tweaking scenarios

demo/tacas2023/exp1/quadrotor_demo.py

@@ -5,7 +5,8 @@ from verse.plotter.plotter3D import *
 from verse.map.example_map.simple_map_3d import SimpleMap6
 import pyvista as pv
 from enum import Enum, auto
-
+import warnings
+warnings.filterwarnings("ignore")
 
 class CraftMode(Enum):
     Normal = auto()
@@ -40,7 +41,7 @@ if __name__ == "__main__":
     scenario.add_agent(quadrotor1)
 
     quadrotor2 = QuadrotorAgent(
-        'test2', file_name=input_code_name2, t_v_pair=(1, 0.3), box_side=[0.4]*3)
+        'test2', file_name=input_code_name, t_v_pair=(1, 0.3), box_side=[0.4]*3)
     init_l_2 = [3, 9, -0.35, 0, 0, 0]
     init_u_2 = [3.7, 9.7, 0.35, 0, 0, 0]
     quadrotor2.set_initial(
@@ -57,12 +58,21 @@ if __name__ == "__main__":
     # traces.dump("./output1.json")
     # traces = AnalysisTree.load('./output1.json')
     traces = scenario.verify(40, time_step)
+    # traces.dump('demo/tacas2023/exp1/output1.json')
     fig = pv.Plotter()
     fig = plot3dMap(tmp_map, ax=fig, width=0.05)
     fig = plot3dReachtube(traces, 'test1',1,2,3,'r',fig, edge = True)
-    fig = plot3dReachtube(traces, 'test2',1,2,3,'g',fig, edge = True)
+    fig = plot3dReachtube(traces, 'test2',1,2,3,'b',fig, edge = True)
     fig.set_background('#e0e0e0')
     fig.show()
     # fig = go.Figure()
+    # fig = draw_map_3d(tmp_map, fig, fill_type = 'center')
     # fig = simulation_tree_3d(traces, tmp_map, fig, 1, 2, 3, [1, 2, 3])
+    # fig.update_layout(
+    #     scene=dict(
+    #         # xaxis = dict(nticks=4, range=xrange,),
+    #         # yaxis = dict(nticks=4, range=yrange,),
+    #         zaxis = dict(nticks=4, range=[-12,12],)
+    #     )
+    # )
     # fig.show()

demo/tacas2023/exp10/quadrotor_demo.py

@@ -7,7 +7,8 @@ from verse.map.example_map.simple_map_3d import SimpleMap7
 import pyvista as pv
 from enum import Enum, auto
 import polytope as pc 
-
+import warnings
+warnings.filterwarnings("ignore")
 
 class CraftMode(Enum):
     Normal = auto()
@@ -71,8 +72,22 @@ if __name__ == "__main__":
     # fig = simulation_tree_3d(traces, tmp_map, fig, 1, 2, 3, [1, 2, 3])
     # fig.show()
 
-    traces = scenario.verify(90, time_step)
-    traces.dump('./demo/tacas2023/exp10/output10.json')
+    # traces = scenario.verify(90, time_step)
+    # traces.dump('./demo/tacas2023/exp10/output10.json')
+
+    # traces = scenario.verify(90, time_step,
+    #                          reachability_method='NeuReach',
+    #                          params={
+    #                              "N_X0": 1,
+    #                              "N_x0": 50,
+    #                              "N_t": 50,
+    #                              "epochs": 50,
+    #                              "_lambda": 10,
+    #                              "use_cuda": True,
+    #                              'r': 0,
+    #                          }
+    #                         )
+    # traces.dump('./demo/tacas2023/exp10/output10_NeuReach.json')
     # fig = go.Figure()
     # fig = reachtube_tree(traces, None, fig, 0, 1, [0,1])
     # fig.show()
@@ -82,20 +97,22 @@ if __name__ == "__main__":
     # fig = go.Figure()
     # fig = reachtube_tree(traces, None, fig, 0, 3, [0,1])
     # fig.show()
-    # fig = pv.Plotter()
-    # fig = plot3dMap(tmp_map, ax=fig)
-    # fig = plot3dReachtube(traces, 'test1', 1, 2, 3, color = 'r', ax=fig)
-    # fig = plot3dReachtube(traces, 'test2', 1, 2, 3, color = 'b', ax=fig)
-    # fig = plot3dReachtube(traces, 'test3', 1, 2, 3, color = 'g', ax=fig)
-    # fig = plot_line_3d([0,0,0],[10,0,0],fig,'r',line_width = 5)
-    # fig = plot_line_3d([0,0,0],[0,10,0],fig,'g',line_width = 5)
-    # fig = plot_line_3d([0,0,0],[0,0,10],fig,'b',line_width = 5)
-    # fig.set_background('#e0e0e0')
-    # box = np.array([[40, -5, -10], [50,5,-6]]).T
-    # poly = pc.box2poly(box)
-    # fig = plot_polytope_3d(poly.A, poly.b, fig, trans=0.1)
 
-    # fig.show()
+    traces = AnalysisTree.load('demo/tacas2023/exp10/output10.json')
+    fig = pv.Plotter()
+    fig = plot3dMap(tmp_map, ax=fig)
+    fig = plot3dReachtube(traces, 'test1', 1, 2, 3, color = 'r', ax=fig)
+    fig = plot3dReachtube(traces, 'test2', 1, 2, 3, color = 'b', ax=fig)
+    fig = plot3dReachtube(traces, 'test3', 1, 2, 3, color = 'g', ax=fig)
+    fig = plot_line_3d([0,0,0],[10,0,0],fig,'r',line_width = 5)
+    fig = plot_line_3d([0,0,0],[0,10,0],fig,'g',line_width = 5)
+    fig = plot_line_3d([0,0,0],[0,0,10],fig,'b',line_width = 5)
+    fig.set_background('#e0e0e0')
+    box = np.array([[40, -5, -10], [50,5,-6]]).T
+    poly = pc.box2poly(box)
+    fig = plot_polytope_3d(poly.A, poly.b, fig, trans=0.1, color='yellow')
+
+    fig.show()
     
     # fig = go.Figure()
     # fig = reachtube_tree_3d(

demo/tacas2023/exp2/demo9.py

@@ -74,9 +74,9 @@ if __name__ == "__main__":
 
     scenario.init_seg_length = 5
     traces = scenario.verify(40, 0.1, params={"bloating_method": 'GLOBAL'})
-    fig = go.Figure()
-    fig = reachtube_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines', 'trace')
-    fig.show()
+    # fig = go.Figure()
+    # fig = reachtube_tree(traces, tmp_map, fig, 1, 2, [1, 2], 'lines', 'trace')
+    # fig.show()
 
     # fig = go.Figure()
     # fig = reachtube_anime(traces, tmp_map, fig, 1,

demo/tacas2023/exp6/demo3.py

@@ -57,11 +57,10 @@ if __name__ == "__main__":
                             )
     traces.dump("./demo/tacas2023/exp6/output6_neureach.json")
 
-    # traces = scenario.verify(40, 0.05,)
+    traces = scenario.verify(40, 0.05,)
     # traces.dump("./demo/tacas2023/exp6/output6_dryvr.json")
     # traces = AnalysisTree.load('./output6.json')
-    traces = scenario.verify(50, 0.05)
-    fig = go.Figure()
-    fig = reachtube_tree(traces, tmp_map, fig, 1,
-                         2, [1, 2], 'lines', 'trace')
-    fig.show()
+    # fig = go.Figure()
+    # fig = reachtube_tree(traces, tmp_map, fig, 1,
+    #                      2, [1, 2], 'lines', 'trace')
+    # fig.show()

demo/tacas2023/exp9/quadrotor_demo.py

@@ -6,7 +6,8 @@ from verse.plotter.plotter3D import *
 from verse.map.example_map.simple_map_3d import SimpleMap7
 import pyvista as pv
 from enum import Enum, auto
-
+import warnings
+warnings.filterwarnings("ignore")
 
 class CraftMode(Enum):
     Normal = auto()
@@ -59,8 +60,21 @@ if __name__ == "__main__":
     # fig = simulation_tree_3d(traces, tmp_map, fig, 1, 2, 3, [1, 2, 3])
     # fig.show()
 
