From aecde0bbb363939f1ce4d3ce725612ea5b31c225 Mon Sep 17 00:00:00 2001
From: keyis2 <keyis2@illinois.edu>
Date: Tue, 19 Jul 2022 20:08:33 -0500
Subject: [PATCH] quadrotor verify
---
.gitignore | 3 +-
demo/quadrotor/output.json | 2959 ++++++++----------------------
demo/quadrotor/quadrotor_demo.py | 14 +-
3 files changed, 763 insertions(+), 2213 deletions(-)
diff --git a/.gitignore b/.gitignore
index 03a577b0..682e59a8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,4 +8,5 @@ venv/
.VSCodeCounter/
dist/dryvr_plus_plus-0.1-py3.8.egg
tmp/
-dist/
\ No newline at end of file
+dist/
+demo/quadrotor/output.json
\ No newline at end of file
diff --git a/demo/quadrotor/output.json b/demo/quadrotor/output.json
index 3d630051..3337a3c0 100644
--- a/demo/quadrotor/output.json
+++ b/demo/quadrotor/output.json
@@ -8,14 +8,14 @@
"1-0": {
"name": "1-0",
"index": 1,
- "start_line": 113
+ "start_line": 196
}
},
"agent": {
"test": "<class 'dryvr_plus_plus.example.example_agent.quadrotor_agent.QuadrotorAgent'>"
},
"init": {
- "test": "[2.8359668912491314, -0.16691748611227605, -0.018693599715552164, 0.01779690446699401, 0.06925201794141245, 0.009491940390254517, 0, 0.0]"
+ "test": "[[2.75, -0.25, -0.1, 0, 0, 0, 0, 0], [3, 0, 0, 0.1, 0.1, 0.1, 0, 0]]"
},
"mode": {
"test": "[\"Follow_Waypoint\"]"
@@ -26,94 +26,177 @@
"start_time": 0,
"trace": {
"test": [
- "[0.0, 2.8359668912491314, -0.16691748611227605, -0.018693599715552164, 0.01779690446699401, 0.06925201794141245, 0.009491940390254517, 0.0, 0.0]",
- "[0.2, 2.8592119500396125, -0.13338140462691175, 0.02320481931683685, 0.21465353109864801, 0.2661086445730665, 0.4094919403902545, 0.0, 0.0]",
- "[0.4, 2.921828337792151, -0.0604739941794888, 0.06510316905298466, 0.41151015773030203, 0.4629652712047206, 0.009491940390254305, 0.0, 0.0]",
- "[0.6000000000000001, 3.023816078949767, 0.012433350449899646, 0.107001652527144, 0.608366784361956, 0.2661086445730665, 0.40949194039025427, 0.0, 0.0]",
- "[0.8, 3.1258037530909704, 0.04596939663332507, 0.1488999998282643, 0.4115101577303022, 0.06925201794141245, 0.009491940390254083, 0.0, 0.0]",
- "[1.0, 3.1884201004710584, 0.04013411605563519, 0.11079834421399476, 0.2146535310986481, -0.1276046086902417, -0.3905080596097463, 0.0, 0.0]",
- "[1.2, 3.2116650904279243, -0.005072521945276076, 0.07269684120318248, 0.017796904466994112, -0.32446123532189575, 0.009491940390253806, 0.0, 0.0]",
- "[1.4, 3.234910142314623, -0.05027909801635533, 0.0345952123549358, 0.21465353109864815, -0.12760460869024182, -0.39050805960974644, 0.0, 0.0]",
- "[1.5999999999999999, 3.2581551591284015, -0.056114330348452576, -0.0035063452273934592, 0.017796904466994168, 0.06925201794141217, 0.009491940390253695, 0.0, 0.0]",
- "[1.7999999999999998, 3.2420288744975583, -0.022578261235928432, 0.03839204866418067, -0.1790597221646597, 0.26610864457306604, 0.4094919403902533, 0.0, 0.0]",
- "[1.9999999999999998, 3.225902616757342, 0.010957780985969003, 0.08029038791573097, 0.01779690446699428, 0.06925201794141206, 0.00949194039025325, 0.0, 0.0]",
- "[2.1999999999999997, 3.2491476778259054, 0.005122504399087263, 0.04218874041052684, 0.21465353109864818, -0.12760460869024184, -0.39050805960974677, 0.0, 0.0]",
- "[2.4, 3.272392713133534, -0.0007127464268597283, 0.004087145249884657, 0.01779690446699418, 0.06925201794141216, 0.009491940390253195, 0.0, 0.0]",
- "[2.6, 3.295637757805599, -0.006548006617243585, 0.04598553559456109, 0.21465353109864804, -0.12760460869024182, 0.40949194039025283, 0.0, 0.0]",
