How to use parallel_simple method in autotest

Best Python code snippet using autotest_python

simulatorTestDemo.py

Source:simulatorTestDemo.py

1import os2import numpy as np3import torch4import argparse5from simulateTest.AutoGraspShapeCoreUtil import AutoGraspUtil6# parser = argparse.ArgumentParser(description='ShapeNetSem Grasp testing')7# parser.add_argument('-t', '--testFile', default='prediction/500ntop10.txt', type=str, metavar='FILE', help='testFile path')8# # parser.add_argument('-n', '--samplePerObject', default=10, type=int, metavar='N', help='sample num per object')9# parser.add_argument('-p', '--processNum', default=18, type=int, metavar='N', help='process num using')10# parser.add_argument('-w', '--haveWidth', default=1, type=int, metavar='N', help='0 : no width ; 1 : have width')11# parser.add_argument('--gripperFile', default='/data/shapeNet/annotator2/parallel_simple.urdf', type=str, metavar='FILE', help='gripper file')12# parser.add_argument('--objMeshRoot', default='/data/shapeNet/urdf', type=str, metavar='PATH', help='obj mesh path')13parser = argparse.ArgumentParser(description='ShapeNetSem Grasp testing')14parser.add_argument('-t', '--testFile', default='gpnet_data/prediction/nms_poses_view0.txt', type=str, metavar='FILE', help='testFile path')15# parser.add_argument('-n', '--samplePerObject', default=10, type=int, metavar='N', help='sample num per object')16parser.add_argument('-p', '--processNum', default=10, type=int, metavar='N', help='process num using')17# parser.add_argument('-w', '--haveWidth', default=0, type=int, metavar='N', help='0 : no width ; 1 : have width')18parser.add_argument('-w', "--width", action="store_true", dest="width", default=False, help="turn on this param if test file contains width.")19parser.add_argument('--gripperFile', default='gpnet_data/gripper/parallel_simple.urdf', type=str, metavar='FILE', help='gripper file')20parser.add_argument('--objMeshRoot', default='gpnet_data/urdf', type=str, metavar='PATH', help='obj mesh path')21def getObjStatusAndAnnotation(testFile, haveWidth=False):22    with open(testFile, 'r') as testData:23        lines = testData.readlines()24        objIdList = []25        quaternionDict = {}26        centerDict = {}27        # 0: scaling    1~3: position   4~7: orientation    8: staticFrictionCoeff28        objId = 'invalid'29        objCounter = -130        annotationCounter = -131        for line in lines:32            # new object33            msg = line.strip()34            if len(msg.split(',')) < 2 :35                objId = msg.strip()36                # skip invalid37                # begin38                objCounter += 139                objIdList.append(objId)40                quaternionDict[objId] = np.empty(shape=(0, 4), dtype=np.float)41                centerDict[objId] = np.empty(shape=(0, 3), dtype=np.float)42                annotationCounter = -143            # read annotation44            else:45                # skip invalid object46                if objId == 'invalid':47                    continue48                # begin49                annotationCounter += 150                pose = msg.split(',')51                # print(objId, annotationCounter)52                if haveWidth:53                    length = float(pose[0]) * 0.085     # arbitrary value, will not be used in AutoGrasp54                    length = length if length < 0.085 else 0.08555                    position = np.array([float(pose[1]), float(pose[2]), float(pose[3])])56                    quaternion = np.array([float(pose[4]), float(pose[5]), float(pose[6]), float(pose[7])])57                    # quaternion = quaternion[[1, 2, 3, 0]]58                else:59                    length = 0.000  # arbitrary value, will not be used in AutoGrasp60                    position = np.array([float(pose[0]), float(pose[1]), float(pose[2])])61                    quaternion = np.array([float(pose[3]), float(pose[4]), float(pose[5]), float(pose[6])])62                    # quaternion = quaternion[[1, 2, 3, 0]]63                # print(objCounter, annotationCounter)64                quaternionDict[objId] = np.concatenate((quaternionDict[objId], quaternion[None, :]), axis=0)65                centerDict[objId] = np.concatenate((centerDict[objId], position[None, :]), axis=0)66    return quaternionDict, centerDict, objIdList67if __name__ == "__main__":68    cfg = parser.parse_args()69    objMeshRoot = cfg.objMeshRoot70    processNum = cfg.processNum71    gripperFile = cfg.gripperFile72    haveWidth = cfg.width73    testInfoFile = cfg.testFile74    logFile = cfg.testFile[:-4] + '_log.csv'75    open(logFile, 'w').close()76    simulator = AutoGraspUtil()77    quaternionDict, centerDict, objIdList = getObjStatusAndAnnotation(testInfoFile, haveWidth)78    for objId in objIdList:79        q = quaternionDict[objId]80        c = centerDict[objId]81        simulator.addObject2(82            objId=objId,83            quaternion=q,84            translation=c85        )86    simulator.parallelSimulation(87        logFile=logFile,88        objMeshRoot=objMeshRoot,89        processNum=processNum,90        gripperFile=gripperFile,91    )92    annotationSuccessDict = simulator.getSuccessData(logFile=logFile)93    # print(top 10% 30% 50% 100%)94    top10, top30, top50, top100 = simulator.getStatistic(annotationSuccessDict)...

ga.py

Source:ga.py

...31toolbox.register("mutate", mutGaussianInt, mu=mu, sigma=sigma, indpb=0.25)32toolbox.register("select", tools.selBest)33if __name__ == "__main__":34	start_time = time.time()35	pop, log, hof, history = parallel_simple(toolbox, pop_sz, cxpb, mutpb, ngen, n_jobs=4)36	print("total runtime:", time.time() - start_time)37	print("Best individual is: %s\nwith fitness: %s" % (hof[0], hof[0].fitness.values[0]))38	print("Final population:\n", pop)39	print("Log:\n", log)40	output = []41	for i in hof:42		output.append(i + [i.fitness.values[0]])43		print(i + [i.fitness.values[0]])44	output = np.array(output)45	np.savetxt('ga_results_backup2.csv', output, fmt='%10.5f', delimiter=',')46	gene_order = []47	for i in history.genealogy_history:48		gene_order.append(history.genealogy_history[i])49	gene_order = np.array(gene_order)...

Automation Testing Tutorials

Learn to execute automation testing from scratch with LambdaTest Learning Hub. Right from setting up the prerequisites to run your first automation test, to following best practices and diving deeper into advanced test scenarios. LambdaTest Learning Hubs compile a list of step-by-step guides to help you be proficient with different test automation frameworks i.e. Selenium, Cypress, TestNG etc.