def __init__(self, visualisation, small=None, map_name=None, sensors=None):
if sensors is None:
sensors = [Sensor(0.12, 0.08, 2, math.radians(30), math.radians(45)),
Sensor(0.14, 0.04, 2, math.radians(30), math.radians(15)),
Sensor(0.14, -0.04, 2, math.radians(30), math.radians(-15)),
Sensor(0.12, -0.08, 2, math.radians(30), math.radians(-45))] # ,
# Sensor(-0.15, 0, 2, math.radians(30), math.radians(-180))]
# FIXME Delete these if program still runs correctly.
#initial_action = [0.2, 0]
#self.actions = [(0.2, -2), (0.2, 0), (0.2, 2)]
#self.action_dimension = 2
self.state_size = len(sensors)
self.visualisation = visualisation
x = 1
y = 1
heading = 0
if map_name is None and small is None:
self.environment = simulator.Simulator()
elif map_name is None:
self.environment = simulator.Simulator(small=small)
elif small is None:
self.environment = simulator.Simulator(map_name=map_name)
else:
self.environment = simulator.Simulator(small=small, map_name=map_name)
self.robot = Robot(x, y, heading, sensors, leds=[False, False])
self.wheel_distance = WHEELBASE
self.size = 0.15
def S1_run(
jules_nc='jules/output/sensitivity_runs/crp_g_77_6.8535_0.17727_0.000573.3_hourly.nc',
fname='s1_sim_dict.p',
year=2012,
month=1,
days=364,
lai_coeff=0.1,
s=0.015):
simulator = sim.Simulator(jules_nc=jules_nc,
year=year,
month=month,
days=days)
S1_simulator = sim.S1_simulator(lai_coef=lai_coeff,
s=s,
omega=0.1,
jules_nc=jules_nc,
year=year,
month=month,
days=days)
sim_dict = {}
sim_dict['nc_file'] = jules_nc
sim_dict['S1_dates'] = S1_simulator.date_lst
sim_dict['dates'] = simulator.date_lst
sim_dict['lai'] = simulator.lai_lst
sim_dict['can_height'] = simulator.canht_lst
sim_dict['soil_m'] = simulator.soilm_lst
for x in xrange(3):
sim_dict[S1_simulator.backscatter_keys[x]] = \
[10*np.log10(S1_simulator.SAR_list[s1c].__dict__['stot'][S1_simulator.backscatter_keys[x]])
for s1c in xrange(len(S1_simulator.SAR_list))]
f = open(fname, 'wb')
pickle.dump(sim_dict, f)
f.close()
return 'simulator pickled'
def plot_value_function(agent_class, run, i):
''' Plot the value functions for run i. '''
plt.clf()
agent = load(agent_class, run)
state0 = simulator.Simulator().get_state()
values, qval1, qval2 = [], [], []
min_range = -SHIFT_VECTOR[i]
max_range = SCALE_VECTOR[i]
variables = []
for j in range(VALUE_STEPS):
var = max_range * (1. * j / VALUE_STEPS) + min_range
state0[i] = var
values.append(agent.value_function(state0))
feat = agent.action_features[0](state0)
qval1.append(agent.action_weights[0].dot(feat))
qval2.append(agent.action_weights[1].dot(feat))
variables.append(var)
max_val = max(max(qval1), max(qval2), min(values))
min_val = min(min(qval1), min(qval2), min(values))
plt.plot(variables, values, '-b', label='$V(s)$')
plt.plot(variables, qval1, '-r', label='$Q(s, a_1)$')
plt.plot(variables, qval2, '-g', label='$Q(s, a_2)$')
plt.axis([min_range, max_range, min_val, max_val])
plt.legend(loc='lower right')
plt.xlabel(str(i))
plt.ylabel('$V$')
plt.savefig('./runs/' + agent.name + '/value_functions/s' + str(i),
bbox_inches='tight')
def plot_x_dx(agent_class, run):
''' Plot the value function over x, dx. '''
plt.clf()
agent = load(agent_class, run)
fig = plt.figure()
state = simulator.Simulator().get_state()
plot = fig.add_subplot(111, projection='3d')
plot.set_xlabel('x')
plot.set_ylabel('dx')
plot.set_zlabel('Action-Value')
xxrange = np.arange(0, 1000, 10.0)
yyrange = np.arange(0, 200, 10.0)
xgrid, ygrid = np.meshgrid(xxrange, yyrange)
get_state = lambda x, dx: np.append(np.array([x, dx]), state[2:])
function2 = lambda x, dx: agent.action_weights[0].dot(
fourier_basis(get_state(x, dx)))
function3 = lambda x, dx: agent.action_weights[1].dot(
fourier_basis(get_state(x, dx)))
functions = [function2, function3]
colours = [[1, 0, 0]]
for col, func in zip(colours, functions):
zarray = np.array(
[func(x, dx) for x, dx in zip(np.ravel(xgrid), np.ravel(ygrid))])
zgrid = zarray.reshape(xgrid.shape)
print col
plot.plot_surface(xgrid, ygrid, zgrid, color=col)
plt.savefig('./runs/' + agent.name + '/value_functions/xdx',
bbox_inches='tight')
def main():
"""The runnable program"""
print("DustSucker2000 Simulator by Olle Frisberg")
print("")
print("This software aims to simulate how our new vacuum cleaner moves.")
print("Input format:")
print("Line 0: <Lx> <Ly> (The dimensions of the room")
print(
"Line 1: <wsymb> <x> <y> (The initial direction and coordinates of the DustSucker2000"
)
print("Line 2: <commands> (The commands to execute in serial)")
print("Supported commands:")
print("A: Move forward 1 meter")
print("L: Turn left 90 degrees")
print("R: Turn right 90 degrees")
print("")
# Parse the input
ip = inputparser.InputParser()
Lx, Ly, wsymb, x, y, commands = ip.getParsed()
# Create the cleaner object
vc = vacuumcleaner.VacuumCleaner(wsymb, x, y)
# Uncomment this to show parsed input
#print(Lx,Ly,vc.getAngle(),x,y,commands)
sim = simulator.Simulator(Lx, Ly, vc) # Create a simulator object
sim.start(commands) # Start simulation
res = sim.getResult() # Get simulation result
print("Result: " + res)
def create_db(size=DB_SIZE, townhall_level=4):
# using the same main base for all simulations - no problem with 1 simulator
game_board = board.GameBoard(
generate_base.generate_base_by_level(townhall_level))
sim = simulator.Simulator(game_board)
# Create filepaths
seed = random.randint(1, 10000)
x_path = DATABASES + str(townhall_level) + "/X_" + str(
size) + "_TH_LVL_" + str(townhall_level) + "_" + str(seed) + ".csv"
y_path = DATABASES + str(townhall_level) + "/Y_" + str(
size) + "_TH_LVL_" + str(townhall_level) + "_" + str(seed) + ".csv"
# Write Headers
with open(x_path, "a+") as f_army:
with open(y_path, "a+") as f_res:
# write headers
f_res.write(game_board.get_titles() + ",total" + "\n")
f_army.write(
generate_army.generate_army_by_level(townhall_level)[1] + "\n")
# Run "size" simulations
for i in range(size):
print("Current Row:\t", i)
army, titles = generate_army.generate_army_by_level(townhall_level)
stats = sim.run(army, save_end_state=True, debug=False)
