From c0bb9328ffba5980f59305d47d1ea91ef3c9194c Mon Sep 17 00:00:00 2001 From: hbuurmei Date: Sun, 20 Oct 2024 13:44:46 -0700 Subject: [PATCH] data collection pt2 --- .../steady_state/control_inputs_random.csv | 251 ++++++++++++++++++ .../control_inputs_uniform_pt1.csv | 244 +++++++++++++++++ .../control_inputs_uniform_pt2.csv | 245 +++++++++++++++++ .../control_inputs_uniform_pt3.csv | 243 +++++++++++++++++ ...ions_steady_state_uniform_src_demo_pt1.csv | 244 +++++++++++++++++ ...ions_steady_state_uniform_src_demo_pt2.csv | 245 +++++++++++++++++ stack/main/scripts/control_inputs_sampling.py | 36 ++- .../executor/executor/data_collection_node.py | 28 +- 8 files changed, 1525 insertions(+), 11 deletions(-) create mode 100644 stack/main/data/trajectories/steady_state/control_inputs_random.csv create mode 100644 stack/main/data/trajectories/steady_state/control_inputs_uniform_pt1.csv create mode 100644 stack/main/data/trajectories/steady_state/control_inputs_uniform_pt2.csv create mode 100644 stack/main/data/trajectories/steady_state/control_inputs_uniform_pt3.csv create mode 100644 stack/main/data/trajectories/steady_state/observations_steady_state_uniform_src_demo_pt1.csv create mode 100644 stack/main/data/trajectories/steady_state/observations_steady_state_uniform_src_demo_pt2.csv diff --git a/stack/main/data/trajectories/steady_state/control_inputs_random.csv b/stack/main/data/trajectories/steady_state/control_inputs_random.csv new file mode 100644 index 0000000..53a4642 --- /dev/null +++ b/stack/main/data/trajectories/steady_state/control_inputs_random.csv @@ -0,0 +1,251 @@ +ID,u1,u2,u3,u4,u5,u6 +0,-0.14688775383429,-0.06642079166108356,0.2500633396770272,-0.20943344466645913,-0.059065465785172466,0.09184596055174182 +1,0.0005623776446216366,0.030502860753539696,0.331651409677971,-0.002565689064426613,0.10233967971292796,-0.04869701883561281 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correctly assign segments to actuators + #reasonable for SRC demo tip_range = 0.15 mid_range = 0.25 base_range = 0.35 - # reasonable for src demo: - # tip_range = 0.20 - # mid_range = 0.25 - # base_range = 0.25 ranges = [np.linspace(-val, val, 3) for val in [tip_range, mid_range, base_range]*2] combinations = list(product(*ranges)) @@ -43,6 +41,32 @@ def uniform_sampling(control_variables): return control_inputs_df +def random_sampling(control_variables): + sample_size = 250 + np.random.seed(9) + tip_range = 0.15 + mid_range = 0.25 + base_range = 0.35 + + control_inputs_df = pd.DataFrame(columns=['ID'] + control_variables) + + u1 = np.random.uniform(low=-tip_range, high=tip_range, size=(sample_size,)) + u6 = np.random.uniform(low=-tip_range, high=tip_range, size=(sample_size,)) + u2 = np.random.uniform(low=-mid_range, high=mid_range, size=(sample_size,)) + u5 = np.random.uniform(low=-mid_range, high=mid_range, size=(sample_size,)) + u3 = np.random.uniform(low=-base_range, high=base_range, size=(sample_size,)) + u4 = np.random.uniform(low=-base_range, high=base_range, size=(sample_size,)) + + data = np.column_stack([u1, u2, u3, u4, u5, u6]) + ids = np.arange(0, sample_size) + control_inputs_df = pd.DataFrame(data, columns=control_variables) + control_inputs_df.insert(0, 'ID', ids) + + return control_inputs_df + + + + def main(data_type='dynamic', sampling_type='uniform'): control_variables = ['u1', 'u2', 'u3', 'u4', 'u5', 'u6'] @@ -53,6 +77,8 @@ def main(data_type='dynamic', sampling_type='uniform'): control_inputs_df = sinusoidal_sampling(control_variables) elif sampling_type=='uniform': control_inputs_df = uniform_sampling(control_variables) + elif sampling_type=='random': + control_inputs_df = random_sampling(control_variables) else: raise ValueError(f"Invalid sampling_type: {sampling_type}") @@ -61,5 +87,5 @@ def main(data_type='dynamic', sampling_type='uniform'): if __name__ == '__main__': data_type = 'steady_state' # 'steady_state' or 'dynamic' - sampling_type = 'uniform' # 'uniform' or 'sinusoidal' + sampling_type = 'random' # 'uniform' or 'sinusoidal' or 'random' main(data_type, sampling_type) diff --git a/stack/main/src/executor/executor/data_collection_node.py b/stack/main/src/executor/executor/data_collection_node.py index daf26ad..16ded98 100644 --- a/stack/main/src/executor/executor/data_collection_node.py +++ b/stack/main/src/executor/executor/data_collection_node.py @@ -9,13 +9,29 @@ def load_control_inputs(control_input_csv_file): control_inputs_dict = {} + + # Read the control inputs first with open(control_input_csv_file, mode='r') as file: csv_reader = csv.reader(file) - next(csv_reader, None) # skip the header row - for row in csv_reader: - control_id = int(row[0]) - control_inputs = [float(u) for u in row[1:]] - control_inputs_dict[control_id] = control_inputs + next(csv_reader, None) # Skip the header row + rows = [row for row in csv_reader] + + # Extract the control ids and find the minimum control id + control_ids = [int(row[0]) for row in rows] + min_control_id = min(control_ids) + + # Shift the control ids if the minimum control id is not zero + if min_control_id != 0: + shift = -min_control_id + else: + shift = 0 + + # Now process the rows and update control_ids + for row in rows: + control_id = int(row[0]) + shift + control_inputs = [float(u) for u in row[1:]] + control_inputs_dict[control_id] = control_inputs + return control_inputs_dict @@ -54,7 +70,7 @@ def __init__(self): self.data_dir = os.getenv('TRUNK_DATA', '/home/trunk/Documents/trunk-stack/stack/main/data') if self.data_type == 'steady_state': - control_input_csv_file = os.path.join(self.data_dir, 'trajectories/steady_state/control_inputs_uniform.csv') + control_input_csv_file = os.path.join(self.data_dir, 'trajectories/steady_state/control_inputs_uniform_pt2.csv') elif self.data_type == 'dynamic': control_input_csv_file = os.path.join(self.data_dir, f'trajectories/dynamic/control_inputs_{self.data_subtype}.csv') else: