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results.txt
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#=======================================================================================
180 Mar9 Run
#=======================================================================================
Here are results from running the motion planner using 180 angles on the north and northeast peg:
$ python motion_planner.py -w=north -D=180 --stats
2017-03-13 16:45:21,445 - INFO - Running motion_planner.py
2017-03-13 16:45:21,446 - INFO - Angle discretization: 180
2017-03-13 16:45:21,446 - INFO - Calculating stats then exit
2017-03-13 16:45:21,446 - INFO - Loading unreachables from n_unreachables.pickle
2017-03-13 16:45:25,051 - INFO - Loading pickle file : n_stage4.pickle
2017-03-13 16:46:17,370 - INFO - Total number of reachable states: 3248540
2017-03-13 16:46:53,262 - INFO - Num stage1 paths : 110930
2017-03-13 16:46:53,262 - INFO - Num stage2 paths : 2610365
2017-03-13 16:46:53,262 - INFO - Num stage3 paths : 476499
2017-03-13 16:46:53,262 - INFO - Num stage4 paths : 39418
2017-03-13 16:47:12,456 - INFO - Num stage1 / lh : 105223
2017-03-13 16:47:12,456 - INFO - Num stage1 / rh : 5707
2017-03-13 16:47:49,498 - INFO - Num stage2 / lh : 962102
2017-03-13 16:47:49,498 - INFO - Num stage2 / rh : 1648263
2017-03-13 16:48:03,098 - INFO - Num stage3 / lh : 235671
2017-03-13 16:48:03,098 - INFO - Num stage3 / rh : 240828
2017-03-13 16:48:09,159 - INFO - Num stage4 / fwd : 19727
2017-03-13 16:48:09,159 - INFO - Num stage4 / rev : 19691
2017-03-13 16:48:09,988 - INFO - Number of states having a path: 3237212
2017-03-13 16:48:10,981 - INFO - Number of these that are unreachable: 0 (Should be 0)
2017-03-13 16:48:13,425 - INFO - Number reachable states lacking path: 11328
2017-03-13 16:48:13,426 - INFO - Percent reachable states having path: 99.65
2017-03-13 16:48:13,426 - INFO - Num missing via subtraction : 11328
2017-03-13 16:48:13,426 - INFO - Percent having path via subtraction : 99.65
$ python motion_planner.py -w=northeast -D=180 --stats
2017-03-13 16:49:27,090 - INFO - Running motion_planner.py
2017-03-13 16:49:27,091 - INFO - Angle discretization: 180
2017-03-13 16:49:27,091 - INFO - Calculating stats then exit
2017-03-13 16:49:27,091 - INFO - Loading unreachables from ne_unreachables.pickle
2017-03-13 16:49:31,544 - INFO - Loading pickle file : ne_stage4.pickle
2017-03-13 16:50:36,535 - INFO - Total number of reachable states: 3801496
2017-03-13 16:51:22,638 - INFO - Num stage1 paths : 60594
2017-03-13 16:51:22,638 - INFO - Num stage2 paths : 2794201
2017-03-13 16:51:22,639 - INFO - Num stage3 paths : 882138
2017-03-13 16:51:22,639 - INFO - Num stage4 paths : 49425
2017-03-13 16:51:45,178 - INFO - Num stage1 / lh : 19401
2017-03-13 16:51:45,178 - INFO - Num stage1 / rh : 41193
2017-03-13 16:52:32,242 - INFO - Num stage2 / lh : 1566431
2017-03-13 16:52:32,242 - INFO - Num stage2 / rh : 1227770
2017-03-13 16:52:52,976 - INFO - Num stage3 / lh : 397687
2017-03-13 16:52:52,976 - INFO - Num stage3 / rh : 484451
2017-03-13 16:53:00,005 - INFO - Num stage4 / fwd : 24805
2017-03-13 16:53:00,005 - INFO - Num stage4 / rev : 24620
2017-03-13 16:53:00,910 - INFO - Number of states having a path: 3786358
2017-03-13 16:53:02,010 - INFO - Number of these that are unreachable: 0 (Should be 0)
2017-03-13 16:53:04,800 - INFO - Number reachable states lacking path: 15138
2017-03-13 16:53:04,800 - INFO - Percent reachable states having path: 99.60
2017-03-13 16:53:04,801 - INFO - Num missing via subtraction : 15138
2017-03-13 16:53:04,801 - INFO - Percent having path via subtraction : 99.60
#=======================================================================================
360 Mar11 Run
#=======================================================================================
$ python mp.py -w=north --stats
2017-03-12 17:01:37,736 - INFO - Running mp.py