-    traces = scenario.verify(60, time_step)
-    traces.dump('./demo/tacas2023/exp9/output9.json')
+    # traces = scenario.verify(60, time_step)
+    # traces.dump('./demo/tacas2023/exp9/output9_DryVR.json')
+    # traces = scenario.verify(60, time_step,
+    #                          reachability_method='NeuReach',
+    #                          params={
+    #                              "N_X0": 1,
+    #                              "N_x0": 50,
+    #                              "N_t": 50,
+    #                              "epochs": 50,
+    #                              "_lambda": 10,
+    #                              "use_cuda": True,
+    #                              'r': 0,
+    #                          }
+    #                         )
+    # traces.dump('./demo/tacas2023/exp9/output9_NeuReach.json')
     # fig = go.Figure()
     # fig = reachtube_tree(traces, None, fig, 0, 1, [0,1])
     # fig.show()
@@ -70,15 +84,16 @@ if __name__ == "__main__":
     # fig = go.Figure()
     # fig = reachtube_tree(traces, None, fig, 0, 3, [0,1])
     # fig.show()
-    # fig = pv.Plotter()
-    # fig = plot3dMap(tmp_map, ax=fig)
-    # fig = plot3dReachtube(traces, 'test1', 1, 2, 3, color = 'r', ax=fig)
-    # fig = plot3dReachtube(traces, 'test2', 1, 2, 3, color = 'b', ax=fig)
-    # fig = plot_line_3d([0,0,0],[10,0,0],fig,'r',line_width = 5)
-    # fig = plot_line_3d([0,0,0],[0,10,0],fig,'g',line_width = 5)
-    # fig = plot_line_3d([0,0,0],[0,0,10],fig,'b',line_width = 5)
-    # fig.set_background('#e0e0e0')
-    # fig.show()
+    traces = AnalysisTree.load('./demo/tacas2023/exp9/output9.json')
+    fig = pv.Plotter()
+    fig = plot3dMap(tmp_map, ax=fig)
+    fig = plot3dReachtube(traces, 'test1', 1, 2, 3, color = 'r', ax=fig)
+    fig = plot3dReachtube(traces, 'test2', 1, 2, 3, color = 'b', ax=fig)
+    fig = plot_line_3d([0,0,0],[10,0,0],fig,'r',line_width = 5)
+    fig = plot_line_3d([0,0,0],[0,10,0],fig,'g',line_width = 5)
+    fig = plot_line_3d([0,0,0],[0,0,10],fig,'b',line_width = 5)
+    fig.set_background('#e0e0e0')
+    fig.show()
     
     # fig = go.Figure()
     # fig = reachtube_tree_3d(
@@ -87,8 +102,5 @@ if __name__ == "__main__":
     #     fig, 1, 2, 3, 
     #     [1, 2, 3], 
     #     map_type='center',
-    #     xrange = [0,40],
-    #     yrange = [0,40],
-    #     zrange = [-10,10]
     # )
     # fig.show()

verse/plotter/plotter3D.py

@@ -78,7 +78,7 @@ def plot_polytope_3d(A, b, ax = None, color = 'red', trans = 0.2, edge = True):
     ax.add_mesh(shell, opacity=trans, color=color)
     if edge:
         edges = shell.extract_feature_edges(20)
-        ax.add_mesh(edges, color="k", line_width=1)
+        ax.add_mesh(edges, color="k", line_width=0.1,opacity=0.5)
     return ax
 
 def plot_line_3d(start, end, ax = None, color = 'blue', line_width = 1):