- "[2.8000000000000003, 3.31888279092988, -0.01238325525984392, 0.08788390247488452, 0.017796904466994057, 0.06925201794141217, 0.009491940390252696, 0.0, 0.0]",
- "[3.0000000000000004, 3.3421278542298896, -0.018218534078172637, 0.04978225043552349, 0.21465353109864807, -0.12760460869024184, -0.39050805960974755, 0.0, 0.0]",
- "[3.2000000000000006, 3.365372873541954, -0.024053768908555727, 0.01168068777683795, 0.017796904466994168, 0.06925201794141206, 0.009491940390252585, 0.0, 0.0]",
- "[3.400000000000001, 3.3886179263710687, -0.0298890372559896, 0.0535790946961153, 0.21465353109864815, -0.12760460869024196, 0.4094919403902526, 0.0, 0.0]",
- "[3.600000000000001, 3.411862937136774, -0.03572426354001429, 0.09547741614525143, 0.017796904466994168, 0.069252017941412, 0.009491940390252362, 0.0, 0.0]",
- "[3.800000000000001, 3.4351080278526274, -0.04155956977418568, 0.05737570839866202, 0.21465353109864815, -0.12760460869024204, -0.3905080596097479, 0.0, 0.0]",
- "[4.000000000000001, 3.4583530326777057, -0.04739479011758316, 0.01927417517659913, 0.017796904466994168, 0.06925201794141195, 0.00949194039025214, 0.0, 0.0]",
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- "[4.400000000000001, 3.5048430917605757, -0.05906528023709123, 0.10307089437701919, 0.017796904466993946, 0.069252017941412, 0.009491940390251696, 0.0, 0.0]",
- "[4.600000000000001, 3.528088156566677, -0.025529192736106987, 0.06496923927737863, 0.21465353109864804, 0.26610864457306616, -0.39050805960974855, 0.0, 0.0]",
- "[4.800000000000002, 3.5513331670391555, 0.008006840431254221, 0.026867694580164442, 0.017796904466993946, 0.06925201794141211, 0.009491940390251474, 0.0, 0.0]",
- "[5.000000000000002, 3.5745782219546673, 0.0021715699974238084, 0.0687661057388651, 0.21465353109864793, -0.12760460869024193, 0.4094919403902515, 0.0, 0.0]",
- "[5.200000000000002, 3.597823261915834, -0.0036636854820606413, 0.1106644865112969, 0.01779690446699389, 0.06925201794141222, 0.009491940390251141, 0.0, 0.0]",
- "[5.400000000000002, 3.6210683115358773, -0.009498950620422787, 0.07256286226874747, 0.2146535310986479, -0.1276046086902418, -0.39050805960974905, 0.0, 0.0]",
- "[5.600000000000002, 3.644313339868079, -0.015334194470943589, 0.034461281281722045, 0.017796904466993974, 0.06925201794141211, 0.009491940390250864, 0.0, 0.0]",
- "[5.8000000000000025, 3.6675584022876624, -0.021169472408845903, 0.07635970768821393, 0.21465353109864801, -0.1276046086902419, 0.4094919403902509, 0.0, 0.0]",
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- "[6.600000000000003, 3.6817959267669473, -0.044510507151424586, 0.08395326184071661, 0.2146535310986482, -0.12760460869024187, 0.4094919403902505, 0.0, 0.0]",
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- "[7.200000000000004, 3.8302736799549826, -0.062016198956089494, 0.04964839557347844, 0.01779690446699389, 0.06925201794141222, 0.009491940390250697, 0.0, 0.0]",
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- "[8.400000000000002, 3.891001290606059, -0.018285102717077163, 0.14103868621444324, 0.017796904466993946, 0.06925201794141217, 0.009491940390249975, 0.0, 0.0]",
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- "[9.2, 3.983981445208672, -0.041626119392967134, 0.1486322262544927, 0.017796904466993835, 0.06925201794141228, 0.009491940390249365, 0.0, 0.0]",
- "[9.399999999999999, 4.007226508743816, -0.047461398446429576, 0.11053057373735442, 0.21465353109864782, -0.1276046086902417, -0.390508059609751, 0.0, 0.0]",
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+ "[0.0, 2.75, -0.25, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0]",
