How to use reset_simulator method in robotframework-ioslibrary

Best Python code snippet using robotframework-ioslibrary_python

simulator.py

Source:simulator.py Github

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...115 116 # print(held)117 118 if empty or cur_step == MAX_STEPS:119 reset_simulator(None,None)120 121 122 cur_step += 1123 canv.after(10,draw_loop)124def activate(_Bool):125 return -1 if not _Bool else 1126def sign(x):127 return -1 if x < 0 else 1128class Missile:129 def __init__(self, jet, other_jets,speed=50):130 self.flying = 0131 self.detonated = 0132 self.fuel = 350133 self.jet = jet134 self.other_jets = other_jets135 self.radius = 0.15136 self.dot = canv.create_oval(0,0,0,0,outline='yellow')137 self.speed = speed138 self.centroid=deepcopy(self.jet.centroid)139 140 def launch(self):141 self.flying = 1142 self.direc = normalize(np.array(self.jet.offs[3]) - self.jet.centroid)143 self.centroid = deepcopy(self.jet.centroid)144 145 def time_step(self):146 if not self.flying and not self.detonated: #attached to hardpoint147 self.centroid = deepcopy(self.jet.centroid)148 elif self.flying: #trying to find target149 150 closest_ctr = np.array([999,999,999])151 for jet in self.other_jets:152 s = self.centroid153 if type(s) == type([]): #LMAO154 s = np.array(s)155 156 if np.linalg.norm(s - jet.centroid) < np.linalg.norm(s - closest_ctr):157 closest_ctr = jet.centroid158 closest_ctr = closest_ctr[0] 159 #'proportional pursuit'160 #https://en.wikipedia.org/wiki/Proportional_navigation161 162 if self.fuel: #able to 'change' direction163 self.direc = (0.99 * self.direc) + (0.01 * normalize(jet.centroid - s))164 self.fuel -= 1165 166 self.centroid += self.direc * self.speed * TIME_STEP167 168 #pretty colors....woww169 new = 'blue' if self.jet.canv.itemcget(self.dot,'outline') == 'red' else 'red'170 self.jet.canv.itemconfig(self.dot,outline=new)171 172 #should we go boom?173 #first, have we hit boundary?174 if self.centroid[0][0] < Jet.BXYZ[0]:175 self.explode()176 elif self.centroid[0][0] > Jet.BXYZ[1]:177 self.explode()178 elif self.centroid[0][1] < Jet.BXYZ[2]:179 self.explode()180 elif self.centroid[0][1] > Jet.BXYZ[3]:181 self.explode()182 elif self.centroid[0][2] < Jet.BXYZ[4]:183 self.explode()184 elif self.centroid[0][2] > Jet.BXYZ[5]:185 self.explode()186 #otherwise, have we hit a jet?187 for jet in self.other_jets:188 diff = np.linalg.norm(self.centroid - jet.centroid)189 if diff < self.radius:190 self.explode()191 #print(diff)192 193 ss = to_ss(self.centroid)194 self.jet.canv.coords(self.dot, ss[0]-5, ss[1]-5,195 ss[0]+5, ss[1]+5)196 def reset(self):197 self.flying = 0198 self.detonated = 0199 self.fuel = 350200 self.jet.canv.itemconfig(self.dot,outline='yellow')201 def explode(self):202 self.flying = 0203 self.detonated = 1204 self.jet.canv.itemconfig(self.dot,outline='white')205 206 for jet in self.other_jets:207 if np.linalg.norm(self.centroid - jet.centroid) < self.radius:208 self.centroid = jet.centroid209 reset_simulator(self.jet,jet)210def reset_simulator(winner, failer):211 global all_jets, cur_step212 global halt_sema #gil makes this trivially simple213 214 for jet in all_jets:215 jet.graphical_step_iteration()216 canv.update()217 218 halt_sema = 0219 220 cur_step = 0221 222 if winner or failer:223 res_net = [0.0001 for _ in range(len(all_jets))]224 else:225 res_net = [-0.5 for _ in range(len(all_jets))]226 227 for idx, jet in enumerate(all_jets):228 if jet == winner:229 print("Jet %d won!" % idx)230 res_net[idx] = 2231 for line in jet.plane_lines:232 canv.itemconfig(line, fill='green')233 234 if jet == failer and winner == None:235 print("Jet %d crashed (unforced error)" % idx)236 res_net[idx] = -1.75237 for line in jet.plane_lines:238 canv.itemconfig(line, fill='orange')239 240 elif jet == failer:241 print("Jet %d shot down! (by %d)!" % (idx, 242 all_jets.index(winner))) #expand to N jets, refactor this243 res_net[idx] = -2244 for line in jet.plane_lines:245 canv.itemconfig(line, fill='red')246 canv.update()247 '''248 for i in range(len(res_net)): #stayed alive, gain some points249 global held #took time for a shootdown, exciting (gain points too!)250 len_held = held[i]251 if res_net[i] < 0:252 res_net[i] /= len_held253 else:254 res_net[i] *= len_held255 '''256 print(res_net)257 #return258 global all_models259 for jet, memory, model, rw, optimizer, auto in zip(all_jets, all_memory, all_models, res_net, all_opts, all_automatic):260 261 if not auto: #don't train on human input!262 continue263 264 inputs = memory265 outputs = [rw * pow(GAMMA,i) for i in range(len(inputs))]266 outputs.reverse()267 268 for epoch in range(3):269 for input_, output_ in zip(inputs, outputs):270 #training passes271 optimizer.zero_grad()272 273 #at such a point, what does the model say?274 model_res = max(model(input_))275 #at such a point, what is the discounted reward we got?276 disc__res = torch.ones(1) * float(output_)277 loss = criterion(model_res, disc__res)278 loss.backward()279 optimizer.step()280 281 for memory in all_memory:282 memory.clear()283 284 held = [MAX_STEPS for _ in range(len(all_jets))]285 286 for jet in all_jets:287 jet.reset()288 for line in jet.plane_lines:289 