How to use is_valid_solution method in avocado

Best Python code snippet using avocado_python

inverse.py

Source:inverse.py

1import math2import numpy as np3from kinematics.forward import ForwardKinematics4from kinematics.kinematics import Kinematics5from kinematics.solution import InverseKinematicsShoulderSolution, InverseKinematicsSpecificSolution, \6    InverseKinematicsSolution, InverseKinematicsWristSolution7class InverseKinematics(Kinematics):8    def __init__(self):9        super().__init__()10        self.forward_kinematics = ForwardKinematics()11    def __clamp_cos_sin_within_threshold(self, cos_or_sin):12        new_val = cos_or_sin13        if 1 < new_val <= 1.2:14            new_val = 1.015        elif -1.2 <= new_val < -1:16            new_val = -1.017        return new_val18    def __compute_solution_for_theta_1(self, T06, theta_1, debug=False):19        wrist_solution = InverseKinematicsWristSolution()20        # Theta 521        P06 = T06[:, 3]22        theta_5_1 = None23        theta_5_2 = None24        theta_5_cos = (P06[0] * math.sin(theta_1) - P06[1] * np.cos(25            theta_1) - self.joint4_dh.d) / self.joint6_dh.d26        theta_5_cos = self.__clamp_cos_sin_within_threshold(theta_5_cos)27        if -1 <= theta_5_cos <= 1:28            theta_5_1 = math.acos(theta_5_cos)29            theta_5_2 = -math.acos(theta_5_cos)30        sigma = 0.0000131        if theta_5_1 is not None and not -sigma <= math.sin(theta_5_1) <= sigma:32            wrist_solution.solution_wrist_up = self.__compute_solution_for_wrist(theta_1, theta_5_1, T06)33        else:34            wrist_solution.solution_wrist_up.is_valid_solution = False35        if theta_5_2 is not None and not -sigma <= math.sin(theta_5_2) <= sigma:36            wrist_solution.solution_wrist_down = self.__compute_solution_for_wrist(theta_1, theta_5_2, T06)37        else:38            wrist_solution.solution_wrist_down.is_valid_solution = False39        if not wrist_solution.solution_wrist_up.is_valid_solution and not wrist_solution.solution_wrist_down.is_valid_solution:40            wrist_solution.is_valid_solution = False41        if debug:42            print(f"Theta 5: {theta_5_1:.3f}, {theta_5_2:.3f}")43        return wrist_solution44    def __compute_solution_for_wrist(self, theta_1, theta_5, T06, debug=False):45        shoulder_solution = InverseKinematicsShoulderSolution()46        # Theta 647        T60 = np.linalg.inv(T06)48        X60 = T60[:, 0]49        Y60 = T60[:, 1]50        theta_6_cos = (X60[0] * math.sin(theta_1) - Y60[0] * math.cos(theta_1)) / math.sin(51            theta_5)  # only using one of the theta 5's for now..52        theta_6_sin = (-X60[1] * math.sin(theta_1) + Y60[1] * math.cos(theta_1)) / math.sin(53            theta_5)  # only using one of the theta 5's for now..54        theta_6 = math.atan2(theta_6_sin, theta_6_cos)55        if debug:56            print(f"Theta 6: {theta_6:.3f}")57        tm_dict = {}58        # Theta 359        T01 = self.compute_transformation_matrix(theta_1, self.joint1_dh)60        T45 = self.compute_transformation_matrix(theta_5, self.joint5_dh)61        T56 = self.compute_transformation_matrix(theta_6, self.joint6_dh)62        T46 = np.matmul(T45, T56)63        T64 = np.linalg.inv(T46)64        T10 = np.linalg.inv(T01)65        T14 = np.matmul(np.matmul(T10, T06), T64)66        P14 = T14[:, 3]67        tm_dict["T06"] = T0668        tm_dict["T01"] = T0169        tm_dict["T45"] = T4570        tm_dict["T56"] = T5671        tm_dict["T64"] = T6472        tm_dict["T10"] = T1073        tm_dict["T14"] = T1474        tm_dict["P14"] = P1475        theta_3_cos = (math.sqrt(76            P14[0] ** 2 + P14[2] ** 2) ** 2 - self.joint3_dh.a ** 2 - self.joint4_dh.a ** 2) / (77                                  2 * (-self.joint3_dh.a) * (-self.joint4_dh.a))78        if debug:79            print("theta3_cos: ", theta_3_cos)80        theta_3_cos = self.