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add initial position
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@MikhailChaikovskii
MikhailChaikovskii committed Aug 9, 2024
1 parent d7c0def commit 30e56a6
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Showing 4 changed files with 80 additions and 20 deletions.
2 changes: 1 addition & 1 deletion rostok/simulation_chrono/simulation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@ def chrono_SMC_system(solver_iterations=100,
return system

@staticmethod
def chrono_NSC_system(solver_iterations=1000, force_tolerance=1e-4, gravity_list=[0, 0, 0]):
def chrono_NSC_system(solver_iterations=100, force_tolerance=1e-4, gravity_list=[0, 0, 0]):
system = chrono.ChSystemNSC()
system.SetSolverType(chrono.ChSolver.Type_BARZILAIBORWEIN)
system.SetSolverMaxIterations(solver_iterations)
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7 changes: 5 additions & 2 deletions rostok/simulation_chrono/simulation_scenario.py
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Original file line number Diff line number Diff line change
Expand Up @@ -231,12 +231,15 @@ class SuspensionCarScenario(ParametrizedSimulation):
def __init__(self,
step_length,
simulation_length,
initial_vertical_pos,
controller_cls = ConstController,
smc=False) -> None:
super().__init__(step_length, simulation_length)
self.event_builder_container: List[EventBuilder] = []
self.controller_cls = controller_cls
self.smc = smc
self.initial_vertical_pos = initial_vertical_pos


def add_event_builder(self, event_builder):
self.event_builder_container.append(event_builder)
Expand All @@ -260,7 +263,7 @@ def run_simulation(self,
if self.smc:
system = ChronoSystems.chrono_SMC_system(gravity_list=[0, 0, 0])
else:
system = ChronoSystems.chrono_NSC_system(gravity_list=[0, -10, 0])
system = ChronoSystems.chrono_NSC_system(solver_iterations=500, gravity_list=[0, -10, 0])
# setup the auxiliary
env_creator = EnvCreator([])
vis_manager = ChronoVisManager(delay)
Expand All @@ -284,7 +287,7 @@ def run_simulation(self,
simulation.add_design(graph,
controller_data,
self.controller_cls,
Frame=FrameTransform([0, 0.25, 0], [0,0,0,1]),
Frame=FrameTransform([0, self.initial_vertical_pos, 0], [0,0,0,1]),
starting_positions=starting_positions, is_fixed=False)

# setup parameters for the data store
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5 changes: 0 additions & 5 deletions tests_jupyter/robotic_rules_tutorial_py.py
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Original file line number Diff line number Diff line change
Expand Up @@ -222,14 +222,9 @@ def rotation_z(alpha):

n_steps = 10000




robot_data_dict = {}
simulation.add_robot_data_type_dict(robot_data_dict)
simulation.simulate(n_steps, 1e-3, 10000, [], vis_manager)

#scenario.run_simulation(graph, control, starting_positions=[[0,0,-7,7], [0,0,-5,5], [0, 30, -60, -30, 60], [0, 30, -60, -30, 60]], vis = True, delay=True)



86 changes: 74 additions & 12 deletions tests_jupyter/wheels_ruleset.ipynb
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Expand Up @@ -350,32 +350,94 @@
"cell_type": "code",
"execution_count": 16,
"metadata": {},
"outputs": [],
"outputs": [
{
"name": "stderr",
"output_type": "stream",
"text": [
"Cannot use default video driver - fall back to OpenGL"
]
},
{
"name": "stdout",
"output_type": "stream",
"text": [
"Irrlicht Engine version 1.8.5\n",
"Linux 6.5.0-45-generic #45~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Mon Jul 15 16:40:02 UTC 2 x86_64\n",
"Using plain X visual\n",