canv.itemconfig(line, fill='white')290 291 halt_sema = 1292 293TIME_STEP = 0.001294SCALE_CS = 0.5295N_MISSILES = 4296#input layer297#for every jet: 4 orientation, (p,y,r,t), 3 centroid (x,y,z), N_MISSILES missiles 298#for every missile: 1 flying, 1 detonated, 1 fuel, 3 centroid (x,y,z)299#300#total inputs: N_JETS * ( (4 + 3) + ((1 + 1 + 1 + 3) * N_MISSILES))301# N_JETS * ( 7 + 6 * N_MISSILES)302# 7*N_JETS + 6 * N_JETS * N_MISSILES303#304#output layer305#306#5 outputs (dPitch, dYaw, dRoll, dThrottle, fire) @ 2 options each = 10 outputs307#2^5 = 32 outputs. LSB=fire / not fire, 2LSB=incease / decrease thrust, etc...308#309#310#in our case, N_JETS=2, N_MISSILES=4. So, go from 62 inputs to 32 outputs. How should we do so?311#312#Let's make 9 layers.313#62->62->52->52->52->42->42->32->32314#315import torch.nn as nn316import torch.nn.functional as F317class Net(nn.Module):318 def __init__(self):319 super().__init__()320 self.fc1 = nn.Linear(62,62)321 self.fc2 = nn.Linear(62,52)322 self.fc3 = nn.Linear(52,52)323 self.fc4 = nn.Linear(52,52)324 self.fc5 = nn.Linear(52,42)325 self.fc6 = nn.Linear(42,42)326 self.fc7 = nn.Linear(42,32)327 self.fc8 = nn.Linear(32,32)328 self.fc9 = nn.Linear(32,32)329 def forward(self, x):330 x = F.gelu(self.fc1(x))331 x = F.gelu(self.fc2(x))332 x = F.gelu(self.fc3(x))333 x = F.gelu(self.fc4(x))334 x = F.relu(self.fc5(x)) #just for funsies335 x = F.gelu(self.fc6(x))336 x = F.gelu(self.fc7(x))337 x = F.gelu(self.fc8(x))338 x = self.fc9(x)339 return x340def state_to_future_array_from_jet(jet):341 global all_jets342 #first, spit out our orientation, and throttle343 344 ajc = jet.centroid345 if len(ajc) == 1:346 ajc = ajc[0]347 feature = [348 ajc[0],349 ajc[1],350 ajc[2],351 jet.pitch, jet.yaw, jet.roll, jet.throttle352 ]353 #now, our missiles354 missile_info = []355 for missile in jet.missiles:356 if missile:357 ajmc = missile.centroid358 if len(ajmc) == 1: #WTF359 ajmc = ajmc[0]360 ajmc = ajmc.tolist()361 missile_info += ajmc362 missile_info += [missile.flying,missile.detonated,missile.fuel]363 feature += missile_info364 365 #now, everyone else and 'their' missiles366 for jet2 in all_jets:367 if jet2 == jet:368 continue369 aj2c = jet2.centroid370 if len(aj2c) == 1:371 aj2c = aj2c[0]372 373 feature += [374 aj2c[0],375 aj2c[1],376 aj2c[2],377 jet2.pitch, jet2.yaw, jet2.roll,jet2.throttle378 ]379 for missile in jet2.missiles:380 missile_info = deepcopy([]) #losing my mind381 if missile:382 ajmc = missile.centroid383 if len(ajmc) == 1: #WTF384 ajmc = ajmc[0]385 ajmc = ajmc.tolist()386 missile_info += ajmc387 missile_info += [missile.flying,missile.detonated,missile.fuel]388 feature += missile_info389 390 #print(feature)391 return feature392class Jet:393 394 BXYZ=[-5.5,4.5,0,7,-5.5,4.5]395 396 def auto_input(self,in_):397 dpitch, dyaw, droll, dthrottle, fire = in_398 self.dpitch = sign(dpitch)399 self.dyaw = sign(dyaw)400 self.droll = sign(droll)401 self.dthrottle = sign(dthrottle)402 if(sign(fire) > 0):403 self.fire_missile()404 405 def keydown_gen(self,keys):406 def keydown(e):407 nonlocal self408 if e.char == keys[0]:409 self.droll = -1410 elif e.char == keys[1]: 411 self.droll = 1412 elif e.char == keys[2]:413 self.dpitch = -1414 elif e.char == keys[3]:415 self.dpitch = 1416 elif e.char == keys[4]:417 self.dyaw = -1418 elif e.char == keys[5]:419 self.dyaw = 1420 elif e.char == keys[6]:421 self.dthrottle = -1422 elif e.char == keys[7]:423 self.dthrottle = 1424 elif e.char == keys[8]:425 self.fire_missile()426 return keydown427 def keyup_gen(self,keys):428 def keyup(e):429 nonlocal self 430 431 if e.char == keys[0] and self.droll == -1:432 self.droll = 0433 elif e.char == keys[1] and self.droll == 1: 434 self.droll = 0435 elif e.char == keys[2] and self.dpitch == -1:436 self.dpitch = 0437 elif e.char == keys[3] and self.dpitch == 1:438 self.dpitch = 0439 elif e.char == keys[4] and self.dyaw == -1:440 self.dyaw = 0441 elif e.char == keys[5] and self.dyaw == 1:442 self.dyaw = 0443 elif e.char == keys[6] and self.dthrottle == -1:444 self.dthrottle = 0445 elif e.char == keys[7] and self.dthrottle == 1:446 self.dthrottle = 0447 return keyup 448 def check_bounds(self):449 #hit a wall?450 #return451 452 if self.centroid[0][0] < Jet.BXYZ[0]:453 print("Hit -X")454 reset_simulator(None,self)455 elif self.centroid[0][0] > Jet.BXYZ[1]:456 print("Hit +X")457 reset_simulator(None,self)458 elif self.centroid[0][1] < Jet.BXYZ[2]:459 print("Hit -Y")460 reset_simulator(None,self)461 elif self.centroid[0][1] > Jet.BXYZ[3]:462 print("Hit +Y")463 reset_simulator(None,self)464 elif self.centroid[0][2] < Jet.BXYZ[4]:465 print("Hit -Z")466 reset_simulator(None,self)467 elif self.centroid[0][2] > Jet.BXYZ[5]:468 print("Hit +Z")469 reset_simulator(None,self)470 def fire_missile(self):471 if self.missiles[self.cur_missile_ptr]:472 self.missiles[self.cur_missile_ptr].launch()473 self.cur_missile_ptr+=1474 def reset(self):475 self.centroid = np.array([deepcopy(self.centroid_b)])476 self.pitch=self.cond[0]477 self.roll=self.cond[1]478 self.yaw=self.cond[2]479 self.throttle=100480 self.velocity=deepcopy(self.start_velocity)481 self.force=np.array([0.,0.,0.])482 483 self.offs = deepcopy(offs_b)...

