How to use set_test_parameters method in autotest

Best Python code snippet using autotest_python

pid_tuning.py

Source:pid_tuning.py

...91        await self.protocol.feedback_controller.request_all()92        self.num_cycles = 593        self.low_position = 10094        self.high_position = 70095        await self.set_test_parameters()96        await self.prompt('Press enter to begin: ')97        await self.dashboard.plotter.toggler.start_plotting()98        try:99            while True:100                for i in range(self.num_cycles):101                    await self.go_to_position(self.low_position)102                    await asyncio.sleep(0.5)103                    await self.go_to_position(self.high_position)104                    await asyncio.sleep(0.5)105                print('Finished test cycles!')106                self.dashboard.plotter.position_plotter.stop_plotting()107                self.dashboard.plotter.duty_plotter.stop_plotting()108                await self.set_test_parameters()109                await self.prompt('Press enter to restart: ')110                self.dashboard.plotter.position_plotter.clear()111                self.dashboard.plotter.duty_plotter.clear()112                if self.dashboard.plotter.toggler.plotting:113                    self.dashboard.plotter.position_plotter.start_plotting()114                    self.dashboard.plotter.duty_plotter.start_plotting()115        except KeyboardInterrupt:116            await self.dashboard.plotter.toggler.stop_plotting()117        print('Idling...')118        self.dashboard.plotter.server.run_until_shutdown()119    async def set_test_parameters(self):120        """Set the test motion parameters."""121        self.num_cycles = await self.prompt.number(122            'How many test cycles to run?', self.num_cycles123        )124        self.low_position = await self.prompt.number(125            'Low target position?', self.low_position126        )127        self.high_position = await self.prompt.number(128            'High target position?', self.high_position129        )130    async def go_to_position(self, position):131        """Send the actuator to the specified position."""132        self.dashboard.plotter.position_plotter.add_arrow(position, slope=2)133        self.dashboard.plotter.duty_plotter.start_state_region()...

run.py

Source:run.py

...40    lp = LearningParameters()41    lp.set_rm_learning(rm_init_steps=200e3, rm_u_max=10, rm_preprocess=True, rm_tabu_size=10000, 42                       rm_lr_steps=100, rm_workers=n_workers)43    lp.set_rl_parameters(gamma=0.9, train_steps=None, episode_horizon=int(5e3), epsilon=0.1, max_learning_steps=None)44    lp.set_test_parameters(test_freq = int(1e4))45    lp.set_deep_rl(lr = 5e-5, learning_starts = 50000, train_freq = 1, target_network_update_freq = 100, 46                    buffer_size = 100000, batch_size = 32, use_double_dqn = True, num_hidden_layers = 5, num_neurons = 64)47    # Setting the environment48    env_params = set_environment(env, lp)49    # Choosing the RL algorithm50    print("\n----------------------")51    print("LRM agent:", rl)52    print("----------------------\n")53    # Running the experiment54    run_lrm_experiments(env_params, lp, rl, n_seed, save)55def run_baseline_agent(rl, env, n_seed, k_order):56    save = True57    print("Running", str(k_order)+"-order", rl, "in", env, "using seed", n_seed)58    if save: print("SAVING RESULTS!")59    else:    print("*NOT* SAVING RESULTS!")60    # Setting the learning parameters61    lp = LearningParameters()62    lp.set_rl_parameters(gamma=0.9, train_steps=int(5e6), episode_horizon=int(5e3), epsilon=0.1, max_learning_steps=None)63    lp.set_test_parameters(test_freq = int(1e4))64    lp.set_deep_rl(lr = 5e-5, learning_starts = 50000, train_freq = 1, target_network_update_freq = 100, 65                    buffer_size = 100000, batch_size = 32, use_double_dqn = True, num_hidden_layers = 5, num_neurons = 64)66    # Setting the environment67    env_params = set_environment(env, lp)68    # Choosing the RL algorithm69    print("\n----------------------")70    print("Baseline:", rl)71    print("----------------------\n")72    # Running the experiment73    run_baseline_experiments(env_params, lp, rl, k_order, n_seed, save)74if __name__ == "__main__":75    # EXAMPLE: python3 run.py --agent="lrm-dqn" --world="cookie" --seed=1 --workers=1676    # EXAMPLE: python3 run.py --agent="lrm-dqn" --world="keys" --seed=1 --workers=1677    # EXAMPLE: python3 run.py --agent="lrm-dqn" --world="symbol" --seed=1 --workers=16...

test_parameters.py

Source:test_parameters.py

1#!/usr/bin/env python2import rospy3import sys4import actionlib5from infrastructure_msgs.msg import TestParametersAction, TestParametersGoal, TestParametersFeedback, TestParametersResult6class TestParameters():7    8    def __init__(self):   9        #initializing actionservers10		self.test_parameters = actionlib.SimpleActionServer("set_test_parameters", TestParametersAction, self.set_parameters_callback, False) 11		self.test_parameters.start()12 13    def set_parameters_callback(self, goal):14		#ANY CHECKS FOR PARAMETERS AND EXECUTION OF PARAMETERS ON HARDWARE HERE15		self.test_parameters.publish_feedback(TestParametersFeedback(status="EXAMPLE: CHANGED OBJECT"))16		self.test_parameters.set_succeeded(TestParametersResult(result=0), text="SUCCESS")17		#Or if failed:18		#self.test_parameters.set_aborted(TestParameters(result = 100), text="FAILED")19if __name__ == '__main__':20    rospy.init_node("test_parameters", argv=sys.argv)21    begin = TestParameters()...

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