Test Problems

This script loops through all test problems, displays their signature, cost function, and – if robotics problem – komo scene.

import optsam as op
import numpy as np
import matplotlib.pylab as plt
import time

The following is a plotting helper problem: It creates a 2D grid; if the problem is 2D it evaluates on that grid; otherwise on a random hyperplane (determined by x0). Then plots.

def display_2d_unconstrained(nlp: op.NLP, resolution=30):
    B = nlp.bounds
    x0 = nlp.getInitializationSample()

    dim = 2
    X = [None] * dim
    for i in range(dim):
        X[i] = np.linspace(B[0][i], B[1][i], resolution)
    X = np.stack(np.meshgrid(*X, indexing='ij'), axis=-1)

    if nlp.dimension==2:
        fX = np.array([nlp.eval_scalar(x)[0] for x in X.reshape(-1, dim)])
    else:
        f = lambda x: nlp.eval_scalar(np.concatenate((x, x0[2:])))[0]
        fX = np.array([f(x) for x in X.reshape(-1, dim)])
    fX = fX.reshape(X.shape[:-1])

    fig, ax = plt.subplots()
    ax.contour(X[:,:,0], X[:,:,1], fX, 200)
    plt.show()

The following displays a problem more generically: If it has constraints, it is converted to unconstraint (using the Augmented Lagrangian). If it is a robotics problem, it also displays the komo scene.

def display_any(nlp: op.NLP):
    ty = nlp.types

    komo = nlp.as_KOMO()
    if komo is not None:
        for _ in range(5):
            x = nlp.getUniformSample()
            # x = nlp.getInitializationSample()
            nlp.evaluate(x)
            komo.view(False, 'random init')
            time.sleep(.2)

    if (op.eq in ty) or (op.ineq in ty):
        nlp_org = nlp
        nlp = nlp.aug_lag(1e1, -1.)
    display_2d_unconstrained(nlp)

We can now loop through all test problems, print their signatur, and display.

def main():
    problems = op.get_NLP_Problem_names()
    print(problems)

    # p = problems[5]
    for p in problems:
        nlp = op.make_NLP_Problem(p)
        print('===\n', p, nlp.report(1), '===')
        display_any(nlp)

if __name__ == "__main__":
    main()

['square', 'Rugged', 'Rastrigin', 'Rosenbrock', 'Ackley', 'Himmelblau', 'Box', 'Modes', 'Wedge', 'HalfCircle', 'LinearProgram', 'IK', 'IKobstacle', 'IKtorus', 'PushToReach', 'StableSphere', 'SpherePacking', 'MinimalConvexCore']
===
 square NLP of type 'NLP_Squared' dimension:2 #objectives: 2
 ===

===
 Rugged NLP of type 'NLP_Rugged' dimension:2 #objectives: 1
 ===

===
 Rastrigin NLP of type 'NLP_Rastrigin' dimension:2 #objectives: 1
 ===

===
 Rosenbrock NLP of type 'NLP_Rosenbrock' dimension:2 #objectives: 1
 ===

===
 Ackley NLP of type 'NLP_Ackley' dimension:2 #objectives: 1
 ===

===
 Himmelblau NLP of type 'NLP_Himmelblau' dimension:2 #objectives: 1
 ===

===
 Box NLP of type 'BoxNLP' dimension:2 #objectives: 4
 ===

===
 Modes NLP of type 'ModesNLP' dimension:2 #objectives: 1
 ===

===
 Wedge NLP of type 'NLP_Wedge' dimension:2 #objectives: 3
 ===

===
 HalfCircle NLP of type 'NLP_HalfCircle' dimension:2 #objectives: 3
 ===

===
 LinearProgram NLP of type 'NLP_RandomLP' dimension:2 #objectives: 16
 ===

===
 IK specs: { x_dim: 7, dual_dim: 0, T: 1, k: 0, phases: 1, slicesPerPhase: 1, enableCollisions!, tau: 1, #slices: 1, #totalDOF: 7, #frames: 43, #pathQueries: 0 } ===

===
 IKobstacle specs: { x_dim: 7, dual_dim: 0, T: 1, k: 0, phases: 1, slicesPerPhase: 1, enableCollisions!, tau: 1, #slices: 1, #totalDOF: 7, #frames: 44, #pathQueries: 906 } ===

===
 IKtorus specs: { x_dim: 7, dual_dim: 0, T: 1, k: 0, phases: 1, slicesPerPhase: 1, enableCollisions!, tau: 1, #slices: 1, #totalDOF: 7, #frames: 44, #pathQueries: 1812 } ===

===
 PushToReach specs: { x_dim: 28, dual_dim: 0, T: 4, k: 1, phases: 4, slicesPerPhase: 1, enableCollisions!, tau: 1, #slices: 5, #totalDOF: 46, #frames: 240, #pathQueries: 2718 }
switches: { sw: "SWITCH  timeOfApplication=0  symbol=joint  jointType=rigid  fromId=45'obj_trans'  toId=42'box'", sw: "SWITCH  timeOfApplication=2  symbol=joint  jointType=free  fromId=35'l_gripper'  toId=44'stick'" } ===

-- testProblems_KOMO.cpp:problem_StableSphere:193(0)
======================
supports: box wall l_finger r_finger
===
 StableSphere specs: { x_dim: 9, dual_dim: 0, T: 1, k: 0, phases: 1, slicesPerPhase: 1, enableCollisions, tau: 1, #slices: 1, #totalDOF: 33, #frames: 15, #pathQueries: 3624 }
switches: { sw: "SWITCH  timeOfApplication=-1  symbol=addContact  jointType=none  fromId=14'obj'  toId=13'box'", sw: "SWITCH  timeOfApplication=-1  symbol=addContact  jointType=none  fromId=14'obj'  toId=12'wall'", sw: "SWITCH  timeOfApplication=-1  symbol=addContact  jointType=none  fromId=14'obj'  toId=4'l_finger'", sw: "SWITCH  timeOfApplication=-1  symbol=addContact  jointType=none  fromId=14'obj'  toId=9'r_finger'" } ===

===
 SpherePacking SpherePacking problem
 ===

===
 MinimalConvexCore MinimalConvexCore problem
 ===