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app.py

Source:app.py Github

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...40def stop_simulator():41 if request.method == "POST":42 if spg.state_simulator == spg.STATE_RUNNING:43 spg.stop_simulator()44 spg.reset_simulator()45 return jsonify(success=True)46 return jsonify(success=False)47@app.route("/simulator/reset", methods=["POST"])48def reset_simulator():49 if request.method == "POST":50 if spg.state_simulator == spg.STATE_WAITING:51 spg.reset_simulator()52 return jsonify(success=True)53 return jsonify(success=False)54@app.route("/agents")55def agents():56 if request.method == "GET":57 return jsonify({"data": {"names": spg.get_agents_names()}})58@app.route("/agent/prox-activations")59def agent_sensor_value():60 if request.method == "GET":61 62 data = request.get_json().get('json')63 agent_name = None64 if type(data) is dict:65 agent_name = data.get('agent_name')...

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lonely_turtle.py

Source:lonely_turtle.py Github

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...51 rospy.init_node('teer_example_turtle')52 # services53 rospy.wait_for_service('reset')54 reset_simulator = rospy.ServiceProxy('reset', EmptyServiceCall)55 reset_simulator()56 rospy.wait_for_service('clear')57 clear_background = rospy.ServiceProxy('clear', EmptyServiceCall)58 rospy.wait_for_service('turtle1/set_pen')59 turtle1_set_pen = rospy.ServiceProxy('turtle1/set_pen', SetPen)60 rospy.wait_for_service('turtle1/teleport_absolute')61 turtle1_teleport = rospy.ServiceProxy('turtle1/teleport_absolute', TeleportAbsolute)62 # subscriber/publisher63 rospy.Subscriber('turtle1/pose', Pose, turtle1_pose_updated)64 turtle1_velocity = rospy.Publisher('turtle1/command_velocity', Velocity)65 66 # setup environment67 turtle1_set_pen(0,0,0,0,1)68 turtle1_teleport(2,2,0)69 clear_background()...

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