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How to use handle_steps method in grail
Best Python code snippet using grail_python
test_bdi_step_translator.py
Source:test_bdi_step_translator.py 
...114 plan = self.generate_plan(drc.footstep_opts_t.BEHAVIOR_BDI_STEPPING)115 lc = lcm.LCM()116 lc.publish('CANDIDATE_FOOTSTEP_PLAN', plan.encode())117 translator = BDIStepTranslator()118 def handle_steps(channel, msg_data):119 msg = atlas.behavior_step_params_t.decode(msg_data)120 self.assertAlmostEqual(msg.desired_step_spec.foot.position[0], 0.04)121 self.assertAlmostEqual(msg.desired_step_spec.foot.position[1], 0)122 self.assertAlmostEqual(msg.desired_step_spec.foot.position[2], 0)123 self.assertAlmostEqual(msg.desired_step_spec.foot.normal[0], 0)124 self.assertAlmostEqual(msg.desired_step_spec.foot.normal[1], 0)125 self.assertAlmostEqual(msg.desired_step_spec.foot.normal[2], 1)126 self.assertEqual(msg.use_spec, True)127 lc.subscribe('ATLAS_STEP_PARAMS', handle_steps)128 translator.handle_footstep_plan('COMMITTED_FOOTSTEP_PLAN', plan.encode())129 lc.handle()130 # import pdb; pdb.set_trace()131 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[0], 0.04)132 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[1], 0)133 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[2], 0)134 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.normal[0], 0)135 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.normal[1], 0)136 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.normal[2], 1)137 self.assertEqual(translator.use_spec, True)138 plotter = BDIStepTranslator(mode=Mode.plotting)139 plotter.handle_footstep_plan('CANDIDATE_FOOTSTEP_PLAN', plan.encode())140 def test_walking(self):141 plan = self.generate_plan(drc.footstep_opts_t.BEHAVIOR_BDI_WALKING)142 lc = lcm.LCM()143 lc.publish('CANDIDATE_FOOTSTEP_PLAN', plan.encode())144 translator = BDIStepTranslator()145 def handle_steps(channel, msg_data):146 msg = atlas.behavior_walk_params_t.decode(msg_data)147 self.assertAlmostEqual(msg.walk_spec_queue[0].foot.position[0], 0.04)148 self.assertAlmostEqual(msg.walk_spec_queue[0].foot.position[1], 0)149 self.assertAlmostEqual(msg.walk_spec_queue[0].foot.position[2], 0)150 self.assertAlmostEqual(msg.walk_spec_queue[0].foot.normal[0], 0)151 self.assertAlmostEqual(msg.walk_spec_queue[0].foot.normal[1], 0)152 self.assertAlmostEqual(msg.walk_spec_queue[0].foot.normal[2], 1)153 self.assertEqual(msg.use_spec, True)154 lc.subscribe('ATLAS_WALK_PARAMS', handle_steps)155 translator.handle_footstep_plan('COMMITTED_FOOTSTEP_PLAN', plan.encode())156 lc.handle()157 plotter = BDIStepTranslator(mode=Mode.plotting)158 plotter.handle_footstep_plan('CANDIDATE_FOOTSTEP_PLAN', plan.encode())159 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[0], 0.04)160 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[1], 0)161 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[2], 0)162 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.normal[0], 0)163 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.normal[1], 0)164 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.normal[2], 1)165 self.assertEqual(translator.use_spec, True)166 def test_stop_walking(self):167 plan = self.generate_plan(drc.footstep_opts_t.BEHAVIOR_BDI_STEPPING)168 translator = BDIStepTranslator()169 translator.handle_footstep_plan('COMMITTED_FOOTSTEP_PLAN', plan.encode())170 def handle_steps(channel, msg_data):171 msg = atlas.behavior_step_params_t.decode(msg_data)172 self.assertEqual(msg.desired_step_spec.step_index, -1)173 lc = lcm.LCM()174 lc.subscribe('ATLAS_STEP_PARAMS', handle_steps)175 translator.handle_stop_walking('STOP_WALKING', None)176 lc.handle()177 def test_stop_walking_no_queue(self):178 translator = BDIStepTranslator()179 def handle_steps(channel, msg_data):180 msg = atlas.behavior_step_params_t.decode(msg_data)181 self.assertEqual(msg.desired_step_spec.step_index, -1)182 lc = lcm.LCM()183 