# Open and write in files for every iteration. Append.
with open(x_path, "a") as f_army:
with open(y_path, "a") as f_res:
f_army.write(get_writable_army(army) + "\n")
f_res.write(stats["end_state"] + "\n")
print("Finished DB of size:\t", size)
def test_multiple_moves(self):
sim = api.Simulator()
distance = 180
angle = 70
self.__turtle.left(angle)
self.__turtle.forward(distance)
self.__turtle.backward(distance / 2)
self.__turtle.right(angle * 2)
sim.left(angle)
sim.forward(distance)
sim.backward(int(distance / 2))
sim.right(angle * 2)
self.compare_pos(sim.position(), self.__turtle.position())
self.__turtle.backward(distance * 3)
sim.backward(distance * 3)
self.compare_pos(sim.position(), self.__turtle.position())
self.__turtle.right(340)
self.__turtle.forward(distance)
sim.right(340)
sim.forward(distance)
self.compare_pos(sim.position(), self.__turtle.position())
def main():
import timeit
for event_date in event_dates:
print event_date
event_datetime_obj = datetime.strptime(event_date + " " + event_start_time, '%Y-%m-%d %H:%M:%S')
symbol = mkdt_utils.getSymbol(instrument_root, event_datetime_obj)
df = mkdt_utils.getMarketDataFrameForTradingDate(event_date, instrument_root, symbol, "100ms")
if isinstance(df.head(1).time[0], basestring):
df.time = df.time.apply(mkdt_utils.str_to_dt)
df.set_index(df['time'], inplace=True)
start_dt = datetime.strptime(event_date + " " + trading_start_time, '%Y-%m-%d %H:%M:%S')
max_entry_dt = datetime.strptime(event_date + " " + max_entry_time, '%Y-%m-%d %H:%M:%S')
stop_dt = datetime.strptime(event_date + " " + trading_stop_time, '%Y-%m-%d %H:%M:%S')
dollar_value_per_price_level = 12.5 # specific to Euro
Sim = simulator.Simulator(df)
Strat = Strategy(df, start_dt, max_entry_dt, stop_dt, Sim, dollar_value_per_price_level, spike_5s_pred[event_date])
Sim.initStrategy(Strat)
log_df = Strat.start()
dir_path = '/local/disk1/temp_eg/log_run/'
filename = 'log_run_' + event_name + '_' + instrument_root + '_' + event_date.replace('-', '')
store_filename = dir_path + filename + '.h5'
store = pd.HDFStore(store_filename)
store['log_df'] = log_df
store.close()
print "FINISHED"
def test_next_command(self):
d = api.TimeDecorator(api.Simulator())
start_pos = (0.0, 0.0, 15)
self.assertEqual(d.position(), start_pos)
d.forward(978)
self.assertEqual(d.next, {'command': 'forward', 'value': 958})
d.tick()
self.assertEqual(d.next, {'command': 'forward', 'value': 938})
d.forward(350)
self.assertEqual(d.next, {'command': 'forward', 'value': 330})
d.reset()
self.assertEqual(d.next, {'command': None, 'value': 0})
d.forward(600)
self.assertEqual(d.next, {'command': 'forward', 'value': 580})
d.backward(300)
self.assertEqual(d.next, {'command': 'backward', 'value': 280})
d.tick()
self.assertEqual(d.next, {'command': 'backward', 'value': 260})
def test_method_not_implemented(self):
d = api.TimeDecorator(api.Simulator())
try:
d.foo()
self.fail("Exception not thrown")
except AttributeError:
pass
def trySimulator(self, numHonest, numByzantine, printer, eventTrace, logger):
sim = None
try:
sim = simulator.Simulator(numHonest=numHonest, numByzantine=numByzantine, printer=printer, event_trace=eventTrace, logger=logger)