+ "[0.2, 3.0, 0.029117003096834668, 0.014259329365545899, 0.28665359830460113, 0.29685662662588663, 0.46135091262957073, 0.0, 0.0]",
+ "[0.2, 2.820612967303901, -0.21974559769613505, -0.014259166659580309, 0.2070596549587067, -0.35412567923228366, 0.03864908737042929, 0.0, 0.0]",
+ "[0.4, 3.065774808788567, 0.029117003096834668, 0.06652953552757815, 0.4835102249362553, 0.45412567923228364, 0.46135091262957073, 0.0, 0.0]",
+ "[0.4, 2.8817105725917083, -0.15464735547617492, 0.03347062717720113, 0.40391628159036064, -0.35412567923228366, 0.03864908737042929, 0.0, 0.0]",
+ "[0.6000000000000001, 3.1821625653915064, 0.02339008620262155, 0.11879981752187048, 0.6803668515679094, 0.45412567923228364, 0.46135091262957095, 0.0, 0.0]",
+ "[0.6000000000000001, 2.982179519037236, -0.0895491640790976, 0.08120050045695841, 0.40391628159036075, 5.767115951460511e-12, 0.03864908737042893, 0.0, 0.0]",
+ "[0.8, 3.2985502398653184, 0.05734892603409586, 0.17106993263505751, 0.6803668515679094, 0.29685662662588685, 0.46135091262957095, 0.0, 0.0]",
+ "[0.8, 3.0826483749289375, -0.06986356450431458, 0.09665983718240734, 0.2070596549587069, -0.5509823058639376, -0.3613509126295712, 0.0, 0.0]",
+ "[1.0, 3.3755666851853983, 0.05734892603409586, 0.17106993263505751, 0.48351022493625573, 0.25726905260062943, 0.061350912629570716, 0.0, 0.0]",
+ "[1.0, 3.1437458849055817, -0.04413657239186962, 0.0643897679184289, 0.01020302832705293, -0.5509823058639376, -0.3613509126295712, 0.0, 0.0]",
+ "[1.2, 3.413211746872174, 0.012250587913051472, 0.14334024316477767, 0.28665359830460146, 0.25726905260062943, 0.06135091262957048, 0.0, 0.0]",
+ "[1.2, 3.1654720974932515, -0.038095419766261726, 0.03211953175231097, -0.5611853341852231, -0.19685662662588688, -0.3613509126295712, 0.0, 0.0]",
+ "[1.4, 3.413211746872174, -0.01840973070567585, 0.11561041616290321, 0.26747208092191527, 0.09999999999423305, 0.06135091262957048, 0.0, 0.0]",
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]
},
- "type": "simtrace",
+ "type": "reachtube",
"assert_hits": null
},
"1": {
"node_name": "1-0",
"id": 1,
- "start_line": 113,
+ "start_line": 196,
"parent": {
"name": "0-0",
"index": 0,
@@ -123,49 +206,14 @@
"2-0": {
"name": "2-0",
"index": 2,
- "start_line": 277
- },
- "2-1": {
- "name": "2-1",
- "index": 4,
- "start_line": 537
- },
- "2-2": {
- "name": "2-2",
- "index": 6,
- "start_line": 797
- },
- "2-3": {
- "name": "2-3",
- "index": 8,
- "start_line": 1057
- },
- "2-4": {
- "name": "2-4",
- "index": 10,
- "start_line": 1317
- },
- "2-5": {
- "name": "2-5",
- "index": 12,
- "start_line": 1574
- },
- "2-6": {
- "name": "2-6",
- "index": 14,
- "start_line": 1831
- },
- "2-7": {
- "name": "2-7",
- "index": 16,
- "start_line": 2088
+ "start_line": 414
}
},
"agent": {
"test": "<class 'dryvr_plus_plus.example.example_agent.quadrotor_agent.QuadrotorAgent'>"
},
"init": {
- "test": "[4.649080092441042, 0.007873702804092914, 0.04938034713872668, 0.017796904466993363, 0.06925201794141286, 0.009491940390245257, 1, 0]"
+ "test": "[[4.623525410637228, -0.07260160879329777, 0.005486623157741516, -0.3643287075535704, -0.5509823058639369, -0.36135091262958036, 1.0, 0.0], [4.712390516436216, -0.0004921910823242424, 0.11905275301433292, 0.46432870755356936, 0.2572690526006307, 0.461350912629566, 1.0, 0.0]]"
},
"mode": {
"test": "[\"Follow_Waypoint\"]"
@@ -176,125 +224,214 @@
"start_time": 15.6,
"trace": {
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]
},
- "type": "simtrace",
+ "type": "reachtube",
"assert_hits": null
},
"2": {
"node_name": "2-0",
"id": 2,
- "start_line": 277,