"This driver is not available in Linux. Try OpenGL or Software renderer.\n",
"Irrlicht Engine version 1.8.5\n",
"Linux 6.5.0-45-generic #45~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Mon Jul 15 16:40:02 UTC 2 x86_64\n",
"Using renderer: OpenGL 4.6\n",
"Mesa Intel(R) UHD Graphics 630 (CFL GT2): Intel\n",
"OpenGL driver version is 1.2 or better.\n",
"GLSL version: 4.6\n",
"Loaded texture: /home/be2r-lab-210134/Python/anaconda3/envs/rostok/share/chrono/data/fonts/arial80.bmp\n",
"Loaded texture: /home/be2r-lab-210134/Python/anaconda3/envs/rostok/share/chrono/data/skybox/sky_lf.jpg\n",
"Loaded texture: /home/be2r-lab-210134/Python/anaconda3/envs/rostok/share/chrono/data/skybox/sky_up.jpg\n",
"Loaded texture: /home/be2r-lab-210134/Python/anaconda3/envs/rostok/share/chrono/data/skybox/sky_dn.jpg\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"\n"
]
},
{
"ename": "ImportError",
"evalue": "You must be root to use this library on linux.",
"output_type": "error",
"traceback": [
"\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
"\u001b[0;31mImportError\u001b[0m Traceback (most recent call last)",
"Cell \u001b[0;32mIn[16], line 12\u001b[0m\n\u001b[1;32m 9\u001b[0m parameters[\u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mreverse_rotate\u001b[39m\u001b[38;5;124m\"\u001b[39m] \u001b[38;5;241m=\u001b[39m \u001b[38;5;241m0.2\u001b[39m\n\u001b[1;32m 10\u001b[0m \u001b[38;5;66;03m#control = {\"initial_value\": [0.05]*2}\u001b[39;00m\n\u001b[0;32m---> 12\u001b[0m result \u001b[38;5;241m=\u001b[39m \u001b[43mscenario\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mrun_simulation\u001b[49m\u001b[43m(\u001b[49m\u001b[43mgraph\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mparameters\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mstarting_positions\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43m[\u001b[49m\u001b[43m[\u001b[49m\u001b[38;5;241;43m45\u001b[39;49m\u001b[43m,\u001b[49m\u001b[38;5;241;43m-\u001b[39;49m\u001b[38;5;241;43m90\u001b[39;49m\u001b[43m,\u001b[49m\u001b[38;5;241;43m0\u001b[39;49m\u001b[43m]\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43m[\u001b[49m\u001b[38;5;241;43m-\u001b[39;49m\u001b[38;5;241;43m90\u001b[39;49m\u001b[43m,\u001b[49m\u001b[38;5;241;43m90\u001b[39;49m\u001b[43m,\u001b[49m\u001b[38;5;241;43m0\u001b[39;49m\u001b[43m]\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43m[\u001b[49m\u001b[38;5;241;43m90\u001b[39;49m\u001b[43m,\u001b[49m\u001b[38;5;241;43m-\u001b[39;49m\u001b[38;5;241;43m90\u001b[39;49m\u001b[43m,\u001b[49m\u001b[38;5;241;43m0\u001b[39;49m\u001b[43m]\u001b[49m\u001b[43m]\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mvis\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[43m \u001b[49m\u001b[38;5;28;43;01mTrue\u001b[39;49;00m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mdelay\u001b[49m\u001b[38;5;241;43m=\u001b[39;49m\u001b[38;5;28;43;01mTrue\u001b[39;49;00m\u001b[43m)\u001b[49m\n",
"File \u001b[0;32m~/Python/rostok_project/code/main_rep/rostok/simulation_chrono/simulation_scenario.py:305\u001b[0m, in \u001b[0;36mSuspensionCarScenario.run_simulation\u001b[0;34m(self, graph, controller_data, starting_positions, vis, delay)\u001b[0m\n\u001b[1;32m 300\u001b[0m robot_data_dict \u001b[38;5;241m=\u001b[39m {\n\u001b[1;32m 301\u001b[0m \u001b[38;5;124m\"\u001b[39m\u001b[38;5;124mCOG\u001b[39m\u001b[38;5;124m\"\u001b[39m: (SensorCalls\u001b[38;5;241m.\u001b[39mBODY_TRAJECTORY, SensorObjectClassification\u001b[38;5;241m.\u001b[39mBODY,\n\u001b[1;32m 302\u001b[0m SensorCalls\u001b[38;5;241m.