2017-03-12 17:01:37,738 - INFO - Calculating stats then exit
2017-03-12 17:01:37,738 - INFO - Loading unreachables from n_unreachables.pickle
2017-03-12 17:01:44,789 - INFO - Loading pickle file from n_stage4.pickle
2017-03-12 17:03:37,970 - INFO - Total number of reachable states: 6493270
2017-03-12 17:05:15,093 - INFO - Num stage1 paths : 251328
2017-03-12 17:05:15,093 - INFO - Num stage2 paths : 5169067
2017-03-12 17:05:15,094 - INFO - Num stage3 paths : 974410
2017-03-12 17:05:15,094 - INFO - Num stage4 paths : 76884
2017-03-12 17:06:06,076 - INFO - Num stage1 / lh : 239747
2017-03-12 17:06:06,076 - INFO - Num stage1 / rh : 11581
2017-03-12 17:07:43,587 - INFO - Num stage2 / lh : 1940276
2017-03-12 17:07:43,587 - INFO - Num stage2 / rh : 3228791
2017-03-12 17:08:19,351 - INFO - Num stage3 / lh : 974410
2017-03-12 17:08:19,351 - INFO - Num stage3 / rh : 0
2017-03-12 17:08:36,104 - INFO - Num stage4 / fwd : 38411
2017-03-12 17:08:36,104 - INFO - Num stage4 / rev : 38473
2017-03-12 17:08:39,156 - INFO - Number of states having a path: 6471689
2017-03-12 17:08:42,723 - INFO - Number of these that are unreachable: 0 (Should be 0)
2017-03-12 17:08:50,382 - INFO - Number reachable states lacking path: 21581
2017-03-12 17:08:50,382 - INFO - Percent reachable states having path: 99.67
2017-03-12 17:08:50,382 - INFO - Num missing via subtraction : 21581
2017-03-12 17:08:50,382 - INFO - Percent having path via subtraction : 99.67
$ python mp.py -w=northeast --stats
2017-03-12 17:09:56,361 - INFO - Running mp.py
2017-03-12 17:09:56,363 - INFO - Calculating stats then exit
2017-03-12 17:09:56,363 - INFO - Loading unreachables from ne_unreachables.pickle
2017-03-12 17:10:04,578 - INFO - Loading pickle file from ne_stage4.pickle
2017-03-12 17:12:14,841 - INFO - Total number of reachable states: 7598446
2017-03-12 17:14:11,654 - INFO - Num stage1 paths : 108884
2017-03-12 17:14:11,654 - INFO - Num stage2 paths : 4968527
2017-03-12 17:14:11,654 - INFO - Num stage3 paths : 2399027
2017-03-12 17:14:11,654 - INFO - Num stage4 paths : 95968
2017-03-12 17:15:04,184 - INFO - Num stage1 / lh : 27380
2017-03-12 17:15:04,185 - INFO - Num stage1 / rh : 81504
2017-03-12 17:16:59,386 - INFO - Num stage2 / lh : 2810898
2017-03-12 17:16:59,386 - INFO - Num stage2 / rh : 2157629
2017-03-12 17:17:59,827 - INFO - Num stage3 / lh : 2399027
2017-03-12 17:17:59,828 - INFO - Num stage3 / rh : 0
2017-03-12 17:18:16,912 - INFO - Num stage4 / fwd : 48102
2017-03-12 17:18:16,913 - INFO - Num stage4 / rev : 47866
2017-03-12 17:18:20,086 - INFO - Number of states having a path: 7572406
2017-03-12 17:18:23,852 - INFO - Number of these that are unreachable: 0 (Should be 0)
2017-03-12 17:18:31,614 - INFO - Number reachable states lacking path: 26040
2017-03-12 17:18:31,614 - INFO - Percent reachable states having path: 99.66
2017-03-12 17:18:31,614 - INFO - Num missing via subtraction : 26040
2017-03-12 17:18:31,614 - INFO - Percent having path via subtraction : 99.66
~/mp$ python mp.py -w=north --sample
2017-03-12 16:52:45,392 - INFO - Running mp.py
2017-03-12 16:52:45,394 - INFO - Running sample code block
2017-03-12 16:52:45,394 - INFO - Loading n_stage4.pickle
2017-03-12 16:52:45,394 - INFO - Loading pickle file from n_stage4.pickle
2017-03-12 16:54:23,141 - INFO - Loaded n_stage4.pickle : 6471689 rows (1.6 min)
2017-03-12 16:54:23,144 - INFO - Sampling 20000 trajectories
2017-03-12 16:54:23,146 - INFO - Calulating trajectories for 6471689 states
2017-03-12 16:54:25,783 - INFO - Writing 20000 rows to n_sample_traj.pickle
2017-03-12 16:54:26,104 - INFO - Wrote 20000 trajectories to n_sample_traj.pickle. (0.0 min)
2017-03-12 16:54:26,122 - INFO - Loading unreachables from n_unreachables.pickle
2017-03-12 16:54:33,499 - INFO - Writing 20000 rows to n_sample_unreachables.pickle
2017-03-12 16:54:41,642 - INFO - Sampling 1000 states and their ancestors.
