def UnitTestController(fileName):
'''
Tests the approximated command obtained from training states
'''
rs = ReadXmlFile(fileName)
fa = initController(rs)
stateAll, commandAll = stateAndCommandDataFromTrajs(
loadStateCommandPairsByStartCoords(pathDataFolder + "TrajRepository/"))
#stateAll, commandAll = stateAndCommandDataFromTrajs(loadStateCommandPairsByStartCoords(BrentTrajectoriesFolder))
#print ("len:", len(commandAll[0]))
state = np.vstack(np.array(stateAll))
command = np.vstack(np.array(commandAll))
fa.getTrainingData(state, command)
if (rs.regression == "RBFN"):
fa.train(rs.lamb)
else:
fa.train()
fa.saveTheta("test")
fa.loadTheta("test")
for _ in os.listdir(BrentTrajectoriesFolder):
for i in range(len(state)):
if rd.random() < 0.06:
outNN = fa.computeOutput(np.array(state[i]))
print("Real :", command[i])
print("Learn :", outNN)
def setPosSquare():
rs = ReadXmlFile("setup.xml")
filename3 = pathDataFolder + "PosSquare"
data3 = []
for j in range(20):
for i in range(20):
point = [rs.XTarget - 0.3 + i * 0.03, rs.YTarget - 0.4 + j * 0.01]
data3.append(point)
np.savetxt(filename3, data3)
def runChoice():
checkL = True
fileName = raw_input('Name of file to load setup : ')
rs = ReadXmlFile(fileName)
while checkL:
printMainMenu()
choix = input('Enter the number corresponding to the script you want to run: ')
choix = int(choix)
if(chooseFunction(choix, rs)==0): break
def setPosCircu1():
rs = ReadXmlFile("setup.xml")
filename = pathDataFolder + "PosCircu1"
data = []
point = [
rs.XTarget + (0.1 + 3 * 0.1) * np.cos(-3 * np.pi / 12 - np.pi / 4),
rs.YTarget + (0.1 + 3 * 0.1) * np.sin(-3 * np.pi / 12 - np.pi / 4)
]
data.append(point)
np.savetxt(filename, data)
def UnitTestArmModel(fileName):
'''
Tests the next state
'''
rs = ReadXmlFile(fileName)
arm = Arm26()
arm.setDT(rs.dt)
state, estimState, command, noisycommand, nextEstimState, nextState = {}, {}, {}, {}, {}, {}
for el in os.listdir(BrentTrajectoriesFolder):
state[el], estimState[el], command[el], noisycommand[
el], nextEstimState[el], nextState[el] = [], [], [], [], [], []
data = np.loadtxt(BrentTrajectoriesFolder + el)
for i in range(data.shape[0]):
estimState[el].append(
np.array([data[i][4], data[i][5], data[i][6], data[i][7]]))
state[el].append(
np.array([data[i][8], data[i][9], data[i][10], data[i][11]]))
noisycommand[el].append(
np.array([
data[i][12], data[i][13], data[i][14], data[i][15],
data[i][16], data[i][17]
]))
command[el].append(
np.array([
data[i][18], data[i][19], data[i][20], data[i][21],
data[i][22], data[i][23]
]))
nextEstimState[el].append(
np.array([data[i][24], data[i][25], data[i][26], data[i][27]]))
nextState[el].append(
np.array([data[i][28], data[i][29], data[i][30], data[i][31]]))
for el in os.listdir(BrentTrajectoriesFolder):
for i in range(len(state[el])):
if rd.random() < 0.06:
outNextStateNoisy = arm.computeNextState(
noisycommand[el][i], state[el][i])
outNextState = arm.computeNextState(command[el][i],
state[el][i])
print("U :", command[el][i])
print("UNoisy :", noisycommand[el][i])
print(
"---------------------------------------------------------"
)
print("Real :", nextState[el][i])
print("ArmN :", outNextStateNoisy)
print("Arm26 :", outNextState)
print(
"---------------------------------------------------------"
)
def setPosCircu28():
rs = ReadXmlFile("setup.xml")
filename = pathDataFolder + "PosCircu28"
data2 = []
for j in range(4):
for i in range(7):
point = [
rs.XTarget +
(0.1 + j * 0.1) * np.cos(-i * np.pi / 12 - np.pi / 4),
rs.YTarget +
(0.1 + j * 0.1) * np.sin(-i * np.pi / 12 - np.pi / 4)
]
data2.append(point)
np.savetxt(filename, data2)
def setPosCircu540():
rs = ReadXmlFile("setup.xml")
filename2 = pathDataFolder + "PosCircu540"
data2 = []
for j in range(20):
for i in range(27):
point = [
rs.XTarget +
(0.1 + j * 0.02) * np.cos(-i * np.pi / 40 - np.pi / 5),
rs.YTarget +
(0.1 + j * 0.02) * np.sin(-i * np.pi / 40 - np.pi / 5)
]
data2.append(point)
np.savetxt(filename2, data2)
def testRegression(setupFile, thetaFile):
"""
"""
rs=ReadXmlFile(setupFile)
stateAll, commandAll = loadTrajs(pathDataFolder + "Brent/", 0.01, rs.det)
stateAll=np.array(stateAll)
arm=ArmType[rs.Arm]()
trajReg = np.empty_like(stateAll)
trajMaker = TrajMaker(rs,0.02,None,rs.path+thetaFile)
for i in range(stateAll.shape[0]):
coordHand = arm.mgdEndEffector(stateAll[i][0][2:])
trajReg[i]=trajMaker.runTrajectory2(coordHand[0], coordHand[1])[0]