__clamp_cos_sin_within_threshold(theta_3_cos)81        if not -1 <= theta_3_cos <= 1:82            shoulder_solution.is_valid_solution = False83            return shoulder_solution84        theta_3_up = math.acos(theta_3_cos)85        theta_3_down = -math.acos(theta_3_cos)86        if debug:87            print(f"Theta 3: Up: {theta_3_up:.3f} Down: {theta_3_down:.3f}")88        shoulder_solution.solution_elbow_up = self.__compute_specific_solution(theta_1, theta_3_up, theta_5, theta_6, tm_dict)89        shoulder_solution.solution_elbow_down = self.__compute_specific_solution(theta_1, theta_3_down, theta_5, theta_6, tm_dict)90        return shoulder_solution91    def __compute_specific_solution(self, theta_1, theta_3, theta_5, theta_6, tm_dict, debug=False):92        specific_solution = InverseKinematicsSpecificSolution()93        P14 = tm_dict["P14"]94        phi_1 = math.atan2(-P14[2], -P14[0])95        phi_2 = math.asin((-self.joint4_dh.a * math.sin(theta_3)) / math.sqrt(P14[0]**2 + P14[2]**2))96        theta_2 = phi_1 - phi_297        if debug:98            print(f"Theta 2: {theta_2:.3f}")99        T01 = tm_dict["T01"]100        T12 = self.compute_transformation_matrix(theta_2, self.joint2_dh)101        T23 = self.compute_transformation_matrix(theta_3, self.joint3_dh)102        T45 = tm_dict["T45"]103        T56 = tm_dict["T56"]104        T06 = tm_dict["T06"]105        T03 = np.matmul(np.matmul(T01, T12), T23)106        T30 = np.linalg.inv(T03)107        T64 = tm_dict["T64"]108        T34 = np.matmul(np.matmul(T30, T06), T64)109        X34 = T34[:, 0]110        theta_4 = math.atan2(X34[1], X34[0])111        if debug:112            print(f"Theta 4: {theta_4:.3f}")113        specific_solution.thetas = [theta_1, theta_2, theta_3, theta_4, theta_5, theta_6]114        return specific_solution115    def __print_all_solutions(self, solution):116        print("Inverse Solutions:")117        if solution.solution_shoulder_left.is_valid_solution:118            if solution.solution_shoulder_left.solution_wrist_up.is_valid_solution:119                if solution.solution_shoulder_left.solution_wrist_up.solution_elbow_up.is_valid_solution:120                    print(121                        f"Shoulder left, wrist up, elbow up: {solution.solution_shoulder_left.solution_wrist_up.solution_elbow_up.thetas}")122                if solution.solution_shoulder_left.solution_wrist_up.solution_elbow_down.is_valid_solution:123                    print(124                        f"Shoulder left, wrist up, elbow down: {solution.solution_shoulder_left.solution_wrist_up.solution_elbow_down.thetas}")125            if solution.solution_shoulder_left.solution_wrist_down.is_valid_solution:126                if solution.solution_shoulder_left.solution_wrist_down.solution_elbow_up.is_valid_solution:127                    print(128                        f"Shoulder left, wrist down, elbow up: {solution.solution_shoulder_left.solution_wrist_down.solution_elbow_up.thetas}")129                if solution.solution_shoulder_left.solution_wrist_down.solution_elbow_down:130                    print(131                        f"Shoulder left, wrist down, elbow down: {solution.solution_shoulder_left.solution_wrist_down.solution_elbow_down.thetas}")132        if solution.solution_shoulder_right.is_valid_solution:133            if solution.solution_shoulder_right.solution_wrist_up.is_valid_solution:134                if solution.solution_shoulder_right.solution_wrist_up.solution_elbow_up.is_valid_solution:135                    print(136                        f"Shoulder right, wrist up, elbow up: {solution.solution_shoulder_right.solution_wrist_up.solution_elbow_up.thetas}")137                if solution.solution_shoulder_right.solution_wrist_up.solution_elbow_down.is_valid_solution:138                    