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)
示例#2
0
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)
示例#3
0
def chooseFunction(choix, rs):
    if choix == 1:
        plotVelocityProfile("Brent", rs)
    elif choix == 2:
        plotArticularPositions("Brent", rs)
    elif choix == 3:
        plotXYPositions("Brent", rs)
    elif choix == 4:
        plotMuscularActivations("Brent", rs)


#------------------------------------------- RBFN
    elif choix == 5:
        c = Chrono()
        #        run(name,True)
        run(rs)
        c.stop()
    elif choix == 6:
        fname = raw_input('Folder where you want to save the results: ')
        nbret = input("Number of repeat for each trajectory (int): ")
        c = Chrono()
        generateFromRegression(nbret, rs, fname)
        c.stop()
    elif choix == 7:
        nameF = raw_input('Folder where the results are saved: ')
        plotVelocityProfile("Regression", rs, nameF)
    elif choix == 8:
        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("Regression", rs, nameF, "All", True)  #False)#
        else:
            plotArticularPositions("Regression", rs, nameF)
    elif choix == 9:
        nameF = raw_input('Folder where the results are saved: ')
        plotMuscularActivations("Regression", rs, nameF)
    elif choix == 10:
        nameF = raw_input('Folder where the results are saved: ')
        plotCostColorMap("Regression", rs, nameF)
    elif choix == 11:
        nameF = raw_input('Folder where the results are saved: ')
        plotXYEstimError("Regression", rs, nameF, "All")
    elif choix == 12:
        nameF = raw_input('Folder where the results are saved: ')
        plotXYEstimErrorOfSpeed("Regression", rs, nameF, "All")
示例#4
0
def chooseFunction(choix, rs):
    if choix == 1:
        plotVelocityProfile("Brent",rs)
    elif choix == 2:
        plotArticularPositions("Brent",rs)
    elif choix == 3:
        plotXYPositions("Brent",rs)
    elif choix == 4:
        plotMuscularActivations("Brent",rs)

#------------------------------------------- RBFN
    elif choix == 5:
        c = Chrono()
#        run(name,True)
        run(rs)
        c.stop()
    elif choix == 6:
        fname = raw_input('Folder where you want to save the results: ')
        nbret = input("Number of repeat for each trajectory (int): ")
        c = Chrono()
        generateFromRegression(nbret, rs, fname)
        c.stop()
    elif choix == 7:
        nameF = raw_input('Folder where the results are saved: ')
        plotVelocityProfile("Regression",rs, nameF)
    elif choix == 8:
        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("Regression", rs, nameF,"All",True)#False)#
        else:
            plotArticularPositions("Regression",rs, nameF)
    elif choix == 9:
        nameF = raw_input('Folder where the results are saved: ')
        plotMuscularActivations("Regression",rs, nameF)
    elif choix == 10:
        nameF = raw_input('Folder where the results are saved: ')
        plotCostColorMap("Regression", rs, nameF)
    elif choix == 11:
        nameF = raw_input('Folder where the results are saved: ')
        plotXYEstimError("Regression", rs, nameF,"All")
    elif choix == 12:
        nameF = raw_input('Folder where the results are saved: ')
        plotXYEstimErrorOfSpeed("Regression", rs, nameF,"All")
示例#5
0
def chooseFunction(choix):
    if choix == 1:
        plotVelocityProfile("Brent")
    elif choix == 2:
        plotArticularPositions("Brent")
    elif choix == 3:
        plotXYPositions("Brent")
    elif choix == 4:
        plotMuscularActivations("Brent")

#------------------------------------------- NN
    elif choix == 5:
        name = raw_input('Name of file to save the NN controller: ')
        c = Chrono()
        #runNN(name)
        createNN(name)
        c.stop()
    elif choix == 6:
        name = raw_input('Name of the NN controller file: ')
        fname = raw_input('Folder where you want to save the results: ')
        nbret = input("Number of repeat for each trajectory (int): ")
        c = Chrono()
        generateFromNN(nbret, name, fname)
        c.stop()
    elif choix == 7:
        nameF = raw_input('Folder where the results are saved: ')
        plotVelocityProfile("NN", nameF)
    elif choix == 8:
        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("NN", nameF, "All", True)  #False)#
        else:
            plotArticularPositions("NN", nameF)
    elif choix == 9:
        nameF = raw_input('Folder where the results are saved: ')
        plotMuscularActivations("NN", nameF)
    elif choix == 10:
        nameF = raw_input('Folder where the results are saved: ')
        plotCostColorMap("NN", nameF)
    elif choix == 28:
        nameF = raw_input('Folder where the results are saved: ')
        plotXYEstimError("NN", nameF, "All")
    elif choix == 29:
        nameF = raw_input('Folder where the results are saved: ')
        plotXYEstimErrorOfSpeed("NN", nameF, "All")


#------------------------------------------- CMAES
    elif choix == 11:
        rorc = input("enter 1 if from NN, anything if from previous CMAES: ")
        save = False
        rorc = int(rorc)
        if rorc == 1:
            save = True
        name = raw_input('Name of the controller file: ')
        c = Chrono()
        launchCMAESForAllTargetSizes(name, save)
        c.stop()
    elif choix == 12:
        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, nameTheta, name)
    elif choix == 13:
        nameF = raw_input('Folder where the results are saved: ')
        plotVelocityProfile("CMAES", nameF)
    elif choix == 14:
        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("CMAES", nameF, "All", False)
        else:
            tSize = raw_input('Target Size: ')
            plotArticularPositions("CMAES", nameF, tSize)
    elif choix == 15:
        nameF = raw_input('Folder where the results are saved: ')
        tSize = raw_input('Target Size: ')
        plotMuscularActivations("CMAES", nameF, tSize)
    elif choix == 16:
        nameF = raw_input('Folder where the results are saved: ')
        #tSize = raw_input('Target Size: ')
        #plotCostColorMap("CMAES",nameF,tSize)
        plotCostColorMap("CMAES", nameF)
    elif choix == 17:
        nameF = raw_input('Folder where the results are saved: ')
        plotTimeDistanceTarget(nameF)
    elif choix == 18:
        nameF = raw_input('Folder where the results are saved: ')
        plotPerfSizeDist(nameF)
    elif choix == 19:
        nameF = raw_input('Folder where the results are saved: ')
        plotFittsLaw(nameF)
    elif choix == 20:
        nameF = raw_input('Folder where the results are saved: ')
        plotTimeColorMap("CMAES", nameF)
    elif choix == 21:
        rorc = input("enter 0 if Brent, 1 if NN or 2 if CMAES results: ")
        rorc = int(rorc)
        if rorc == 0:
            trajectoriesAnimation("Brent")
        elif rorc == 1:
            nameF = raw_input('Folder where the results are saved: ')
            trajectoriesAnimation("NN", nameF)
        elif rorc == 2:
            nameF = raw_input('Folder where the results are saved: ')
            tSize = raw_input('Target Size: ')
            trajectoriesAnimation("CMAES", nameF, tSize)
    elif choix == 22:
        nameF = raw_input('Folder where the results are saved: ')
        rorc = input("enter 1 if NN or 2 if CMAES results: ")
        #plotHitDispersion(nameF,"0.05")
        rorc = int(rorc)
        if rorc == 1:
            plotScattergram("NN", nameF)
        elif rorc == 2:
            plotScattergram("CMAES", nameF)
    elif choix == 23:
        name = raw_input('Name of the controller file: ')
        rorc = input("enter 1 if from NN, 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), name, save)
        c.stop()
    elif choix == 24:
        plotCMAESProgress()
    elif choix == 25:
        name = raw_input('Name of the NN controller file: ')
        fname = raw_input('Folder where you want to save the results: ')
        nbret = input("Number of repeat for each trajectory (int): ")
        c = Chrono()
        generateRichDataFromNN(nbret, name, fname)
        c.stop()
    elif choix == 26:
        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, nameTheta, name)
        c.stop()
    elif choix == 27:
        plotTrajsInRepo()
    elif choix == 30:
        nameF = raw_input('Folder where the results are saved: ')
        plotXYEstimError("CMAES", nameF, "All")
    elif choix == 31:
        nameF = raw_input('Folder where the results are saved: ')
        plotXYEstimErrorOfSpeed("CMAES", nameF, "All")