plotRegBrent(trajReg, stateAll)
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 run_missing_CMAES():
rs = ReadXmlFile(sys.argv[1])
nb_process = 20
for gamma in range(3, 9):
for targetsize in [0.005, 0.01, 0.02, 0.04]:
for i in range(15):
if not check_if_theta_file_exists(gamma, targetsize, i):
print("gamma =", gamma, "nbtheta:",
count_best_files(gamma))
p = ThreadPool(processes=15)
#run cmaes on each targets size on separate processor
posIni = np.loadtxt(pathDataFolder + rs.experimentFilePosIni)
p.map(
partial(launchCMAESForSpecificTargetSizeAndSpecificPoint,
targetsize, rs, True, noise), enumerate(posIni))
p.close()
p.join()
def setPosCircu15():
rs = ReadXmlFile("setup.xml")
filename = pathDataFolder + "PosCircu15"
data = []
for i in range(3):
point = [
rs.XTarget + 0.0975 * np.cos((-i - 1) * np.pi / 4),
rs.YTarget + 0.0975 * np.sin((-i - 1) * np.pi / 4)
]
data.append(point)
for i in range(5):
point = [
rs.XTarget + 0.243 * np.cos(-i * np.pi / 8 - np.pi / 4),
rs.YTarget + 0.243 * np.sin(-i * np.pi / 8 - np.pi / 4)
]
data.append(point)
for i in range(7):
point = [
rs.XTarget + 0.39 * np.cos(-i * np.pi / 12 - np.pi / 4),
rs.YTarget + 0.39 * np.sin(-i * np.pi / 12 - np.pi / 4)
]
data.append(point)
np.savetxt(filename, data)
from Main.MainCMAES import generateFromRegression
from Regression.RunRegression import run
from Plot.plotFunctions import plotXYPositions
from Main.Test import *
from Utils.Chrono import Chrono
from Utils.ReadXmlFile import ReadXmlFile
setupFile = "setupRBFN.xml"
thetaName = "ScriptRBFNxml"
folder = "TrajRBFNxml"
rs = ReadXmlFile(setupFile)
c = Chrono()
run(rs)
c.stop()
generateFromRegression(1, rs, thetaName, folder)
plotXYPositions("Regression", rs, folder, "All", True)
testRegression(rs, thetaName, folder)
from Utils.Chrono import Chrono
from Utils.ReadXmlFile import ReadXmlFile
from Utils.FileReading import loadTrajForModel
from Experiments.Experiments import Experiments
from GlobalVariables import pathDataFolder
from Regression.NeuraNetTF import NeuralNetTF
import numpy as np
rs=ReadXmlFile("setupNN1th.xml")
foldername = rs.CMAESpath + str(0.04) + "/"
thetaname = foldername + rs.thetaFile
exp = Experiments(rs, 0.04, False, foldername, thetaname,rs.popsizeCmaes,rs.period, "Inv")
#exp2 = Experiments(rs, 0.04, False, foldername, thetaname,rs.popsizeCmaes,rs.period,"Reg")
exp3 = Experiments(rs, 0.04, False, foldername, thetaname,rs.popsizeCmaes,rs.period,"Hyb")
'''
c=Chrono()
for i in range(30):
cost, time = exp.runMultiProcessTrajectories(10)
c.stop()
print("Average cost: ", cost)
print("Average time: ", time)
'''
stateAndCommand, nextState = loadTrajForModel(pathDataFolder + "Brent/", 10)
#stateAndCommand, nextState = loadTrajForModel(pathDataFolder + "CMAEScluster/0.02/cluster/Log/", 10)
state=stateAndCommand[:,:4]
command=stateAndCommand[:,4:]
#exp2.tm.stateEstimator.initStore(state)
exp3.tm.stateEstimator.initStore(state)
from multiprocess.pool import ThreadPool
from GlobalVariables import pathDataFolder
from Utils.Chrono import Chrono
def check_if_theta_file_exists(gamma, target_size, num):
dir = "../Data/CMAESK10gamma" + str(gamma) + "/" + str(
target_size) + "/" + str(num) + "/Theta/"
return os.path.isdir(dir)
def launch(rs, gamma):
gamma = int(gamma)
all_points = []
for target_size in [0.005, 0.01, 0.02, 0.04]:
for i in range(15):
if not check_if_theta_file_exists(gamma, target_size, i):
all_points.append([i, target_size])
p = ThreadPool(processes=len(all_points))
posIni = np.loadtxt(pathDataFolder + rs.experimentFilePosIni)
p.map(partial(launchCMAESMissing, rs, True, gamma),
[[point[0], posIni[point[0]], point[1]] for point in all_points])
p.close()
p.join()
if __name__ == '__main__':
rs = ReadXmlFile(sys.argv[1])
launch(rs, float(sys.argv[2]))
#!/usr/bin/env python
# -*- coding: utf-8 -*-
'''
Author: Corentin Arnaud
Description: plot data from CMAES
'''
from Utils.ReadXmlFile import ReadXmlFile
from Plot.plotFunctions import *
fileName = "setupK10gamma3.xml"
folder = "Best"
rs = ReadXmlFile(fileName)
plotScattergram("OPTI", folder, rs)
plotCostColorMap("OPTI", rs, folder)
plotCostColorMapFor12("OPTI", rs, folder)
plotTimeColorMap("OPTI", rs, folder)
plotPerfSizeDist(folder, rs)
plotTimeDistanceTarget(folder, rs)
plotFittsLaw(folder, rs)
plotXYPositions("OPTI", rs, folder, "All", False)
plotXYPositions("OPTI", rs, folder, "All", False, zoom=True)
plotVelocityProfile("OPTI", rs, folder)
