def test_load_scenario(self):
a = load_scenario(filename=self.example)
b = load_scenario(filename=self.example, scenario_name="example")
expected = ", ".join([
"{'controller_params': [5, 50, 5, '1e3']",
"'initial_state': [1.2, 0, 0, 0]", "'t_final': 30.0",
"'tape_period': 0.05}"
])
self.assertEqual(str(a), expected)
self.assertEqual(str(b), expected)
self.assertEqual(a, b)
def test_stochastic_scenario(self):
if _backend == "py":
return # Python backend does not support stochastic scenarios.
scenario = FindResourceOrThrow(
"drake/examples/acrobot/test/example_stochastic_scenario.yaml")
output = os.path.join(os.environ["TEST_TMPDIR"], "output.yaml")
dump_file = os.path.join(os.environ["TEST_TMPDIR"],
"scenario_out.yaml")
subprocess.check_call([
self.dut, "--scenario", scenario, "--output", output,
"--dump_scenario", dump_file])
x_tape = load_output(filename=output)
# 4 states x 30 seconds of samples at 20 Hz per sample_scenario.
self.assertEqual(x_tape.shape, (4, 601))
# Load the scenario dump; don't bother checking exact distribution
# semantics; just check that we have the right data shape and type.
dump = load_scenario(filename=dump_file)
self.assertEqual(len(dump["controller_params"]), 4)
self.assertTrue(all(type(x) == float
for x in dump["controller_params"]))
self.assertEqual(len(dump["initial_state"]), 4)
self.assertTrue(all(type(x) == float
for x in dump["initial_state"]))
def main():
parser = argparse.ArgumentParser(__doc__)
# There is a subtlety to the default `scenario_file`: any default must be
# a bazel `data=` dependency, but any user-specified file cannot be relied
# on to be a bazel dependency, so we do `FindResourceOrThrow` resolution
# only on the default and not on any user-provided argument.
parser.add_argument(
"--scenario_file",
"-f",
type=str,
default=None,
help="Scenario to run (default: example_stochastic_scenario.yaml)")
parser.add_argument(
"--metric",
"-m",
type=str,
choices=METRICS.keys(),
help="Choice of metric to optimize (default: %(default)s)",
default="ensemble_cost")
parser.add_argument(
"--ensemble_size",
"-e",
type=int,
default=10,
help=("Size of ensemble for each cost function evaluation "
"(default: %(default)s)"))
parser.add_argument("--num_evaluations",
"-n",
type=int,
default=250,
help=("Cost function call budget of the optimizer "
"(default: %(default)s)"))
parser.add_argument(
"--output",
"-o",
type=argparse.FileType("w"),
default=sys.stdout,
help="File to write the optimized output (default: stdout)")
args = parser.parse_args()
with closing(args.output) as output:
scenario_file = args.scenario_file or FindResourceOrThrow(
"drake/examples/acrobot/test/example_stochastic_scenario.yaml")
input_scenario = load_scenario(filename=scenario_file)
result = optimize_controller_params(
scenario=input_scenario,
metric=METRICS[args.metric],
ensemble_size=args.ensemble_size,
num_evaluations=args.num_evaluations)
output_scenario = input_scenario
output_scenario["controller_params"] = result
output.write(
save_scenario(scenario=output_scenario,
scenario_name="optimized_scenario"))
def main():
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument(
"--scenario", metavar="*.yaml", required=True,
help="Scenario file to load (required).")
parser.add_argument(
"--output", metavar="*.yaml", required=True,
help="Output file to save (required).")
args = parser.parse_args()
scenario = load_scenario(filename=args.scenario)
x_tape = simulate(**scenario)
text = save_output(x_tape=x_tape)
with open(args.output, 'w') as handle:
handle.write(text)
return 0
def test_save_scenario(self):
scenario = load_scenario(filename=self.example)
actual = save_scenario(scenario=scenario)
self.assertEqual(actual, self.expected_save)