except:
print("Error creating simulator")
return sim
def simulationSettings(self, enable=False, values=None):
if enable:
self.simulationEnabled = True
self.simulator = simulator.Simulator(values, settings.getInterval())
if not enable:
self.simulator = None
self.simulationEnabled = False
def first():
R = 1000
ROUND = 50
COUNT = 5
NUMBER_OF_NODES = 20
NUMBER_OF_SERVICES = 15
START_NODE_COUNT = 16
sweep = np.linspace(START_NODE_COUNT, NUMBER_OF_NODES, COUNT)
auctionCost = np.zeros((2, COUNT))
randomCost = np.zeros((2, COUNT))
nearestCost = np.zeros((2, COUNT))
for r in range(ROUND):
print("@round: {}".format(r))
state = generateState(r=R, numberOfNodes=NUMBER_OF_NODES, numberOfServices=NUMBER_OF_SERVICES)
lastNodeCount = None
for c, n in enumerate(sweep):
print("\t@count: {}".format(c))
for type in range(2):
if type is 0:
print("\t\twithout cloud")
else:
print("\t\twith cloud")
sim = simulator.Simulator("", R, switches=state["switches"])
if type is 1:
sim.addCloud(numberOfResources=20, C=1000)
for serviceIndex in range(NUMBER_OF_SERVICES):
sim.addService(F=state['serviceF'][serviceIndex], R=state['serviceR'][serviceIndex], alpha=state['serviceAlpha'][serviceIndex], w=state['serviceW'][serviceIndex], center=state['servicePosition'][serviceIndex], sources=state['serviceSources'][serviceIndex], destinations=state['serviceDestinations'][serviceIndex])
nodeCount = int(n)
if lastNodeCount is None:
print("\t\tNode Range: 0-{}".format(nodeCount))
else:
print("\t\tNode Range: {}-{}".format(lastNodeCount, nodeCount))
for nodeIndex in range(nodeCount):
sim.addNode(C=2000, U=state['nodeU'][nodeIndex], position=state['nodePosition'][nodeIndex])
print("\t\tsimulation started")
sim.run()
auctionCost[type, c] += sim.totalCost() / NUMBER_OF_SERVICES / ROUND
sim.run(random=True)
randomCost[type, c] += sim.totalCost()/ NUMBER_OF_SERVICES / ROUND
sim.run(nearest=True)
nearestCost[type, c] += sim.totalCost() / NUMBER_OF_SERVICES / ROUND
lastNodeCount = nodeCount
output = {}
output["nodes"] = sweep.tolist()
output["average_costs"] = {}
output["average_costs"]["auction"] = auctionCost[0,:].tolist()
output["average_costs"]["auction_cloud"] = auctionCost[1,:].tolist()
output["average_costs"]["nearest"] = nearestCost[0,:].tolist()
with open('figure6_2.json', 'w') as outfile:
json.dump(output, outfile)
plt.clf()
plt.plot(sweep, auctionCost[0,:], 'r+-', label="Auction Based")
plt.plot(sweep, auctionCost[1,:], 'r*-', label="Auction Based (with Cloud)")
plt.plot(sweep, nearestCost[0,:], 'g+-', label="Nearest Resource")
# plt.plot(sweep, nearestCost[1,:], 'g*-', label="Nearest Resource (with Cloud)")
plt.legend()
plt.xlabel('# of Computation Nodes')
plt.ylabel('Average Cost')
plt.grid(True)
plt.show()
def main():
"""
Create results files and run simulation with given params.
Get simulation parameters from the command line;
create summary files (one for storing all results
from this group of tests, the other only results
from this parameter set); run the simulation with
the given parameters.
Args
----
None
Returns
-------
None
"""
# get parameters
opt = parse_cmd_line_args()