2017-03-12 16:54:58,160 - INFO - Writing 323258 rows to n_sample_stage2.pickle
2017-03-12 16:55:03,911 - INFO - Wrote 323258 states to n_sample_stage2.pickle. (0.5 min)
2017-03-12 16:55:14,736 - INFO - Sampling 10000 states and their ancestors.
2017-03-12 16:55:14,802 - INFO - Writing 17111 rows to n_sample.pickle
2017-03-12 16:55:15,117 - INFO - Wrote 17111 states to n_sample.pickle. (0.2 min)
2017-03-12 16:55:26,042 - INFO - Sampling 500 states and their ancestors.
2017-03-12 16:55:42,507 - INFO - Writing 285558 rows to n_sample_stage4.pickle
2017-03-12 16:55:47,629 - INFO - Wrote 285558 states to n_sample_stage4.pickle. (0.5 min)
2017-03-12 16:55:47,680 - INFO - Loading n_stage4.pickle
2017-03-12 16:55:47,683 - INFO - Loading pickle file from n_stage4.pickle
2017-03-12 16:57:16,179 - INFO - Loaded n_stage4.pickle : 6471689 rows (1.5 min)
2017-03-12 16:57:16,181 - INFO - Loading unreachables from n_unreachables.pickle
2017-03-12 16:57:37,364 - INFO - Total number of reachable states: 6493270
2017-03-12 16:57:44,433 - INFO - Number reachable states lacking path: 21581
2017-03-12 16:57:44,433 - INFO - Percent reachable states having path: 99.67
2017-03-12 16:57:44,433 - INFO - Saving only 20000/21581
2017-03-12 16:57:46,027 - INFO - Writing 20000 rows to n_remaining.pickle
2017-03-12 16:57:51,084 - INFO - elapsed 5.1
2017-03-12 16:57:51,087 - INFO - SAMPLE DONE
$ python mp.py -w=northeast --sample
2017-03-12 17:08:17,777 - INFO - Running mp.py
2017-03-12 17:08:17,779 - INFO - Running sample code block
2017-03-12 17:08:17,779 - INFO - Loading ne_stage4.pickle
2017-03-12 17:08:17,779 - INFO - Loading pickle file from ne_stage4.pickle
2017-03-12 17:10:00,736 - INFO - Loaded ne_stage4.pickle : 7572406 rows (1.7 min)
2017-03-12 17:10:00,737 - INFO - Sampling 20000 trajectories
2017-03-12 17:10:00,739 - INFO - Calulating trajectories for 7572406 states
2017-03-12 17:10:03,634 - INFO - Writing 20000 rows to ne_sample_traj.pickle
2017-03-12 17:10:04,033 - INFO - Wrote 20000 trajectories to ne_sample_traj.pickle. (0.1 min)
2017-03-12 17:10:04,056 - INFO - Loading unreachables from ne_unreachables.pickle
2017-03-12 17:10:12,701 - INFO - Writing 20000 rows to ne_sample_unreachables.pickle
2017-03-12 17:10:26,229 - INFO - Sampling 1000 states and their ancestors.
2017-03-12 17:10:45,684 - INFO - Writing 232558 rows to ne_sample_stage2.pickle
2017-03-12 17:10:49,552 - INFO - Wrote 232558 states to ne_sample_stage2.pickle. (0.6 min)
2017-03-12 17:11:01,725 - INFO - Sampling 10000 states and their ancestors.
2017-03-12 17:11:01,792 - INFO - Writing 15919 rows to ne_sample.pickle
2017-03-12 17:11:02,095 - INFO - Wrote 15919 states to ne_sample.pickle. (0.2 min)
2017-03-12 17:11:14,549 - INFO - Sampling 500 states and their ancestors.