\u001b[39mBODY_TRAJECTORY),\n\u001b[1;32m 303\u001b[0m }\n\u001b[1;32m 304\u001b[0m simulation\u001b[38;5;241m.\u001b[39madd_robot_data_type_dict(robot_data_dict)\n\u001b[0;32m--> 305\u001b[0m \u001b[38;5;28;01mreturn\u001b[39;00m \u001b[43msimulation\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msimulate\u001b[49m\u001b[43m(\u001b[49m\u001b[43mn_steps\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mstep_length\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[38;5;241;43m10000\u001b[39;49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mevent_list\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mvis\u001b[49m\u001b[43m)\u001b[49m\n",
"File \u001b[0;32m~/Python/rostok_project/code/main_rep/rostok/simulation_chrono/simulation.py:320\u001b[0m, in \u001b[0;36mSingleRobotSimulation.simulate\u001b[0;34m(self, number_of_steps, step_length, fps, event_container, visualize)\u001b[0m\n\u001b[1;32m 318\u001b[0m \u001b[38;5;28;01mfor\u001b[39;00m i \u001b[38;5;129;01min\u001b[39;00m \u001b[38;5;28mrange\u001b[39m(number_of_steps):\n\u001b[1;32m 319\u001b[0m current_time \u001b[38;5;241m=\u001b[39m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mchrono_system\u001b[38;5;241m.\u001b[39mGetChTime()\n\u001b[0;32m--> 320\u001b[0m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msimulate_step\u001b[49m\u001b[43m(\u001b[49m\u001b[43mstep_length\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mcurrent_time\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mi\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m 321\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mresult\u001b[38;5;241m.\u001b[39mtime_vector\u001b[38;5;241m.\u001b[39mappend(\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mchrono_system\u001b[38;5;241m.\u001b[39mGetChTime())\n\u001b[1;32m 322\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m visualize:\n",
"File \u001b[0;32m~/Python/rostok_project/code/main_rep/rostok/simulation_chrono/simulation.py:269\u001b[0m, in \u001b[0;36mSingleRobotSimulation.simulate_step\u001b[0;34m(self, step_length, current_time, step_n)\u001b[0m\n\u001b[1;32m 266\u001b[0m robot\u001b[38;5;241m.\u001b[39mdata_storage\u001b[38;5;241m.\u001b[39mupdate_storage(step_n)\n\u001b[1;32m 268\u001b[0m \u001b[38;5;66;03m#controller gets current states of the robot and environment and updates control functions\u001b[39;00m\n\u001b[0;32m--> 269\u001b[0m \u001b[43mrobot\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mcontroller\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mupdate_functions\u001b[49m\u001b[43m(\u001b[49m\u001b[43mcurrent_time\u001b[49m\u001b[43m,\u001b[49m\u001b[43m \u001b[49m\u001b[43mrobot\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msensor\u001b[49m\u001b[43m,\u001b[49m\n\u001b[1;32m 270\u001b[0m \u001b[43m \u001b[49m\u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43menv_creator\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mdata_storage\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43msensor\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m 271\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39menv_creator\u001b[38;5;241m.\u001b[39mforce_torque_container\u001b[38;5;241m.\u001b[39mupdate_all(current_time,\n\u001b[1;32m 272\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39menv_creator\u001b[38;5;241m.\u001b[39mdata_storage\u001b[38;5;241m.\u001b[39msensor)\n",