# TODO move this initialisation to simulator?
initialise_results(opt)
# create and run simulation
sim = simulator.Simulator(opt)
sim.print_info()
sim.run(sim.start_cycle)
def S2_run(
jules_nc='jules/output/sensitivity_runs/crp_g_77_6.8535_0.17727_0.000573.3_hourly.nc',
fname='s2_sim_dict.p',
year=2012,
month=1,
days=364):
simulator = sim.Simulator(jules_nc=jules_nc,
year=year,
month=month,
days=days)
S2_simulator = sim.S2_simulator(jules_nc=jules_nc,
year=year,
month=month,
days=days)
sim_dict = {}
sim_dict['nc_file'] = jules_nc
sim_dict['S2_dates'] = S2_simulator.date_lst
sim_dict['dates'] = simulator.date_lst
sim_dict['lai'] = simulator.lai_lst
sim_dict['can_height'] = simulator.canht_lst
sim_dict['soil_m'] = simulator.soilm_lst
for x in range(13):
sim_dict[S2_simulator.band_labels[x]] = S2_simulator.all_BRF_arr[:, x]
f = open(fname, 'wb')
pickle.dump(sim_dict, f)
f.close()
return 'simulator pickled'
def main():
x = 0.0
y = 0.0
z = 0.0
i = 0
avgs = {'x': [], 'y': [], 'z': []}
comm = usb.Communications(38400)
sim = simulator.Simulator()
vertices = getObjectVertices()
sim.setup(vertices)
while (True):
for event in pygame.event.get():
if event.type == pygame.QUIT:
deconstruct()
try:
line = comm.readLine().strip()
except:
continue
# angles = getAnglesFromADXL345(line)
angles = getAnglesFromGY512(line)
# print angles
# time.sleep(1)
if not angles:
continue
x += angles[0]
y += angles[1]
z += angles[2]
sim.updateDisplay(x, y, z)
def run(cust_start, cust_end, exp_start, exp_end, range, out):
print("Simulation starting for " + str(range) + " customer.")
sim = simulator.Simulator()
sim.initialize_parameters(cust_start, cust_end, exp_start, exp_end)
sim.simulation(range, out)
print("Simulation ended.")
return sim
def three():
R = 1000
COUNT = 20
ROUND = 200
NUMBER_OF_NODES = 1000
NUMBER_OF_SERVICES = 300
alphas = np.linspace(1e0, 1e1, COUNT)
averageCosts = np.zeros((2, COUNT))
successfulRounds = np.zeros((2, COUNT))
for r in range(ROUND):
state = generateState(r=R,
numberOfNodes=NUMBER_OF_NODES,
numberOfServices=NUMBER_OF_SERVICES)
for type in range(2):
print("@type: {}".format(type))
for i, alpha in enumerate(alphas):
sim = simulator.Simulator("", R, switches=state["switches"])
print("\t@i: {} -> alpha: {:.4f}".format(i, alpha))
for serviceIndex in range(NUMBER_OF_SERVICES):
serviceAlpha = alpha if serviceIndex == 0 else state[
'serviceAlpha'][serviceIndex]
sim.addService(
F=state['serviceF'][serviceIndex],
R=state['serviceR'][serviceIndex],
center=state['servicePosition'][serviceIndex],
sources=state['serviceSources'][serviceIndex],
destinations=state['serviceDestinations']
[serviceIndex],
alpha=serviceAlpha,
w=state['serviceW'][serviceIndex])
for nodeIndex in range(NUMBER_OF_NODES):
sim.addNode(C=2000,
U=state['nodeU'][nodeIndex],
position=state['nodePosition'][nodeIndex])
if type is 1:
sim.addCloud(numberOfResources=40, C=10000)
sim.run()
s = sim.services[0]
if s.node:
print(s.w)
averageCosts[type, i] += s.costs[s.node]
successfulRounds[type, i] += 1
for i, _ in enumerate(alphas):
for type in range(2):
try:
averageCosts[type, i] /= successfulRounds[type, i]
except Exception as e:
print(e)
output = {}
output["alphas"] = alphas.tolist()
output["without_cloud"] = {}
output["without_cloud"]["average_costs"] = averageCosts[0, :].tolist()
output["without_cloud"]["normalized_utility"] = (averageCosts[0, :] /
alphas).tolist()
output["with_cloud"] = {}
output["with_cloud"]["average_costs"] = averageCosts[1, :].tolist()
output["with_cloud"]["normalized_utility"] = (averageCosts[1, :] /
alphas).tolist()
with open('figure3.json', 'w') as outfile:
json.dump(output, outfile)
def setUp(self):
try:
self.sim = simulator.Simulator(False)
except RuntimeError:
self.sim = simulator.Simulator.get_instance()
self.comp = Compartment("comp")
def initialiseSimulator(cars,speed_limit,init_speeds=None,vehicle_spacing=3,lane_width=None,dt=.1,graphic_position=None,graphic_dimensions=None,debug=False):
"""Takes in a list of cars and a boolean indicating whether to produce graphics.