print(139                        f"Shoulder right, wrist up, elbow down: {solution.solution_shoulder_right.solution_wrist_up.solution_elbow_up.thetas}")140            if solution.solution_shoulder_right.solution_wrist_down.is_valid_solution:141                if solution.solution_shoulder_right.solution_wrist_down.solution_elbow_up.is_valid_solution:142                    print(143                        f"Shoulder right, wrist down, elbow up: {solution.solution_shoulder_right.solution_wrist_down.solution_elbow_up.thetas}")144                if solution.solution_shoulder_right.solution_wrist_down.solution_elbow_down.is_valid_solution:145                    print(146                        f"Shoulder right, wrist down, elbow down: {solution.solution_shoulder_right.solution_wrist_down.solution_elbow_up.thetas}")147    def compute_joint_angles(self, T06, debug=False):148        solution = InverseKinematicsSolution()149        #Theta 1150        P05 = np.dot(T06, [0, 0, -self.joint6_dh.d, 1])151        phi_1 = math.atan2(P05[1], P05[0])152        phi_2_cos = self.joint4_dh.d / math.sqrt(P05[0]**2 + P05[1]**2)153        phi_2 = math.acos(phi_2_cos)154        theta_1_1 = phi_1 + phi_2 + (np.pi / 2)155        theta_1_2 = phi_1 - phi_2 + (np.pi / 2)156        if debug:157            print(f"Theta 1: {theta_1_1:.3f}, {theta_1_2:.3f}")158        if not math.isnan(theta_1_1):159            solution.solution_shoulder_left = self.__compute_solution_for_theta_1(T06, theta_1_1, debug)160        else:161            solution.solution_shoulder_left = InverseKinematicsWristSolution().is_valid_solution = False162        if not math.isnan(theta_1_2):163            solution.solution_shoulder_right = self.__compute_solution_for_theta_1(T06, theta_1_2, debug)164        else:165            solution.solution_shoulder_right = InverseKinematicsWristSolution().is_valid_solution = False166        if debug:167            self.__print_all_solutions(solution)168        return solution169    def get_solution_for_config_id(self, solution, config_id):170        if config_id == 0:171            return solution.solution_shoulder_left.solution_wrist_up.solution_elbow_up.thetas172        elif config_id == 1:173            return solution.solution_shoulder_left.solution_wrist_up.solution_elbow_down.thetas174        elif config_id == 2:175            return solution.solution_shoulder_left.solution_wrist_down.solution_elbow_up.thetas176        elif config_id == 3:177            return solution.solution_shoulder_left.solution_wrist_down.solution_elbow_down.thetas178        elif config_id == 4:179            return solution.solution_shoulder_right.solution_wrist_up.solution_elbow_up.thetas180        elif config_id == 5:181            return solution.solution_shoulder_right.solution_wrist_up.solution_elbow_down.thetas182        elif config_id == 6:183            return solution.solution_shoulder_right.solution_wrist_down.solution_elbow_up.thetas184        elif config_id == 7:185            return solution.solution_shoulder_right.solution_wrist_down.solution_elbow_down.thetas186        else:187            raise Exception("invalid config solution id")188    def get_best_solution_for_config_id(self, T06, config_id):189        solution = self.compute_joint_angles(T06)190        if self.is_valid_solution_by_config_id(solution, config_id):191            return self.get_solution_for_config_id(solution, config_id)192        else:193            index = config_id + 1194            checked_all = False195            while not checked_all:196                if index >= 8:197                    index = 0198                if index == config_id:199                    print('Found no valid solutions..')200                    return None201                if self.is_valid_solution_by_config_id(solution, index):202                    