"File \u001b[0;32m~/Python/rostok_project/code/main_rep/rostok/control_chrono/controller.py:96\u001b[0m, in \u001b[0;36mSimpleKeyBoardController.update_functions\u001b[0;34m(self, time, robot_data, environment_data)\u001b[0m\n\u001b[1;32m 92\u001b[0m \u001b[38;5;28;01melse\u001b[39;00m:\n\u001b[1;32m 93\u001b[0m \u001b[38;5;28;01mpass\u001b[39;00m\n\u001b[0;32m---> 96\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m \u001b[43mkeyboard\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mis_pressed\u001b[49m\u001b[43m(\u001b[49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[38;5;124;43ma\u001b[39;49m\u001b[38;5;124;43m'\u001b[39;49m\u001b[43m)\u001b[49m:\n\u001b[1;32m 97\u001b[0m \u001b[38;5;28;01mfor\u001b[39;00m func, i \u001b[38;5;129;01min\u001b[39;00m \u001b[38;5;28mzip\u001b[39m(\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mfunctions, ordered_list_id):\n\u001b[1;32m 98\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m i \u001b[38;5;129;01min\u001b[39;00m right_wheel:\n",
"File \u001b[0;32m~/Python/anaconda3/envs/rostok/lib/python3.10/site-packages/keyboard/__init__.py:410\u001b[0m, in \u001b[0;36mis_pressed\u001b[0;34m(hotkey)\u001b[0m\n\u001b[1;32m 402\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21mis_pressed\u001b[39m(hotkey):\n\u001b[1;32m 403\u001b[0m \u001b[38;5;250m \u001b[39m\u001b[38;5;124;03m\"\"\"\u001b[39;00m\n\u001b[1;32m 404\u001b[0m \u001b[38;5;124;03m Returns True if the key is pressed.\u001b[39;00m\n\u001b[1;32m 405\u001b[0m \n\u001b[0;32m (...)\u001b[0m\n\u001b[1;32m 408\u001b[0m \u001b[38;5;124;03m is_pressed('ctrl+space') #-> True\u001b[39;00m\n\u001b[1;32m 409\u001b[0m \u001b[38;5;124;03m \"\"\"\u001b[39;00m\n\u001b[0;32m--> 410\u001b[0m \u001b[43m_listener\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43mstart_if_necessary\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m 412\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m _is_number(hotkey):\n\u001b[1;32m 413\u001b[0m \u001b[38;5;66;03m# Shortcut.\u001b[39;00m\n\u001b[1;32m 414\u001b[0m \u001b[38;5;28;01mwith\u001b[39;00m _pressed_events_lock:\n",
"File \u001b[0;32m~/Python/anaconda3/envs/rostok/lib/python3.10/site-packages/keyboard/_generic.py:35\u001b[0m, in \u001b[0;36mGenericListener.start_if_necessary\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m 33\u001b[0m \u001b[38;5;28;01mtry\u001b[39;00m:\n\u001b[1;32m 34\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m \u001b[38;5;129;01mnot\u001b[39;00m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mlistening:\n\u001b[0;32m---> 35\u001b[0m \u001b[38;5;28;43mself\u001b[39;49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43minit\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m 37\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mlistening \u001b[38;5;241m=\u001b[39m \u001b[38;5;28;01mTrue\u001b[39;00m\n\u001b[1;32m 38\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mlistening_thread \u001b[38;5;241m=\u001b[39m Thread(target\u001b[38;5;241m=\u001b[39m\u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mlisten)\n",
"File \u001b[0;32m~/Python/anaconda3/envs/rostok/lib/python3.10/site-packages/keyboard/__init__.py:196\u001b[0m, in \u001b[0;36m_KeyboardListener.init\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m 195\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21minit\u001b[39m(\u001b[38;5;28mself\u001b[39m):\n\u001b[0;32m--> 196\u001b[0m \u001b[43m_os_keyboard\u001b[49m\u001b[38;5;241;43m.\u001b[39;49m\u001b[43minit\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m 198\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mactive_modifiers \u001b[38;5;241m=\u001b[39m \u001b[38;5;28mset\u001b[39m()\n\u001b[1;32m 199\u001b[0m \u001b[38;5;28mself\u001b[39m\u001b[38;5;241m.\u001b[39mblocking_hooks \u001b[38;5;241m=\u001b[39m []\n",