Outputs the standard straight road simulator environment with the input cars initialised
on the map with the first car (presumed ego) ahead of the second"""
#Construct the simulation environment
if init_speeds is None:
car_speeds = [speed_limit for _ in range(len(cars))] #both cars start going at the speed limit
else:
car_speeds = init_speeds
num_junctions = 3
num_roads = 2
road_angles = [0,0]
road_lengths = [5,100] #Shorter track for generating results
junc_pairs = [(0,1),(1,2)]
starts = [[(0,1),1],[(0,1),0]] #Follower car is initialised on the first road, leading car on the 3rd (assuring space between them)
dests = [[(1,2),1],[(1,2),1]] #Simulation ends when either car passes the end of the
run_graphics = True
draw_traj = False #trajectories are uninteresting by deafault
runtime = 120.0 #max runtime; simulation will terminate if run exceeds this length of time
#Initialise the simulator object, load vehicles into the simulation, then initialise the action simulation
sim = simulator.Simulator(run_graphics,draw_traj,runtime,debug,dt=dt,graphic_position=graphic_position,graphic_dimensions=graphic_dimensions)
sim.loadCars(cars)
sim.initialiseSimulator(num_junctions,num_roads,road_angles,road_lengths,junc_pairs,\
car_speeds,starts,dests,lane_width=lane_width)
return sim
def __init__(self,
json,
translation_threshold=1.5,
rotation_threshold=math.pi / 4.,
time_penalty=6):
"""
:param json: path to json file
:param translation_threshold: translation threshold on OX axis
:param rotation_threshold: rotation threshold relative to OY axis
:param time_penalty: time penalty for human intervention
"""
self.json = json
self.translation_threshold = translation_threshold
self.rotation_threshold = rotation_threshold
self.time_penalty = time_penalty
self._read_json()
self._reset()
# initialize simulator
self.simulator = simulator.Simulator(
self.K,
self.M,
time_penalty=self.time_penalty,
distance_limit=self.translation_threshold,
angle_limit=self.rotation_threshold)
def four():
R = 100
COUNT = 20
ROUND = 200
NUMBER_OF_NODES = 400
NUMBER_OF_SERVICES = 300
SERVICE_START_RATIO = 0.3
sweep = np.linspace(NUMBER_OF_SERVICES * SERVICE_START_RATIO,
NUMBER_OF_SERVICES, COUNT)
averageCosts = np.zeros((2, COUNT))
successfulRounds = np.zeros((2, COUNT))
for r in range(ROUND):
state = generateState(r=R,
numberOfNodes=NUMBER_OF_NODES,
numberOfServices=NUMBER_OF_SERVICES)
for type in range(2):
print("@type: {}".format(type))
for i, numberOfServices in enumerate(sweep):
numberOfServices = int(numberOfServices)
sim = simulator.Simulator("", R, switches=state["switches"])
print("\t@i: {} -> service count: {:.4f}".format(
i, numberOfServices))
for serviceIndex in range(numberOfServices):
sim.addService(
F=state['serviceF'][serviceIndex],
R=state['serviceR'][serviceIndex],
center=state['servicePosition'][serviceIndex],
sources=state['serviceSources'][serviceIndex],
destinations=state['serviceDestinations']
[serviceIndex],
alpha=state['serviceAlpha'][serviceIndex],
w=state['serviceW'][serviceIndex])
for nodeIndex in range(NUMBER_OF_NODES):
sim.addNode(C=2000,
U=state['nodeU'][nodeIndex],
position=state['nodePosition'][nodeIndex])
if type is 1:
sim.addCloud(numberOfResources=40, C=10000)
sim.run()
for serviceIndex in range(int(sweep[0])):
s = sim.services[serviceIndex]
if s.node is None:
averageCosts[type, i] += s.alpha * s.w * s.R
else:
averageCosts[type, i] += s.costs[s.node]
successfulRounds[type, i] += 1
for i, _ in enumerate(sweep):
for type in range(2):
try:
averageCosts[type, i] /= successfulRounds[type, i]
except Exception as e:
print(e)
output = {}
output["services"] = sweep.tolist()
output["without_cloud"] = {}
output["without_cloud"]["average_costs"] = averageCosts[0, :].tolist()
output["with_cloud"] = {}
output["with_cloud"]["average_costs"] = averageCosts[1, :].tolist()
with open('figure4.json', 'w') as outfile:
json.dump(output, outfile)
def initialiseSimulator(cars,speed_limit,graphics,init_speeds,lane_width=None):
"""Takes in a list of cars and a boolean indicating whether to produce graphics.