+ "start_line": 414,
"parent": {
"name": "1-0",
"index": 1,
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+ "start_line": 196
},
"child": {
"3-0": {
"name": "3-0",
"index": 3,
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+ "start_line": 452
}
},
"agent": {
"test": "<class 'dryvr_plus_plus.example.example_agent.quadrotor_agent.QuadrotorAgent'>"
},
"init": {
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+ "test": "[[5.0268888519376675, 2.639003145688605, 0.012241142263432647, -0.27120174910220557, -4.08424266629126e-11, -1.1793699973696992, 2.0, 0.0], [5.104743177065175, 2.7183744312920513, 0.12716328780445818, 0.17434512247054926, 0.2968566266725007, 0.4793699973696711, 4.0, 0.0]]"
},
"mode": {
"test": "[\"Follow_Waypoint\"]"
@@ -302,1810 +439,37 @@
"static": {
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},
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+ "start_time": 33.4,
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- "3-7": {
- "name": "3-7",
- "index": 17,
- "start_line": 2213
+ "4-0": {
+ "name": "4-0",
+ "index": 4,
+ "start_line": 662
}
},
"agent": {
"test": "<class 'dryvr_plus_plus.example.example_agent.quadrotor_agent.QuadrotorAgent'>"
},
"init": {
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+ "test": "[[4.977278842345808, 2.639003145688605, -0.011732325527886216, -0.4225991022169944, -4.084244054070041e-11, -1.1793699973696992, 3.0, 0.0], [5.104743177065175, 2.7940760174188273, 0.12716328780445818, 0.17434512247054929, 0.4937132532870343, 0.47936999736967106, 5.0, 0.0]]"
},
"mode": {
"test": "[\"Follow_Waypoint\"]"
@@ -2113,118 +477,203 @@
"static": {
"test": "[]"
},
- "start_time": 34.0,
+ "start_time": 33.4,
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},
- "type": "simtrace",
+ "type": "reachtube",
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},
-"17": {
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- "id": 17,
- "start_line": 2213,
+"4": {
+ "node_name": "4-0",
+ "id": 4,
+ "start_line": 662,
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+ "name": "3-0",
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},
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@@ -2232,114 +681,214 @@
"static": {
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+ "[65.19999999999999, 8.013230853347105, 0.7080523232187474, -0.009168978381696676, -0.25418169864782353, -0.35412567928016664, -0.6394927207656022, 5.0, 0.0]",
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+ "[65.39999999999998, 8.031928486999808, 0.6689953678051189, -0.03572783104360586, -0.25418169864782353, -0.35412567928016664, -0.6394927207656022, 5.0, 0.0]",
+ "[65.59999999999998, 8.057037863126814, 0.7261369879196242, 0.34207721185877993, 0.4206467409425662, -0.0968566265875094, 1.5394927207655518, 5.0, 0.0]",
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+ "[66.19999999999997, 8.092837901835901, 0.6063632648326382, 0.1642216965504256, 0.19994398057869284, 0.49371325320965737, 0.4060156047478627, 5.0, 0.0]",
+ "[66.19999999999997, 7.9721488908228055, 0.5006849503717572, -0.013633778979447342, -0.05732507201616954, -0.35412567918237153, -1.1060156047479162, 5.0, 0.0]",
+ "[66.39999999999998, 8.107099735267889, 0.6400075244969943, 0.07998296273054234, 0.617503367574221, 0.49371325320965737, 0.4060156047478627, 5.0, 0.0]",
+ "[66.39999999999998, 8.030551494143593, 0.5006849503717572, -0.013633778979447342, -0.2541816986478236, -0.8082513585066837, -0.11673855800886973, 5.0, 0.0]",
