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")
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")
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)
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 == 28: nameF = raw_input('Folder where the results are saved: ') plotXYEstimError("Regression", rs, nameF,"All") elif choix == 29: nameF = raw_input('Folder where the results are saved: ') plotXYEstimErrorOfSpeed("Regression", rs, nameF,"All") #------------------------------------------- CMAES elif choix == 11: 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 == 12: #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 == 13: nameF = raw_input('Folder where the results are saved: ') plotVelocityProfile("CMAES",rs,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",rs, nameF,"All",False) else: plotArticularPositions("CMAES",rs, nameF) elif choix == 15: nameF = raw_input('Folder where the results are saved: ') tSize = raw_input('Target Size: ') plotMuscularActivations("CMAES",rs,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",rs, nameF) elif choix == 17: nameF = raw_input('Folder where the results are saved: ') plotTimeDistanceTarget(nameF, rs) elif choix == 18: nameF = raw_input('Folder where the results are saved: ') plotPerfSizeDist(nameF, rs) elif choix == 19: nameF = raw_input('Folder where the results are saved: ') plotFittsLaw(nameF, rs) elif choix == 20: nameF = raw_input('Folder where the results are saved: ') plotTimeColorMap("CMAES",rs, nameF) elif choix == 21: 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("CMAES",rs, 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, rs) elif rorc == 2: plotScattergram("CMAES",nameF, rs) elif choix == 23: 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 == 24: plotCMAESProgress(rs) elif choix == 25: 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 == 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,rs, nameTheta, name) c.stop() elif choix == 27: plotTrajsInRepo() elif choix == 30: nameF = raw_input('Folder where the results are saved: ') plotXYEstimError("CMAES",rs,nameF,"All") elif choix == 31: nameF = raw_input('Folder where the results are saved: ') plotXYEstimErrorOfSpeed("CMAES",rs,nameF,"All") elif choix == 32: plotExperimentSetup(rs) elif choix == 33: plotManipulability(rs) elif choix == 34: plotManipulability2(rs) elif choix == 35: plotEstimatorGeneral(rs, 0.005, 0., 0.25) else : return 0 return 1
def generateRBFNs(): for i in range(20): c = Chrono() run("X"+str(i),True) c.stop()
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 == 28: nameF = raw_input('Folder where the results are saved: ') plotXYEstimError("Regression", rs, nameF, "All") elif choix == 29: nameF = raw_input('Folder where the results are saved: ') plotXYEstimErrorOfSpeed("Regression", rs, nameF, "All") #------------------------------------------- CMAES elif choix == 11: 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 == 12: #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 == 13: nameF = raw_input('Folder where the results are saved: ') plotVelocityProfile("CMAES", rs, 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", rs, nameF, "All", False) else: plotArticularPositions("CMAES", rs, nameF) elif choix == 15: nameF = raw_input('Folder where the results are saved: ') tSize = raw_input('Target Size: ') plotMuscularActivations("CMAES", rs, 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", rs, nameF) elif choix == 17: nameF = raw_input('Folder where the results are saved: ') plotTimeDistanceTarget(nameF, rs) elif choix == 18: nameF = raw_input('Folder where the results are saved: ') plotPerfSizeDist(nameF, rs) elif choix == 19: nameF = raw_input('Folder where the results are saved: ') plotFittsLaw(nameF, rs) elif choix == 20: nameF = raw_input('Folder where the results are saved: ') plotTimeColorMap("CMAES", rs, nameF) elif choix == 21: 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("CMAES", rs, 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, rs) elif rorc == 2: plotScattergram("CMAES", nameF, rs) elif choix == 23: 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 == 24: plotCMAESProgress(rs) elif choix == 25: 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 == 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, rs, nameTheta, name) c.stop() elif choix == 27: plotTrajsInRepo() elif choix == 30: nameF = raw_input('Folder where the results are saved: ') plotXYEstimError("CMAES", rs, nameF, "All") elif choix == 31: nameF = raw_input('Folder where the results are saved: ') plotXYEstimErrorOfSpeed("CMAES", rs, nameF, "All") elif choix == 32: plotExperimentSetup(rs) elif choix == 33: plotManipulability(rs) elif choix == 34: plotManipulability2(rs) elif choix == 35: plotEstimatorGeneral(rs, 0.005, 0., 0.25) else: return 0 return 1
def generateRBFNs(): for i in range(20): c = Chrono() run("X" + str(i), True) c.stop()
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)