Outputs the standard straight road simulator environment with the input cars initialised
on the map with the first car (presumed ego) ahead of the second"""
num_junctions = 5
num_roads = 4
road_angles = [90 for _ in range(num_junctions)]
road_lengths = [5,20,5,270]
junc_pairs = [(i,i+1) for i in range(num_roads)]
starts = [[(0,1),1],[(0,1),0]] #Follower car is initialised on the first road, leading car on the 3rd (assuring space between them)
dests = [[(1,2),0],[(1,2),0]] #Simulation ends when either car passes the end of the
run_graphics = graphics
draw_traj = False #trajectories are uninteresting by deafault
debug = False #don't want debug mode
runtime = 120.0 #max runtime; simulation will terminate if run exceeds this length of time
#Initialise the simulator object, load vehicles into the simulation, then initialise the action simulation
sim = simulator.Simulator(run_graphics,draw_traj,runtime,debug,dt=cars[0].timestep)
sim.loadCars(cars)
sim.initialiseSimulator(num_junctions,num_roads,road_angles,road_lengths,junc_pairs,\
init_speeds,starts,dests,lane_width=lane_width)
return sim
def __init__(self,
json,
translation_threshold=1.5,
rotation_threshold=0.2,
time_penalty=6,
frame_rate=3):
"""
:param json: path to json file
:param translation_threshold: translation threshold on OX axis
:param rotation_threshold: rotation threshold relative to OY axis
:param time_penalty: time penalty for human intervention
"""
self.json = json
self.translation_threshold = translation_threshold
self.rotation_threshold = rotation_threshold
self.time_penalty = time_penalty
self.frame_rate = frame_rate
self.crop = Crop()
self._read_json()
self.reset()
# initialize simulator
self.simulator = simulator.Simulator(
time_penalty=self.time_penalty,
distance_limit=self.translation_threshold,
angle_limit=self.rotation_threshold)
# set transformation matrix
self.T = np.eye(3)
def __init__(self, arm_name, sim=None, view=True):
"""
:param arm_name: "left" or "right"
:param sim: OpenRave simulator (or create if None)
"""
assert arm_name == 'left' or arm_name == 'right'
self.arm_name = arm_name
self.tool_frame = '{0}_gripper_tool_frame'.format(arm_name[0])
self.joint_names = [
'{0}{1}'.format(arm_name[0], joint_name)
for joint_name in self.joint_name_suffixes
]
self.sim = sim
if self.sim is None:
self.sim = simulator.Simulator()
if view:
self.sim.env.SetViewer('qtcoin')
self.robot = self.sim.robot
self.manip = self.sim.larm if arm_name == 'left' else self.sim.rarm
self.tool_frame_link = self.robot.GetLink(self.tool_frame)
self.gripper_joint = self.robot.GetJoint(
'{0}_gripper_l_finger_joint'.format(arm_name[0]))
self.joint_indices = self.manip.GetArmIndices()
def plot_single_barb_mat_3d(armies):