"File \u001b[0;32m~/Python/anaconda3/envs/rostok/lib/python3.10/site-packages/keyboard/_nixkeyboard.py:113\u001b[0m, in \u001b[0;36minit\u001b[0;34m()\u001b[0m\n\u001b[1;32m 112\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21minit\u001b[39m():\n\u001b[0;32m--> 113\u001b[0m \u001b[43mbuild_device\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m 114\u001b[0m build_tables()\n",
"File \u001b[0;32m~/Python/anaconda3/envs/rostok/lib/python3.10/site-packages/keyboard/_nixkeyboard.py:109\u001b[0m, in \u001b[0;36mbuild_device\u001b[0;34m()\u001b[0m\n\u001b[1;32m 107\u001b[0m \u001b[38;5;28;01mglobal\u001b[39;00m device\n\u001b[1;32m 108\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m device: \u001b[38;5;28;01mreturn\u001b[39;00m\n\u001b[0;32m--> 109\u001b[0m \u001b[43mensure_root\u001b[49m\u001b[43m(\u001b[49m\u001b[43m)\u001b[49m\n\u001b[1;32m 110\u001b[0m device \u001b[38;5;241m=\u001b[39m aggregate_devices(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mkbd\u001b[39m\u001b[38;5;124m'\u001b[39m)\n",
"File \u001b[0;32m~/Python/anaconda3/envs/rostok/lib/python3.10/site-packages/keyboard/_nixcommon.py:174\u001b[0m, in \u001b[0;36mensure_root\u001b[0;34m()\u001b[0m\n\u001b[1;32m 172\u001b[0m \u001b[38;5;28;01mdef\u001b[39;00m \u001b[38;5;21mensure_root\u001b[39m():\n\u001b[1;32m 173\u001b[0m \u001b[38;5;28;01mif\u001b[39;00m os\u001b[38;5;241m.\u001b[39mgeteuid() \u001b[38;5;241m!=\u001b[39m \u001b[38;5;241m0\u001b[39m:\n\u001b[0;32m--> 174\u001b[0m \u001b[38;5;28;01mraise\u001b[39;00m \u001b[38;5;167;01mImportError\u001b[39;00m(\u001b[38;5;124m'\u001b[39m\u001b[38;5;124mYou must be root to use this library on linux.\u001b[39m\u001b[38;5;124m'\u001b[39m)\n",
"\u001b[0;31mImportError\u001b[0m: You must be root to use this library on linux."
]
}
],
"source": [
"from rostok.criterion.simulation_flags import EventBodyTooLowBuilder\n",
"scenario = SuspensionCarScenario(0.0001, 3)\n",
"from rostok.control_chrono.controller import SimpleKeyBoardController\n",
"scenario = SuspensionCarScenario(0.0001, 3,initial_vertical_pos=0.5, controller_cls=SimpleKeyBoardController)\n",
"scenario.add_event_builder(event_builder=EventBodyTooLowBuilder(0.15))\n",
"control = {\"initial_value\": [0.05]*2}\n",
"\n",
"result = scenario.run_simulation(graph, control, starting_positions=[[45,-90,0], [-90,90,0], [90,-90,0]], vis = True, delay=True)"
"parameters = {}\n",
"parameters[\"forward\"] = 0.5\n",
"parameters[\"reverse\"]= 0.5\n",
"parameters[\"forward_rotate\"] = 0.3\n",
"parameters[\"reverse_rotate\"] = 0.2\n",
"#control = {\"initial_value\": [0.05]*2}\n",
"\n",
"result = scenario.run_simulation(graph, parameters, starting_positions=[[45,-90,0], [-90,90,0], [90,-90,0]], vis = True, delay=True)"
]
},
{
"cell_type": "code",
"execution_count": 23,
"execution_count": null,
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"[array([-0.0017, 0.1501, 0. ]),\n",
" array([-0.0017, 0.15 , 0. ]),\n",
" array([-0.0017, 0.15 , 0. ]),\n",
" array([-0.0017, 0.15 , 0. ]),\n",
" array([-0.0017, 0.1499, 0. ])]"
"[array([ 0.0003, 0.1503, -0.0003]),\n",
" array([ 0.0003, 0.1502, -0.0003]),\n",
" array([ 0.0002, 0.1501, -0.0003]),\n",
" array([ 0.0002, 0.15 , -0.0003]),\n",
" array([ 0.0002, 0.1498, -0.0003])]"
]
},
"execution_count": 23,
"execution_count": 18,
"metadata": {},
"output_type": "execute_result"
}
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