def doSim(world,
duration,
initialCondition,
returnItems=None,
trace=False,
simDt=0.01,
simInit=None,
simStep=None,
simTerm=None):
"""Runs a simulation for a given initial condition of a world.
Arguments:
- world: the world
- duration: the maximum duration of simulation, in seconds
- initialCondition: a dictionary mapping named items to values.
Each named item is specified by a path as used by the map module, e.g.
'robot[0].config[4]'. See the documentation for map.get_item()/
map.set_item() for details.
Special items include 'args' which is a tuple provided to each simInit,
simStep, and simTerm call.
- returnItems (optional): a list of named items to return in the final
state of the simulation. By default returns everything that is
variable in the simulator (simulation time, robot and rigid object
configuration / velocity, robot commands, robot sensors).
- trace (optional, default False): if True, returns the entire trace of
the items specified in returnItems rather than just the final state.
- simDt (optional, default 0.01): the outer simulation loop (usually
corresponds to the control rate).
- simInit (optional): a function f(sim) called on the simulator after its
initial conditions are set but before simulating. You may configure the
simulator with this function.
- simStep (optional): a function f(sim) that is called on every outer
simulation loop (usually a controller function).
- simTerm (optional): a function f(sim) that returns True if the simulation
should terminate early. Called on every outer simulation loop.
Return value is the final state of each returned item upon termination.
This takes the form of a dictionary mapping named items (specified by
the returnItems argument) to their values.
Additional returned items are:
- 'status', which gives the status string of the simulation
- 'time', which gives the time of the simulation, in s
- 'wall_clock_time', which gives the time elapsed while computing the simulation, in s
"""
if returnItems == None:
#set up default return items
returnItems = []
for i in range(world.numRigidObjects()):
returnItems.append('rigidObjects[' + str(i) + '].transform')
returnItems.append('rigidObjects[' + str(i) + '].velocity')
for i in range(world.numRobots()):
returnItems.append('time')
returnItems.append('controllers[' + str(i) + '].commandedConfig')
returnItems.append('controllers[' + str(i) + '].commandedVelocity')
returnItems.append('controllers[' + str(i) + '].sensedConfig')
returnItems.append('controllers[' + str(i) + '].sensedVelocity')
returnItems.append('controllers[' + str(i) + '].sensors')
returnItems.append('robots[' + str(i) + '].actualConfig')
returnItems.append('robots[' + str(i) + '].actualVelocity')
returnItems.append('robots[' + str(i) + '].actualTorques')
initCond = getWorldSimState(world)
args = ()
for k, v in initialCondition.iteritems():
if k is not 'args':
map.set_item(world, k, v)
else:
args = v
sim = SimpleSimulator(world)
if simInit: simInit(sim, *args)
assert simDt > 0, "Time step must be positive"
res = dict()
if trace:
for k in returnItems:
res[k] = [map.get_item(sim, k)]
res['status'] = [sim.getStatusString()]
print "klampt.batch.doSim(): Running simulation for", duration, "s"
t0 = time.time()
t = 0
worst_status = 0
while t < duration:
if simTerm and simTerm(sim, *args) == True:
if not trace:
for k in returnItems:
res[k] = map.get_item(sim, k)
res['status'] = sim.getStatusString(worst_status)
res['time'] = t
res['wall_clock_time'] = time.time() - t0
#restore initial world state
setWorldSimState(world, initCond)
print " Termination condition reached at", t, "s"
print " Computation time:", time.time() - t0
return res
if simStep: simStep(sim, *args)
sim.simulate(simDt)
worst_status = max(worst_status, sim.getStatus())
if trace:
for k in returnItems:
res[k].append(map.get_item(sim, k))
res['status'].append(sim.getStatusString())
res['time'] = t
res['wall_clock_time'] = time.time() - t0
t += simDt
if not trace:
#just get the terminal stats
for k in returnItems:
res[k] = map.get_item(sim, k)
res['status'] = sim.getStatusString(worst_status)
res['time'] = t
res['wall_clock_time'] = time.time() - t0
print " Done."
print " Computation time:", time.time() - t0
#restore initial world state
setWorldSimState(world, initCond)
return res
def doSim(world,duration,initialCondition,
returnItems=None,trace=False,
simDt=0.01,simInit=None,simStep=None,simTerm=None):
"""Runs a simulation for a given initial condition of a world.