2017-03-12 17:11:34,014 - INFO - Writing 176193 rows to ne_sample_stage4.pickle
2017-03-12 17:11:37,085 - INFO - Wrote 176193 states to ne_sample_stage4.pickle. (0.6 min)
2017-03-12 17:11:37,123 - INFO - Loading ne_stage4.pickle
2017-03-12 17:11:37,127 - INFO - Loading pickle file from ne_stage4.pickle
2017-03-12 17:13:10,420 - INFO - Loaded ne_stage4.pickle : 7572406 rows (1.6 min)
2017-03-12 17:13:10,422 - INFO - Loading unreachables from ne_unreachables.pickle
2017-03-12 17:13:37,384 - INFO - Total number of reachable states: 7598446
2017-03-12 17:13:45,165 - INFO - Number reachable states lacking path: 26040
2017-03-12 17:13:45,165 - INFO - Percent reachable states having path: 99.66
2017-03-12 17:13:45,165 - INFO - Saving only 20000/26040
2017-03-12 17:13:47,028 - INFO - Writing 20000 rows to ne_remaining.pickle
2017-03-12 17:13:53,275 - INFO - elapsed 5.6
2017-03-12 17:13:53,278 - INFO - SAMPLE DONE
#=======================================================================================
Analyses
#=======================================================================================
The following analyses were run using the --dev argument.
This option is handy for running custom code. See the ipython notebook for more examples.
Running dev code block
Loading stage4.pickle
Loading config file from stage4.pickle
Loaded stage4.pickle : 2533607 rows (3.4 min)
2017-02-20 12:36:34,348 - INFO - Calulating trajectories for 2533607 states
Calculated 30 trajectories. (3.4)
===================================================================================
state : next(planned) next(simulated) target (goal) move dist
===================================================================================
(153, 32, 98) :
(59, 18, 98) (58, 18, 98) (1, 0, 350) | -95.036
(56, 48, 273) (53, 47, 278) (1, 0, 350) lh 47.123
(1, 0, 350) (2, -5, 354) (1, 0, 350) lh 78.707
(145, 56, 85) :
(88, 60, 85) (88, 60, 85) (1, 0, 350) | -57.14
(88, 60, 260) (88, 60, 260) (1, 0, 350) qt 0.25
(1, 0, 350) (1, 0, 350) (1, 0, 350) lh 117.269
(94, 69, 213) :
(97, 63, 213) (97, 63, 213) (0, 0, 350) | -6.708
(97, 63, 257) (97, 63, 257) (0, 0, 350) qt 0.25
(0, 0, 350) (0, 0, 349) (0, 0, 350) lh 128.303
(151, 33, 96) :
(65, 24, 96) (65, 23, 96) (0, 0, 350) | -86.469
(63, 54, 272) (61, 52, 276) (0, 0, 350) lh 47.123
(0, 0, 350) (2, -6, 354) (0, 0, 350) lh 88.883
(151, 53, 128) :
(80, -1, 128) (80, -1, 128) (0, 0, 353) | -89.202
(84, 18, 212) (83, 18, 209) (0, 0, 353) lh 21.117
(0, 0, 353) (-1, 6, 347) (0, 0, 353) lh 109.515
(12, 12, 332) :
(19, 26, 332) (19, 25, 332) (0, 0, 0) | -15.652
(19, 26, 262) (19, 25, 262) (0, 0, 0) qt 0.25
(3, 17, 338) (3, 15, 337) (0, 0, 0) lh 19.754
(0, 0, 0) (0, -1, 2) (0, 0, 0) lh 17.254
(150, 28, 103) :
(65, 8, 103) (64, 8, 103) (1, 0, 353) | -87.321
(68, 36, 245) (67, 35, 243) (1, 0, 353) lh 36.563
(1, 0, 353) (-1, 1, 349) (1, 0, 353) lh 88.191
(145, 65, 138) :
(84, -1, 138) (84, -1, 138) (0, 0, 355) | -89.872
(87, 15, 205) (86, 15, 204) (0, 0, 355) lh 17.206
(0, 0, 355) (0, 3, 351) (0, 0, 355) lh 116.897
(145, 65, 152) :
(111, 2, 152) (111, 1, 152) (0, 0, 350) | -71.589
(111, 16, 207) (111, 14, 208) (0, 0, 350) lh 14.565
(0, 0, 350) (1, -2, 349) (0, 0, 350) lh 144.972
(52, 75, 173) :