return self.get_solution_for_config_id(solution, index)203                index += 1204    def is_valid_solution_by_config_id(self, solution, config_id):205        if 0 <= config_id < 4 and solution.solution_shoulder_left.is_valid_solution:206            if 0 <= config_id < 2 and solution.solution_shoulder_left.solution_wrist_up.is_valid_solution:207                if config_id == 0 and solution.solution_shoulder_left.solution_wrist_up.solution_elbow_up.is_valid_solution:208                    return True209                if config_id == 1 and solution.solution_shoulder_left.solution_wrist_up.solution_elbow_down.is_valid_solution:210                    return True211            if 2 <= config_id < 4 and solution.solution_shoulder_left.solution_wrist_down.is_valid_solution:212                if config_id == 2 and solution.solution_shoulder_left.solution_wrist_down.solution_elbow_up.is_valid_solution:213                    return True214                if config_id == 3 and solution.solution_shoulder_left.solution_wrist_down.solution_elbow_down:215                    return True216        if 4 <= config_id < 8 and solution.solution_shoulder_right.is_valid_solution:217            if 4 <= config_id < 6 and solution.solution_shoulder_right.solution_wrist_up.is_valid_solution:218                if config_id == 4 and solution.solution_shoulder_right.solution_wrist_up.solution_elbow_up.is_valid_solution:219                    return True220                if config_id == 5 and solution.solution_shoulder_right.solution_wrist_up.solution_elbow_down.is_valid_solution:221                    return True222            if 6 <= config_id < 8 and solution.solution_shoulder_right.solution_wrist_down.is_valid_solution:223                if config_id == 6 and solution.solution_shoulder_right.solution_wrist_down.solution_elbow_up.is_valid_solution:224                    return True225                if config_id == 7 and solution.solution_shoulder_right.solution_wrist_down.solution_elbow_down.is_valid_solution:226                    return True227        else:228            return False229    def get_current_configuration_id(self, joint_angles):230        T06 = self.forward_kinematics.compute_0_to_6_matrix(joint_angles)231        solution = self.compute_joint_angles(T06)232        differences = np.full(8, 1000)233        if solution.solution_shoulder_left.is_valid_solution:234            if solution.solution_shoulder_left.solution_wrist_up.is_valid_solution:235                if solution.solution_shoulder_left.solution_wrist_up.solution_elbow_up.is_valid_solution:236                    differences[0] = 0237                if solution.solution_shoulder_left.solution_wrist_up.solution_elbow_down.is_valid_solution:238                    differences[1] = 0239            if solution.solution_shoulder_left.solution_wrist_down.is_valid_solution:240                if solution.solution_shoulder_left.solution_wrist_down.solution_elbow_up.is_valid_solution:241                    differences[2] = 0242                if solution.solution_shoulder_left.solution_wrist_down.solution_elbow_down:243                    differences[3] = 0244        if solution.solution_shoulder_right.is_valid_solution:245            if solution.solution_shoulder_right.solution_wrist_up.is_valid_solution:246                if solution.solution_shoulder_right.solution_wrist_up.solution_elbow_up.is_valid_solution:247                    differences[4] = 0248                if solution.solution_shoulder_right.solution_wrist_up.solution_elbow_down.is_valid_solution:249                    differences[5] = 0250            if solution.solution_shoulder_right.solution_wrist_down.is_valid_solution:251                if solution.solution_shoulder_right.solution_wrist_down.solution_elbow_up.is_valid_solution:252                    differences[6] = 0253                