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+ "[66.59999999999998, 8.05083965792248, 0.4469035493740862, 0.06971391032361357, -0.2541816986478236, -0.8082513585066837, -0.11673855800886984, 5.0, 0.0]",
+ "[66.79999999999998, 8.153397398927144, 0.5434553558446488, 0.15306150645827094, 0.42064674094256704, 0.16041242600735334, 0.6167385580088165, 5.0, 0.0]",
+ "[66.79999999999998, 8.042231715010354, 0.3957639527391078, 0.04993961385735443, -0.8813178707737735, -0.3541256792801669, -0.5167385580088697, 5.0, 0.0]",
+ "[66.99999999999997, 8.153397398927144, 0.5133960843702865, 0.15640896723360712, 0.2603564065419012, -0.09685662658750915, 0.2167385580088162, 5.0, 0.0]",
+ "[66.99999999999997, 7.931066605125666, 0.3446246060662553, -0.0134080149450546, -0.8813178707737735, -0.3541256792801669, -0.5167385580088697, 5.0, 0.0]",
+ "[67.19999999999997, 8.103528468581503, 0.4743390044603344, 0.1597569359159019, 0.2603564065419012, -0.09685662658750879, 0.2167385580088169, 5.0, 0.0]",
+ "[67.19999999999997, 7.931066605125666, 0.3446246060662553, -0.0134080149450546, -0.25418169864782386, -0.354125679182371, -1.1060156047479162, 5.0, 0.0]",
+ "[67.39999999999998, 8.103528468581503, 0.43528205722867636, 0.1597569359159019, 0.42064674094256765, 0.49371325320965725, 0.4060156047478627, 5.0, 0.0]",
+ "[67.39999999999998, 7.950097852566389, 0.34508560863673543, -0.018098546593997344, -0.25418169864782386, -0.354125679182371, -1.1060156047479162, 5.0, 0.0]",
+ "[67.59999999999997, 8.078419023206676, 0.41191348218458457, 0.07082896741947702, 0.6175033675742216, 0.49371325320965725, 0.4060156047478627, 5.0, 0.0]",
+ "[67.59999999999997, 8.047268358810047, 0.30602858444141084, -0.018098546593997344, -0.05732507201616982, -0.3541256792801674, -0.11673855800887004, 5.0, 0.0]",
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+ "[67.79999999999997, 8.061530289180343, 0.2669716460874655, 0.06109973086157706, -0.23033556491560292, -0.3541256792801674, -0.11673855800887034, 5.0, 0.0]",
+ "[67.99999999999997, 8.112315303026033, 0.3607740237039854, 0.14859673893094758, 0.19994398057869256, -0.09685662658750853, 0.6167385580088169, 5.0, 0.0]",
+ "[67.99999999999997, 8.056723847856691, 0.2669716460874655, 0.059668481465304124, -0.25418169864782386, -0.15726905264851349, -1.1060156047479162, 5.0, 0.0]",
+ "[68.19999999999997, 8.104965189315479, 0.3096346035562012, 0.14859673893094758, 0.4206467409425679, 0.1000000000441455, 0.40601560474786225, 5.0, 0.0]",
+ "[68.19999999999997, 8.031614519473882, 0.2672860462822874, -0.029258734638378164, -0.25418169864782386, -0.15726905264851326, -1.1060156047479162, 5.0, 0.0]",
+ "[68.39999999999998, 8.12399606647246, 0.29786657421287094, 0.1356072964615487, 0.4206467409425679, 0.1000000000441455, 0.40601560474786225, 5.0, 0.0]",
+ "[68.39999999999998, 8.031614519473882, 0.22854320241682516, -0.029258734638378164, -0.2303355649156027, -0.3541256792801673, -0.6394927207656035, 5.0, 0.0]",
+ "[68.59999999999997, 8.12399606647246, 0.28609837745882855, 0.14636481471961055, 0.19994398057869256, -0.09685662658750854, 1.53949272076555, 5.0, 0.0]",
+ "[68.59999999999997, 8.051917760685972, 0.1838195682795993, -0.015639055060195167, -0.2303355649156027, -0.3541256792801673, -0.6394927207656035, 5.0, 0.0]",
+ "[68.79999999999997, 8.097614594802637, 0.23495892561582174, 0.3219874582036413, 0.19994398057869256, -0.09685662658750863, 1.53949272076555, 5.0, 0.0]",
+ "[68.79999999999997, 8.047111386818887, 0.13267985190111173, -0.015639055060195167, -0.25418169864782386, -0.3541256792801671, -1.1060156047479168, 5.0, 0.0]",