(42, -1, 173) (42, -1, 173) (0, 0, 350) | -76.655
(39, 11, 223) (38, 10, 222) (0, 0, 350) lh 12.749
(0, 0, 350) (0, 0, 345) (0, 0, 350) lh 48.329
(150, 19, 78) :
(14, 47, 78) (14, 47, 78) (1, 0, 350) | -138.852
(14, 47, 306) (14, 47, 306) (1, 0, 350) qt 0.25
(8, 38, 348) (8, 37, 348) (1, 0, 350) lh 11.065
(1, 0, 350) (0, 0, 350) (1, 0, 350) lh 38.64
(150, 19, 92) :
(69, 16, 92) (68, 16, 92) (0, 0, 350) | -81.055
(72, 46, 256) (66, 45, 272) (0, 0, 350) lh 47.123
(0, 0, 350) (10, -18, 6) (0, 0, 350) lh 94.806
(112, 73, 199) :
(115, 62, 199) (115, 62, 199) (1, 0, 350) | -11.401
(115, 62, 270) (115, 62, 270) (1, 0, 350) qt 0.25
(110, 63, 251) (109, 62, 250) (1, 0, 350) rh 5.123
(1, 0, 350) (0, 0, 349) (1, 0, 350) lh 142.905
(20, 18, 37) :
(13, 25, 37) (14, 25, 37) (1, 0, 350) | -9.899
(13, 25, 338) (14, 25, 338) (1, 0, 350) qt 0.25
(11, 21, 321) (11, 21, 321) (1, 0, 350) rh 4.488
(1, 0, 350) (1, 0, 350) (1, 0, 350) lh 23.503
(57, 65, 141) :
(30, 32, 141) (30, 31, 141) (1, 0, 350) | -42.638
(30, 32, 328) (30, 31, 328) (1, 0, 350) qt 0.25
(23, 26, 292) (22, 25, 292) (1, 0, 350) rh 9.371
(1, 0, 350) (0, -1, 349) (1, 0, 350) lh 35.522
(115, 72, 203) :
(118, 62, 203) (119, 62, 203) (1, 0, 350) | -10.44
(118, 62, 265) (119, 62, 265) (1, 0, 350) qt 0.25
(114, 63, 249) (114, 62, 249) (1, 0, 350) rh 4.136
(1, 0, 350) (1, -1, 350) (1, 0, 350) lh 147.669
(54, 63, 133) :
(23, 34, 133) (22, 34, 133) (1, 0, 350) | -42.449
(23, 34, 325) (22, 34, 325) (1, 0, 350) qt 0.25
(20, 31, 309) (19, 30, 309) (1, 0, 350) rh 4.256
(1, 0, 350) (0, -1, 350) (1, 0, 350) lh 37.128
(150, 22, 51) :
(119, 46, 51) (119, 46, 51) (1, 0, 350) | -39.204
(119, 46, 308) (119, 46, 308) (1, 0, 350) qt 0.25
(102, 45, 239) (102, 44, 239) (1, 0, 350) rh 18.109
(1, 0, 350) (0, 0, 349) (1, 0, 350) lh 129.565
(54, 63, 171) :
(43, -1, 171) (43, -1, 171) (0, 0, 350) | -64.938
(39, 12, 225) (38, 11, 225) (0, 0, 350) lh 14.116
(0, 0, 350) (-1, 0, 345) (0, 0, 350) lh 49.421
(94, 67, 157) :
(65, 0, 157) (65, 0, 157) (0, 0, 350) | -73.006
(63, 15, 218) (63, 15, 218) (0, 0, 350) lh 15.861
(0, 0, 350) (0, 1, 346) (0, 0, 350) lh 79.249
(136, 47, 90) :
(3, 47, 90) (3, 47, 90) (1, 0, 353) | -133.0
(3, 47, 37) (3, 47, 37) (1, 0, 353) qt 0.25
(6, 36, 352) (5, 35, 352) (1, 0, 353) rh 11.695
(1, 0, 353) (0, -1, 353) (1, 0, 353) lh 36.346
Loading stage4.pickle
Loading config file from stage4.pickle
Loaded stage4.pickle : 2533607 rows (3.4 min)
2017-02-20 12:51:27,317 - INFO - Calulating trajectories for 2533607 states
Calculated 50000 trajectories. (3.5 min)
Average distance error : 0.6
Average heading error : 1.6
Running dev code block
Estimating trajectory error over all paths
Loading stage4.pickle
Loading config file from stage4.pickle
Loaded stage4.pickle : 2533607 rows (3.4 min)
2017-02-20 12:56:41,070 - INFO - Calulating trajectories for 2533607 states
2017-02-20 12:56:49,275 - INFO - Processed 200000 (0.1 min)
2017-02-20 12:56:56,166 - INFO - Processed 400000 (0.3 min)
2017-02-20 12:57:02,689 - INFO - Processed 600000 (0.4 min)
2017-02-20 12:57:09,358 - INFO - Processed 800000 (0.5 min)
2017-02-20 12:57:15,638 - INFO - Processed 1000000 (0.6 min)
Calculated 1000000 trajectories. (4.0 min)
Average distance error : 4.2
Average heading error : 3.7