# Make data.
X = []
Y = []
Z = []
gb = board.GameBoard(
base_from_html.html_to_game_board("bases/base_th4_2.html"))
sim = simulator.Simulator(gb)
for army in armies:
stats = sim.run(army)
x, y = army[0].get_pos()
X.append(x)
Y.append(y)
Z.append(stats["percent"])
# plot 3d
fig = plt.figure()
ax = fig.gca(projection='3d')
# Plot the surface.
surf = ax.scatter(X,
Y,
Z,
cmap=cm.coolwarm,
linewidth=0,
antialiased=False)
plt.show()
def plot_episode(agent, run):
''' Plot an example run. '''
with file('./runs/'+agent.name+'/'+str(run)+'.obj', 'r') as file_handle:
agent = pickle.load(file_handle)
sim = simulator.Simulator()
import interface
agent.run_episode(sim)
interface.Interface().draw_episode(sim, 'after')
def run(self):
print "Starting " + self.name
gVars.interfaceData = BoatData.BoatData()
hardware = simulator.Simulator(gVars.verbose, gVars.reset, gVars.gust,
gVars.dataToUI)
while 1:
hardware.update()
def solve2():
R = 1000
COUNT = 10
ROUND = 2
NUMBER_OF_NODES = 300
NUMBER_OF_SERVICES = 100
# betas = np.logspace(5, 5.5, COUNT)
betas = np.linspace(160000, 200000, COUNT)
#ws = (np.logspace(-3, -0.1, 10))
averageRate = np.zeros((2, COUNT))
averageDelay = np.zeros((2, COUNT))
for i in range(ROUND):
print('@{}'.format(i))
state = generateState(r=R,
numberOfNodes=NUMBER_OF_NODES,
numberOfServices=NUMBER_OF_SERVICES)
for index, beta in enumerate(betas):
w = 1 / (1 + beta)
print('\t@{}-> beta:{:.3f} w: {:.3f}'.format(index, beta, w))
sim = simulator.Simulator("", R, switches=state["switches"])
for serviceIndex in range(NUMBER_OF_SERVICES):
sim.addService(
F=state['serviceF'][serviceIndex],
R=state['serviceR'][serviceIndex],
center=state['servicePosition'][serviceIndex],
sources=state['serviceSources'][serviceIndex],
destinations=state['serviceDestinations'][serviceIndex],
alpha=state['serviceAlpha'][serviceIndex],
w=w)
for nodeIndex in range(NUMBER_OF_NODES):
sim.addNode(C=2000,
U=state['nodeU'][nodeIndex],
position=state['nodePosition'][nodeIndex])
sim.run()
for s in sim.services:
if s.node:
averageRate[0, index] += abs(
s.R - s.rates[s.node]) / NUMBER_OF_SERVICES / ROUND
averageDelay[
0,
index] += s.taus[s.node] / NUMBER_OF_SERVICES / ROUND
fig, ax1 = plt.subplots()
plt1 = ax1.plot(betas,
averageRate[0, :],
'g*-',
label="Average Difference in Rate")
ax1.set_xlabel('$\\beta$')
ax1.set_ylabel('average difference in rate')
ax2 = ax1.twinx()
plt2 = ax2.plot(betas, averageDelay[0, :], 'b+-', label="Average Delay")
ax2.set_ylabel('average delay (s)')
lns = plt1 + plt2
labs = [l.get_label() for l in lns]
ax1.legend(lns, labs, loc=0)
ax1.grid(True)
fig.tight_layout()
plt.show()
sim.plot()
def create(self, num, model, init_val):
sim_id = len(self.simulators)
sim = simulator.Simulator(model, num, init_val)
self.simulators.append(sim)
return [{
'eid': '%s.%s' % (sim_id, eid),
'type': model,
'rel': []
} for eid, inst in enumerate(sim.instances)]