    elif choix == 32:
        plotExperimentSetup()
    elif choix == 33:
        plotManipulability()
    elif choix == 34:
        plotManipulability2()
示例#6
0
def chooseFunction(choix):
    if choix == 1:
        plotVelocityProfile("Brent")
    elif choix == 2:
        plotArticularPositions("Brent")
    elif choix == 3:
        plotXYPositions("Brent")
    elif choix == 4:
        plotMuscularActivations("Brent")

#------------------------------------------- RBFN
    elif choix == 5:
        name = raw_input('Name of file to save the RBFN controller: ')
        c = Chrono()
#        runRBFN(name,True)
        runRBFN(name,False)
        c.stop()
    elif choix == 6:
        name = raw_input('Name of the RBFN controller file: ')
        fname = raw_input('Folder where you want to save the results: ')
        nbret = input("Number of repeat for each trajectory (int): ")
        c = Chrono()
        generateFromRBFN(nbret, name, fname)
        c.stop()
    elif choix == 7:
        nameF = raw_input('Folder where the results are saved: ')
        plotVelocityProfile("RBFN",nameF)
    elif choix == 8:
        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("RBFN",nameF,"All",True)#False)#
        else:
            plotArticularPositions("RBFN",nameF)
    elif choix == 9:
        nameF = raw_input('Folder where the results are saved: ')
        plotMuscularActivations("RBFN",nameF)
    elif choix == 10:
        nameF = raw_input('Folder where the results are saved: ')
        plotCostColorMap("RBFN",nameF)
    elif choix == 28:
        nameF = raw_input('Folder where the results are saved: ')
        plotXYEstimError("RBFN",nameF,"All")
    elif choix == 29:
        nameF = raw_input('Folder where the results are saved: ')
        plotXYEstimErrorOfSpeed("RBFN",nameF,"All")

#------------------------------------------- CMAES
    elif choix == 11:
        rorc = input("enter 1 if from RBFN, anything if from previous CMAES: ")
        save = False
        rorc = int(rorc)
        if rorc == 1:
            save = True
        name = raw_input('Name of the controller file: ')
        c = Chrono()
        launchCMAESForAllTargetSizes(name,save)
        c.stop()
    elif choix == 12:
        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, nameTheta, name)
    elif choix == 13:
        nameF = raw_input('Folder where the results are saved: ')
        plotVelocityProfile("CMAES",nameF)
    elif choix == 14:
        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("CMAES",nameF,"All",False)
        else:
            tSize = raw_input('Target Size: ')
            plotArticularPositions("CMAES",nameF,tSize)
    elif choix == 15:
        nameF = raw_input('Folder where the results are saved: ')
        tSize = raw_input('Target Size: ')
        plotMuscularActivations("CMAES",nameF,tSize)
    elif choix == 16:
        nameF = raw_input('Folder where the results are saved: ')
        #tSize = raw_input('Target Size: ')
        #plotCostColorMap("CMAES",nameF,tSize)
        plotCostColorMap("CMAES",nameF)
    elif choix == 17:
        nameF = raw_input('Folder where the results are saved: ')
        plotTimeDistanceTarget(nameF)
    elif choix == 18:
        nameF = raw_input('Folder where the results are saved: ')
        plotPerfSizeDist(nameF)
    elif choix == 19:
        nameF = raw_input('Folder where the results are saved: ')
        plotFittsLaw(nameF)
    elif choix == 20:
        nameF = raw_input('Folder where the results are saved: ')
        plotTimeColorMap("CMAES",nameF)
    elif choix == 21:
        rorc = input("enter 0 if Brent, 1 if RBFN or 2 if CMAES results: ")
        rorc = int(rorc)
        if rorc == 0:
            trajectoriesAnimation("Brent")
        elif rorc == 1:
            nameF = raw_input('Folder where the results are saved: ')
            trajectoriesAnimation("RBFN",nameF)
        elif rorc == 2:
            nameF = raw_input('Folder where the results are saved: ')
            tSize = raw_input('Target Size: ')
            trajectoriesAnimation("CMAES",nameF, tSize)
    elif choix == 22:
        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)
        elif rorc == 2:
            plotScattergram("CMAES",nameF)
    elif choix == 23:
        name = raw_input('Name of the controller file: ')
        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),name,save)
        c.stop()
    elif choix == 24:
        plotCMAESProgress()
    elif choix == 25:
        name = raw_input('Name of the RBFN controller file: ')
        fname = raw_input('Folder where you want to save the results: ')
        nbret = input("Number of repeat for each trajectory (int): ")
        c = Chrono()
        generateRichDataFromRBFN(nbret, name, fname)
        c.stop()
    elif choix == 26:
        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, nameTheta, name)
        c.stop()
    elif choix == 27:
        plotTrajsInRepo()
    elif choix == 30:
        nameF = raw_input('Folder where the results are saved: ')
        plotXYEstimError("CMAES",nameF,"All")
    elif choix == 31:
        nameF = raw_input('Folder where the results are saved: ')
        plotXYEstimErrorOfSpeed("CMAES",nameF,"All")
    elif choix == 32:
        plotExperimentSetup()
    elif choix == 33:
        plotManipulability()
    elif choix == 34:
        plotManipulability2()
示例#7
0
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
示例#8
0
def chooseFunction(choix, rs):
    if choix == 1:
        c = Chrono()
        #TODO: DDPGForAllTargetSizes
        #launchDDPGForAllTargetSizesMulti(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)
        generateFromDDPG(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 DDPG 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 DDPG 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:
        tSize = raw_input('Target Size: ')
        c = Chrono()
        launchDDPGForSpecificTargetSize(float(tSize),rs)
        c.stop()
    elif choix == 14:
        plotDDPGProgress(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()
        generateRichDataFromDDPG(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:
        plotEstimator(rs, 0.04, 0., 0.25)
    elif choix == 24:
        tSize = raw_input('Target Size: ')
        c = Chrono()
        launchDDPGForAllPoint(rs,float(tSize))
        #launchDDPGForSpecificTargetSizeAndSpeceficBeginning(float(tSize), rs, [0, [0, 0.2]])
        c.stop()
    elif choix == 25:
        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
            plotDDPGOnePointProgress(rs,size, point)
    elif choix == 26:
        #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)
        generateFromDDPGNController(nbret, rs, nameTheta, name)
    elif choix == 27:
        nameF = raw_input('Folder where the results are saved: ')
        rorc = raw_input("Target Size: ")
        plotXYPositions("OPTI",rs, nameF,rorc,False)
    else :
        return 0
    return 1
示例#9
0
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
示例#10
0
def chooseFunction(choix, rs):
    if choix == 1:
        c = Chrono()
        #TODO: DDPGForAllTargetSizes
        #launchDDPGForAllTargetSizesMulti(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)
        generateFromDDPG(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 DDPG 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 DDPG 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:
        tSize = raw_input('Target Size: ')
        c = Chrono()
        launchDDPGForSpecificTargetSize(float(tSize), rs)
        c.stop()
    elif choix == 14:
        plotDDPGProgress(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()
        generateRichDataFromDDPG(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:
        plotEstimator(rs, 0.04, 0., 0.25)
    elif choix == 24:
        tSize = raw_input('Target Size: ')
        c = Chrono()
        launchDDPGForAllPoint(rs, float(tSize))
        #launchDDPGForSpecificTargetSizeAndSpeceficBeginning(float(tSize), rs, [0, [0, 0.2]])
        c.stop()
    elif choix == 25:
        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
            plotDDPGOnePointProgress(rs, size, point)
    elif choix == 26:
        #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)
        generateFromDDPGNController(nbret, rs, nameTheta, name)
    elif choix == 27:
        nameF = raw_input('Folder where the results are saved: ')
        rorc = raw_input("Target Size: ")
        plotXYPositions("OPTI", rs, nameF, rorc, False)
    else:
        return 0
    return 1