+ "[68.99999999999997, 8.090264402250892, 0.18948626308204355, 0.3219874582036413, 0.4206467409425681, -0.09685662658750863, 0.40601560474786125, 5.0, 0.0]",
+ "[68.99999999999997, 8.022001992688464, 0.08154055154096299, 0.013288698794048773, -0.25418169864782386, -0.3541256792801671, -1.1060156047479168, 5.0, 0.0]",
+ "[69.19999999999996, 8.109295294699924, 0.15042928646853562, 0.23305923330918993, 0.4206467409425681, -0.09685662658750856, 0.40601560474786125, 5.0, 0.0]",
+ "[69.19999999999996, 8.022001992688464, 0.06627402431309272, 0.04221632150036947, -0.23033556491560253, -0.35412567918237087, -1.1060156047479173, 5.0, 0.0]",
+ "[69.39999999999996, 8.109295294699924, 0.11518516452831866, 0.14413198613303635, 0.19994398057869261, 0.49371325320965737, 0.406015604747861, 5.0, 0.0]",
+ "[69.39999999999996, 8.04230516064443, 0.021175860321533485, -0.033723481729563576, -0.23033556491560236, -0.35412567918237087, -1.1060156047479173, 5.0, 0.0]",
+ "[69.59999999999997, 8.082913947228738, 0.14882942045074712, 0.10007170848397257, 0.19994398057869261, 0.49371325320965737, 0.406015604747861, 5.0, 0.0]",
+ "[69.59999999999997, 8.030151010579852, 0.021175860321533485, -0.033723481729563576, -0.23033556491560236, -0.8082513585066833, -0.11673855800887142, 5.0, 0.0]",
+ "[69.79999999999997, 8.082911419188202, 0.14882942045074712, 0.116724084775582, 0.19994398057869264, 0.16041242600735367, 0.6167385580088152, 5.0, 0.0]",
+ "[69.79999999999997, 8.003769507571741, -0.044274614982676576, 0.04962425003289777, -0.23033556491560214, -0.8082513585066833, -0.11673855800887162, 5.0, 0.0]",
+ "[69.99999999999997, 8.10321451056002, 0.05227727474157316, 0.1333762876684201, 0.19994398057869264, 0.16041242600735367, 0.6167385580088152, 5.0, 0.0]",
+ "[69.99999999999997, 8.003769507571741, -0.044274614982676576, 0.07002847657676299, -0.2541816986478237, -0.35412567918237103, -0.5167385580088717, 5.0, 0.0]",
+ "[70.19999999999996, 8.10321451056002, 0.03388701499889759, 0.1363196307681806, 0.42064674094256826, 0.4937132532096572, 0.21673855800881464, 5.0, 0.0]",
+ "[70.19999999999996, 8.02280069394831, -0.056309497753614726, 0.006680764974988665, -0.2541816986478237, -0.35412567918237103, -0.5167385580088717, 5.0, 0.0]",
+ "[70.39999999999996, 8.078105024491402, 0.02301429390342248, 0.13966734236994355, 0.42064674094256826, 0.4937132532096572, 0.21673855800881478, 5.0, 0.0]"
]
},
- "type": "simtrace",
+ "type": "reachtube",
"assert_hits": null
}
}
\ No newline at end of file
diff --git a/demo/quadrotor/quadrotor_demo.py b/demo/quadrotor/quadrotor_demo.py
index 619177e2..af1a4087 100644
--- a/demo/quadrotor/quadrotor_demo.py
+++ b/demo/quadrotor/quadrotor_demo.py
@@ -42,13 +42,13 @@ if __name__ == "__main__":
tuple([CraftMode.Follow_Waypoint]),
]
)
- traces = scenario.simulate(200, 0.2)
+ traces = scenario.verify(200, 0.2)
path = os.path.abspath(__file__)
path = path.replace('quadrotor_demo.py', 'output.json')
write_json(traces, path)
- fig = go.Figure()
- fig = simulation_tree(traces, None, fig, 1, 2,
- 'lines', 'trace', print_dim_list=[0, 1, 2])
- fig = fig.add_trace(go.Scatter(
- x=[3, 5, 5, 2, 2, 8, 8], y=[0, 0, 3, 3, 6, 3, 0], text=[0, 1, 2, 3, 4, 5, 6], mode='markers', marker={'color': 'black'}))
- fig.show()
+ # fig = go.Figure()
+ # fig = simulation_tree(traces, None, fig, 1, 2,
+ # 'lines', 'trace', print_dim_list=[0, 1, 2])
+ # fig = fig.add_trace(go.Scatter(
+ # x=[3, 5, 5, 2, 2, 8, 8], y=[0, 0, 3, 3, 6, 3, 0], text=[0, 1, 2, 3, 4, 5, 6], mode='markers', marker={'color': 'black'}))
+ # fig.show()
--
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