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How to use reset_simulator method in robotframework-ioslibrary

Best Python code snippet using robotframework-ioslibrary_python

simulator.py

Source:simulator.py

...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)...

app.py

Source:app.py

...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')...

lonely_turtle.py

Source:lonely_turtle.py

...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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