if solution.solution_shoulder_right.solution_wrist_down.solution_elbow_down.is_valid_solution:254                    differences[7] = 0255        for i in range(6):256            if solution.solution_shoulder_left.is_valid_solution:257                if solution.solution_shoulder_left.solution_wrist_up.is_valid_solution:258                    if solution.solution_shoulder_left.solution_wrist_up.solution_elbow_up.is_valid_solution:259                        differences[0] += abs(joint_angles[i] - solution.solution_shoulder_left.solution_wrist_up.solution_elbow_up.thetas[i])260                    if solution.solution_shoulder_left.solution_wrist_up.solution_elbow_down.is_valid_solution:261                        differences[1] += abs(joint_angles[i] - solution.solution_shoulder_left.solution_wrist_up.solution_elbow_down.thetas[i])262                if solution.solution_shoulder_left.solution_wrist_down.is_valid_solution:263                    if solution.solution_shoulder_left.solution_wrist_down.solution_elbow_up.is_valid_solution:264                        differences[2] += abs(joint_angles[i] - solution.solution_shoulder_left.solution_wrist_down.solution_elbow_up.thetas[i])265                    if solution.solution_shoulder_left.solution_wrist_down.solution_elbow_down:266                        differences[3] += abs(joint_angles[i] - solution.solution_shoulder_left.solution_wrist_down.solution_elbow_down.thetas[i])267            if solution.solution_shoulder_right.is_valid_solution:268                if solution.solution_shoulder_right.solution_wrist_up.is_valid_solution:269                    if solution.solution_shoulder_right.solution_wrist_up.solution_elbow_up.is_valid_solution:270                        differences[4] += abs(joint_angles[i] - solution.solution_shoulder_right.solution_wrist_up.solution_elbow_up.thetas[i])271                    if solution.solution_shoulder_right.solution_wrist_up.solution_elbow_down.is_valid_solution:272                        differences[5] += abs(joint_angles[i] - solution.solution_shoulder_right.solution_wrist_up.solution_elbow_down.thetas[i])273                if solution.solution_shoulder_right.solution_wrist_down.is_valid_solution:274                    if solution.solution_shoulder_right.solution_wrist_down.solution_elbow_up.is_valid_solution:275                        differences[6] += abs(joint_angles[i] - solution.solution_shoulder_right.solution_wrist_down.solution_elbow_up.thetas[i])276                    if solution.solution_shoulder_right.solution_wrist_down.solution_elbow_down.is_valid_solution:277                        differences[7] += abs(joint_angles[i] - solution.solution_shoulder_right.solution_wrist_down.solution_elbow_down.thetas[i])278        print(differences)...

sudoku_sol_validator.py

Source:sudoku_sol_validator.py

1"""2Sudoku Background3Sudoku is a game played on a 9x9 grid. The goal of the game is to fill all cells of the grid with digits from 1 to 9,4so that each column, each row, and each of the nine 3x3 sub-grids (also known as blocks)5contain all of the digits from 1 to 9.6(More info at: http://en.wikipedia.org/wiki/Sudoku)7Sudoku Solution Validator8Write a function validSolution/ValidateSolution/valid_solution() that accepts a 2D array representing a Sudoku board,9and returns true if it is a valid solution, or false otherwise.10The cells of the sudoku board may also contain 0's, which will represent empty cells.11Boards containing one or more zeroes are considered to be invalid solutions.12The board is always 9 cells by 9 cells, and every cell only contains integers from 0 to 9.13Examples14validSolution([15  [5, 3, 4, 6, 7, 8, 9, 1, 2],16  [6, 7, 2, 1, 9, 5, 3, 4, 8],17  [1, 9, 8, 3, 4, 2, 5, 6, 7],18  [8, 5, 9, 7, 6, 1, 4, 2, 3],19  [4, 2, 6, 8, 5, 3, 7, 9, 1],20  [7, 1, 3, 9, 2, 4, 8, 5, 6],21  [9, 6, 1, 5, 3, 7, 