lc.subscribe('ATLAS_STEP_PARAMS', handle_steps)184 translator.handle_stop_walking('STOP_WALKING', None)185 lc.handle()186 def test_atlas_status(self):187 plan = self.generate_plan(drc.footstep_opts_t.BEHAVIOR_BDI_STEPPING)188 lc = lcm.LCM()189 lc.publish('CANDIDATE_FOOTSTEP_PLAN', plan.encode())190 translator = BDIStepTranslator()191 translator.handle_footstep_plan('COMMITTED_FOOTSTEP_PLAN', plan.encode())192 self.assertEqual(translator.delivered_index, 1)193 status = atlas.status_t()194 status.step_feedback = atlas.step_feedback_t()195 status.step_feedback.next_step_index_needed = 2196 translator.executing = True197 translator.handle_atlas_status('ATLAS_STATUS', status)198 translator.executing = False199 self.assertEqual(translator.delivered_index, 2)200 def test_terrain_clearance(self):201 plan = self.generate_plan(drc.footstep_opts_t.BEHAVIOR_BDI_STEPPING)202 translator = BDIStepTranslator()203 def handle_steps(channel, msg_data):204 msg = atlas.behavior_step_params_t.decode(msg_data)205 self.assertAlmostEqual(msg.desired_step_spec.action.lift_height, plan.footsteps[2].params.bdi_lift_height + plan.footsteps[2].terrain_height[1])206 lc = lcm.LCM()207 lc.subscribe('ATLAS_STEP_PARAMS', handle_steps)208 translator.handle_footstep_plan('COMMITTED_FOOTSTEP_PLAN', plan.encode())209 lc.handle()210 def test_deprecated_stepping(self):211 plan = self.generate_deprecated_plan(drc.footstep_opts_t.BEHAVIOR_BDI_STEPPING)212 lc = lcm.LCM()213 lc.publish('CANDIDATE_FOOTSTEP_PLAN', plan.encode())214 translator = BDIStepTranslator()215 def handle_steps(channel, msg_data):216 msg = atlas.behavior_step_params_t.decode(msg_data)217 self.assertAlmostEqual(msg.desired_step_spec.foot.position[0], 0.04)218 self.assertAlmostEqual(msg.desired_step_spec.foot.position[1], 0)219 self.assertAlmostEqual(msg.desired_step_spec.foot.position[2], 0)220 self.assertAlmostEqual(msg.desired_step_spec.foot.normal[0], 0)221 self.assertAlmostEqual(msg.desired_step_spec.foot.normal[1], 0)222 self.assertAlmostEqual(msg.desired_step_spec.foot.normal[2], 1)223 self.assertEqual(msg.use_spec, True)224 lc.subscribe('ATLAS_STEP_PARAMS', handle_steps)225 translator.handle_footstep_plan('COMMITTED_FOOTSTEP_PLAN', plan.encode())226 lc.handle()227 # import pdb; pdb.set_trace()228 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[0], 0.04)229 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[1], 0)230 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[2], 0)231 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.normal[0], 0)232 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.normal[1], 0)233 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.normal[2], 1)234 self.assertEqual(translator.use_spec, True)235 plotter = BDIStepTranslator(mode=Mode.plotting)236 plotter.handle_footstep_plan('CANDIDATE_FOOTSTEP_PLAN', plan.encode())237 def test_deprecated_walking(self):238 plan = self.generate_deprecated_plan(drc.footstep_opts_t.BEHAVIOR_BDI_WALKING)239 lc = lcm.LCM()240 lc.publish('CANDIDATE_FOOTSTEP_PLAN', plan.encode())241 translator = BDIStepTranslator()242 def handle_steps(channel, msg_data):243 msg = atlas.behavior_walk_params_t.decode(msg_data)244 self.assertAlmostEqual(msg.walk_spec_queue[0].foot.position[0], 0.04)245 self.assertAlmostEqual(msg.walk_spec_queue[0].foot.position[1], 0)246 self.assertAlmostEqual(msg.walk_spec_queue[0].foot.position[2], 0)247 self.assertAlmostEqual(msg.walk_spec_queue[0].foot.normal[0], 0)248 self.assertAlmostEqual(msg.walk_spec_queue[0].foot.normal[1], 0)249 self.assertAlmostEqual(msg.walk_spec_queue[0].foot.normal[2], 1)250 self.assertEqual(msg.use_spec, True)251 lc.subscribe('ATLAS_WALK_PARAMS', handle_steps)252 translator.handle_footstep_plan('COMMITTED_FOOTSTEP_PLAN', plan.encode())253 lc.handle()254 plotter = BDIStepTranslator(mode=Mode.plotting)255 plotter.handle_footstep_plan('CANDIDATE_FOOTSTEP_PLAN', plan.encode())256 self.assertAlmostEqual(translator.bdi_step_queue_out[0].foot.position[0], 0.04)...
