize)
elif choix == 6:
nameF = raw_input('Folder where the results are saved: ')
#tSize = raw_input('Target Size: ')
#plotCostColorMap("OPTI",nameF,tSize)
plotCostColorMap("OPTI",rs, nameF)
elif choix == 7:
nameF = raw_input('Folder where the results are saved: ')
plotTimeDistanceTarget(nameF, rs)
elif choix == 8:
nameF = raw_input('Folder where the results are saved: ')
plotPerfSizeDist(nameF, rs)
elif choix == 9:
nameF = raw_input('Folder where the results are saved: ')
plotFittsLaw(nameF, rs)
elif choix == 10:
nameF = raw_input('Folder where the results are saved: ')
plotTimeColorMap("OPTI",rs, nameF)
elif choix == 11:
rorc = input("enter 0 if Brent, 1 if Regression or 2 if CMAES results: ")
rorc = int(rorc)
if rorc == 0:
trajectoriesAnimation("Brent", rs)
elif rorc == 1:
nameF = raw_input('Folder where the results are saved: ')
trajectoriesAnimation("RBFN",rs, nameF)
elif rorc == 2:
nameF = raw_input('Folder where the results are saved: ')
tSize = raw_input('Target Size: ')
trajectoriesAnimation("OPTI",rs, nameF, tSize)
elif choix == 12:
nameF = raw_input('Folder where the results are saved: ')
rorc = input("enter 1 if RBFN or 2 if CMAES results: ")
#plotHitDispersion(nameF,"0.05")
rorc = int(rorc)
if rorc == 1:
plotScattergram("RBFN",nameF, rs)
elif rorc == 2:
plotScattergram("OPTI",nameF, rs)
elif choix == 13:
rorc = input("enter 1 if from RBFN, anything if from previous CMAES: ")
save = False
rorc = int(rorc)
if rorc == 1:
save = True
tSize = raw_input('Target Size: ')
c = Chrono()
launchCMAESForSpecificTargetSize(float(tSize),rs,save)
c.stop()
elif choix == 14:
plotCMAESProgress(rs)
elif choix == 15:
name = raw_input('Name of the Regression controller file: ')
fname = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
c = Chrono()
generateRichDataFromRegression(nbret,rs, name, fname)
c.stop()
elif choix == 16:
nameTheta = raw_input('Name of the controller file: ')
name = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
nbret = int(nbret)
c = Chrono()
generateRichDataFromCMAES(nbret,rs, nameTheta, name)
c.stop()
elif choix == 17:
plotTrajsInRepo()
elif choix == 18:
nameF = raw_input('Folder where the results are saved: ')
plotXYEstimError("OPTI",rs,nameF,"All")
elif choix == 19:
nameF = raw_input('Folder where the results are saved: ')
plotXYEstimErrorOfSpeed("OPTI",rs,nameF,"All")
elif choix == 20:
plotExperimentSetup(rs)
elif choix == 21:
plotManipulability(rs)
elif choix == 22:
plotManipulability2(rs)
elif choix == 23:
plotEstimatorPoint(rs, 0.04, 12)
elif choix == 24:
rorc = input("enter 1 if General CMAES, 2 if from scratch, anything if from previous CMAES point: ")
save = False
rorc = int(rorc)
if rorc == 1:
save = True
elif rorc==2:
save=None
tSize = raw_input('Target Size: ')
c = Chrono()
launchCMAESForAllPoint(rs,float(tSize),save)
c.stop()
elif choix == 25:
#TODO: Test!
rorc = input("enter 1 if General CMAES, 2 if from scratch, anything if from previous CMAES point: ")
save = False
rorc = int(rorc)
if rorc == 1:
save = True
elif rorc==2:
save=None
tSize = raw_input('Target Size: ')
points=map(int, raw_input('Point(s): ').split())
print points
lauchCMAESForListOfPoints(float(tSize), rs, save, points)
elif choix == 26:
size=raw_input('Target Size: ')
while True:
print(" Enter the number of the point you want sea, q for quit")
point=raw_input('Point: ')
if(point=="q"):
break
plotCMAESOnePointProgress(rs,size, point)
elif choix == 27:
#TODO: Choose the kinematic model
nameTheta = raw_input('Name of the controller file: ')
name = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
nbret = int(nbret)
generateFromCMAESNController(nbret, rs, nameTheta, name)
elif choix == 28:
nameF = raw_input('Folder where the results are saved: ')
rorc = raw_input("Target Size: ")
plotXYPositions("OPTI",rs, nameF,rorc,False)
elif choix == 29:
nameTheta = raw_input('Name of the controller file: ')
name = raw_input('Folder where you want to save the results: ')
nbret = input("Number of repeat for each trajectory (int): ")
nbret = int(nbret)
size=raw_input('Target Size: ')
point=raw_input('Point: ')
generateFromCMAESonePoint(nbret, rs, nameTheta, name, float(size), point)
elif choix == 30:
nameF = raw_input('Folder where the results are saved: ')
#tSize = raw_input('Target Size: ')
#plotCostColorMap("OPTI",nameF,tSize)
plotCostColorMapFor12("OPTI",rs, nameF)
elif choix == 31:
size=raw_input('Target Size: ')
checkAllPoint(rs, size)
else :
return 0
return 1