2, 8, 4],22  [2, 8, 7, 4, 1, 9, 6, 3, 5],23  [3, 4, 5, 2, 8, 6, 1, 7, 9]24]); // => true25validSolution([26  [5, 3, 4, 6, 7, 8, 9, 1, 2],27  [6, 7, 2, 1, 9, 0, 3, 4, 8],28  [1, 0, 0, 3, 4, 2, 5, 6, 0],29  [8, 5, 9, 7, 6, 1, 0, 2, 0],30  [4, 2, 6, 8, 5, 3, 7, 9, 1],31  [7, 1, 3, 9, 2, 4, 8, 5, 6],32  [9, 0, 1, 5, 3, 7, 2, 1, 4],33  [2, 8, 7, 4, 1, 9, 6, 3, 5],34  [3, 0, 0, 4, 8, 1, 1, 7, 9]35]); // => false36"""37def valid_solution(board) -> bool:38    is_valid_solution = True39    if not board or len(board) != 9:40        is_valid_solution = False41    squares = [[] for _ in board]42    line_idx = 043    # form squares44    for idx, line in enumerate(board, 1):45        # check each line46        if len(set(line)) != 9:47            is_valid_solution = False48        squares[line_idx].append(line[:3])49        squares[line_idx + 1].append(line[3:6])50        squares[line_idx + 2].append(line[6:])51        if idx % 3 == 0:52            line_idx += 353    # check each square54    for square in squares:55        for sub_line in square:56            if not all(sub_line):57                is_valid_solution = False58        lists_extension = set(square[0] + square[1] + square[2])59        if len(lists_extension) != 9:60            is_valid_solution = False61    columns = list()62    # check each column63    for i in range(len(board)):64        sub_column = list()65        for j in range(len(board[i])):66            sub_column.append(board[j][i])67        if len(set(sub_column)) != 9:68            is_valid_solution = False69        columns.append(sub_column)70    return is_valid_solution71print(valid_solution([72    [1, 3, 2, 5, 7, 9, 4, 6, 8],73    [4, 9, 8, 2, 6, 1, 3, 7, 5],74    [7, 5, 6, 3, 8, 4, 2, 1, 9],75    [6, 4, 3, 1, 5, 8, 7, 9, 2],76    [5, 2, 1, 7, 9, 3, 8, 4, 6],77    [9, 8, 7, 4, 2, 6, 5, 3, 1],78    [2, 1, 4, 9, 3, 5, 6, 8, 7],79    [3, 6, 5, 8, 1, 7, 9, 2, 4],80    [8, 7, 9, 6, 4, 2, 1, 3, 5]]))81"""82Other Solutions831.84def validSolution(board):85    blocks = [[board[x+a][y+b] for a in (0, 1, 2) for b in (0, 1, 2)] for x in (0, 3, 6) for y in (0, 3, 6)]86    return not filter(lambda x: set(x) != set(range(1, 10)), board + zip(*board) + blocks)872.88def validSolution(board):89    boxes = validate_boxes(board)90    cols = validate_cols(board)91    rows = validate_rows(board)92    return boxes and cols and rows93def validate_boxes(board):94    for i in range(0, 9, 3):95        for j in range(0, 9, 3):96            nums = board[i][j:j+3] + board[i+1][j:j+3] + board[i+2][j:j+3]97            if not check_one_to_nine(nums):98                return False99    return True100def validate_cols(board):101    transposed = zip(*board)102    for row in transposed:103        if not check_one_to_nine(row):104            return False105    return True106    107def validate_rows(board):108    for row in board:109        if not check_one_to_nine(row):110            return False111    return True112            113def check_one_to_nine(lst):114    check = range(1,10)115    return sorted(lst) == check116    1173.118import numpy as np119from itertools import chain120nums = set(range(1, 10))121def validSolution(board):122    a = np.array(board)123    r = range(0, 9, 3)124    return all(set(v.flatten()) == nums for v in chain(a, a.T, (a[i:i+3, j:j+3] for i in r for j in r)))125    1264.127def validSolution(board):128    for x in range(9):129        arr = [board[y][x] for y in range(9)]130        arr2 = [board[x][y] for y in range(9)]131        arr3 = [board[i][y] for y in range(((x%3)*3),(((x%3)*3)+3)) for i in range((int(x/3)*3),(int(x/3)*3)+3)]132        for i in range(9):133            if arr[i] in arr[(i+1):]: return False134            if arr2[i] in arr2[(i+1):]: return False135            if arr3[i] in arr3[(i+1):]: return False136    return True...

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