binance_test.py
Source:binance_test.py
...41 print("an exception occured - {}".format(e))42 print('error : ',quantity)43 return False44 return True45def handle_steps(side='BUY',bidask_price=1,min_trade_qty=0.000001,step=0,46 target_asset='BTC',base_asset='USDT',pair='BTCUSDT'):47 base_qty = float(client.get_asset_balance(base_asset)['free'])48 print('Step {}:Converting {} to {}'.format(step,base_asset,target_asset))49 print("Available {}: ".format(base_asset), base_qty)50 if side == "BUY":51 # bidask_price = lowest ask price52 if min_trade_qty == 1:53 tgt_qty = int(math.floor(float(base_qty/bidask_price)*0.95))54 print('Symbol Ask = ', bidask_price)55 else:56 x = float(base_qty/bidask_price)*0.9557 y = min_trade_qty58 tgt_qty = utils.floor_rounding(x,y,max_rounding=8)59 print('Symbol Ask = ', bidask_price)60 else:61 # Sell testcase62 # bidask_price = bid_price63 if min_trade_qty == 1:64 tgt_qty = base_qty - base_qty%165 print('Symbol Ask = ', bidask_price)66 else:67 x = base_qty68 y = min_trade_qty69 tgt_qty = utils.floor_rounding(x,y,max_rounding=8)70 print('Symbol Ask = ', bidask_price)71 f = order(side, tgt_qty, pair)72 print('Conversion Successful' if f==True else 'Conversion Failed')73 print()74try:75 while True:76 snap = client.get_orderbook_tickers()77 # print(snap)78 tmp = {}79 for i in snap:80 tmp[i['symbol']] = i81 # print(tmp)82 # print('Data processed')83 for i in range(len(usdt_symbols)):84 for j in range(len(symbols)):85 if 'USDT' in symbols[j]:86 continue87 try:88 first_usdt_ask = float(tmp[usdt_symbols[i]]['askPrice'])89 s = usdt_symbols[i][:-len('USDT')]90 if is_suffix(s,symbols[j]):91 symbol_ask = float(tmp[symbols[j]]['askPrice'])92 # print('1 ------> ',first_usdt_ask)93 # print('2 ------> ',symbol_bid)94 p = symbols[j][:-len(s)]95 second_usdt_bid = float(tmp[p+'USDT']['bidPrice'])96 # print('3 ------> ',second_usdt_bid)97 profit = ((((1/first_usdt_ask)/symbol_ask)*second_usdt_bid)-1)*10098 profit = profit99 # print(profit)100 # print(usdt_symbols[i], '->', symbols[j], '->', p + 'USDT')101 # print('q1 = ',q1,'q2 = ',q2,'q3 = ',q3)102 if profit>0.1:103 # Step 1104 handle_steps(side='BUY', bidask_price=first_usdt_ask,min_trade_qty=0.000001,step=1,105 target_asset=usdt_symbols[i].split('USDT')[0],106 base_asset='USDT',pair=usdt_symbols[i])107 # Step 2108 handle_steps(side='BUY',bidask_price=symbol_ask,min_trade_qty=min_trade_qty[symbols[j]],step=2,109 target_asset=symbols[j].split(s)[0],110 base_asset=s,pair=symbols[j])111 # Step 3112 handle_steps(side='SELL',min_trade_qty=min_trade_qty[p+'USDT'],113 step=3,target_asset='USDT',114 base_asset=p,pair=p+'USDT')115 print(usdt_symbols[i],'->',symbols[j],'->',p+'USDT','profit =',profit)116 tmp1 = float(client.get_asset_balance('USDT')['free'])117 print('Available USDT: ', tmp1, usdt_symbols[i])118 print()119 print()120 print()121 else:122 # print('pofit problem')123 continue124 # symbol_bid = tmp[j]['bidPrice']125 # p = j[:-len(s)]126 # second_usdt_bid = tmp[p+'USDT']['askPrice']...
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