Args:
world (WorldModel): the world
duration (float): the maximum duration of simulation, in seconds
initialCondition (dict): a dictionary mapping named items to values.
Each named item is specified by a path as used by the access
module, e.g. 'robot[0].config[4]'. See the documentation for
access.get_item()/
access.set_item() for details.
Special items include 'args' which is a tuple provided to each
simInit, simStep, and simTerm call.
returnItems (list of strs, optional): a list of named items to return
in the final state of the simulation. By default returns
everything that is variable in the simulator (simulation time,
robot and rigid object configuration / velocity, robot commands,
robot sensors).
trace (bool, optional): if True, returns the entire trace of
the items specified in returnItems rather than just the final
state.
simDt (float, optional, default 0.01): the outer simulation loop
(usually corresponds to the control rate).
simInit (function, optional): a function f(sim) called on the simulator
after its initial conditions are set but before simulating. You may
configure the simulator with this function.
simStep (function, optional): a function f(sim) that is called on every
outer simulation loop (usually a controller function).
simTerm (function, optional): a function f(sim) that returns True if
the simulation should terminate early. Called on every outer
simulation loop.
Returns:
(dict): the final state of each returned item upon termination. The
dictionary maps named items (specified by the returnItems argument)
to their values. Additional returned items are:
* 'status', which gives the status string of the simulation
* 'time', which gives the time of the simulation, in s
* 'wall_clock_time', which gives the time elapsed while computing
the simulation, in s
"""
if returnItems == None:
#set up default return items
returnItems = []
for i in range(world.numRigidObjects()):
returnItems.append('rigidObjects['+str(i)+'].transform')
returnItems.append('rigidObjects['+str(i)+'].velocity')
for i in range(world.numRobots()):
returnItems.append('time')
returnItems.append('controllers['+str(i)+'].commandedConfig')
returnItems.append('controllers['+str(i)+'].commandedVelocity')
returnItems.append('controllers['+str(i)+'].sensedConfig')
returnItems.append('controllers['+str(i)+'].sensedVelocity')
returnItems.append('controllers['+str(i)+'].sensors')
returnItems.append('robots['+str(i)+'].actualConfig')
returnItems.append('robots['+str(i)+'].actualVelocity')
returnItems.append('robots['+str(i)+'].actualTorques')
initCond = getWorldSimState(world)
args = ()
for k,v in initialCondition.iteritems():
if k is not 'args':
access.set_item(world,k,v)
else:
args = v
sim = SimpleSimulator(world)
if simInit: simInit(sim,*args)
assert simDt > 0,"Time step must be positive"
res = dict()
if trace:
for k in returnItems:
res[k] = [access.get_item(sim,k)]
res['status'] = [sim.getStatusString()]
print "klampt.batch.doSim(): Running simulation for",duration,"s"
t0 = time.time()
t = 0
worst_status = 0
while t < duration:
if simTerm and simTerm(sim,*args)==True:
if not trace:
for k in returnItems:
res[k] = access.get_item(sim,k)
res['status']=sim.getStatusString(worst_status)
res['time']=t
res['wall_clock_time']=time.time()-t0
#restore initial world state
setWorldSimState(world,initCond)
print " Termination condition reached at",t,"s"
print " Computation time:",time.time()-t0
return res
if simStep: simStep(sim,*args)
sim.simulate(simDt)
worst_status = max(worst_status,sim.getStatus())
if trace:
for k in returnItems:
res[k].append(access.get_item(sim,k))
res['status'].append(sim.getStatusString())
res['time']=t
res['wall_clock_time']=time.time()-t0
t += simDt
if not trace:
#just get the terminal stats
for k in returnItems:
res[k] = access.get_item(sim,k)
res['status']=sim.getStatusString(worst_status)
res['time']=t
res['wall_clock_time']=time.time()-t0
print " Done."
print " Computation time:",time.time()-t0
#restore initial world state
setWorldSimState(world,initCond)
return res
