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Codebase for the accepted version of the paper
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| name: Pylint | ||
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| on: [push] | ||
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| jobs: | ||
| build: | ||
| runs-on: ubuntu-20.04 | ||
| strategy: | ||
| matrix: | ||
| python-version: ["3.8"] | ||
| steps: | ||
| - uses: actions/checkout@v3 | ||
| - name: Set up Python ${{ matrix.python-version }} | ||
| uses: actions/setup-python@v3 | ||
| with: | ||
| python-version: ${{ matrix.python-version }} | ||
| #Current changes from default are: camelCase (preference), line length 100 -> 200 (wide monitors and preference), | ||
| #Regex to make variable names 3-40 characters, gives hint | ||
| #Removed i,j,k,ex,Run,_ as good names. Added dt and ax, as they are widely used and universal in python. | ||
| #import-error disabled (since running on github we assume the user will set up their environment) | ||
| #too-many-arguments disabled for now (consider refactoring later to have more compact parameter passing, currently think it is fine) | ||
| #Same with too-many-function-args | ||
| #too-many-locals disabled for now (consider refactoring later along with less arguments, as the lead to each other. Currently think it is fine) | ||
| #ignored-argument-names used as a hack for dummy arguments for now. | ||
| - name: Install dependencies and configure | ||
| run: | | ||
| python -m pip install --upgrade pip | ||
| pip install pylint | ||
| pylint --generate-rcfile > ~/.pylintrc | ||
| sed -i 's/snake_case/camelCase/g' ~/.pylintrc | ||
| sed -i 's/max-line-length=100/max-line-length=200/g' ~/.pylintrc | ||
| sed -i 's/good-names-rgxs=/good-names-rgxs=[a-z_][a-z0-9_]{2,40}/g' ~/.pylintrc | ||
| sed -i 's/include-naming-hint=no/include-naming-hint=yes/g' ~/.pylintrc | ||
| sed -i 's/good-names=i,/good-names=dt,ax,iii,/g' ~/.pylintrc | ||
| sed -i 's/ j,/ jjj,/g' ~/.pylintrc | ||
| sed -i 's/ k,/ kkk,/g' ~/.pylintrc | ||
| sed -i 's/ ex,/ exx,/g' ~/.pylintrc | ||
| sed -i 's/ Run,/ run,/g' ~/.pylintrc | ||
| sed -i 's/ _/ iii/g' ~/.pylintrc | ||
| sed -i 's/ j,/ jjj,/g' ~/.pylintrc | ||
| sed -i 's/bad-names=/bad-names=i,j,k,/g' ~/.pylintrc | ||
| sed -i 's/disable=/disable=import-error,too-many-arguments,too-many-function-args,too-many-locals,duplicate-code,/g' ~/.pylintrc | ||
| sed -i 's/ignored-argument-names=_.*|^ignored_|^unused_/ignored-argument-names=_.*|^ignored_|^unused_|dummy/g' ~/.pylintrc | ||
| - name: Analyzing the code with pylint | ||
| run: | | ||
| pylint $(git ls-files '*.py') |
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| SavedData/* | ||
| */SavedData/* | ||
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| # Byte-compiled / optimized / DLL files | ||
| __pycache__/ | ||
| *.py[cod] | ||
| installNoiseTesting.sh | ||
| *.swp | ||
| failurePy/utility/CalibrationData/* | ||
| *checkpoint.ipynb | ||
| failurePy/utility/test.ipynb | ||
| failurePy/visualization/.ipynb_checkpoints/FTC Paper Visualization-checkpoint.ipynb | ||
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| failurePy/visualization/*.pdf | ||
| failurePy.egg-info/* | ||
| dFailurePy.egg-info/* | ||
| .config/config.yml | ||
| .config/hosts.yml | ||
| failurePy/.DS_Store | ||
| failurePy/.config/config.yml | ||
| failurePy/.config/hosts.yml | ||
| SavedData/* | ||
| */SavedData/* | ||
|
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| # Byte-compiled / optimized / DLL files | ||
| __pycache__/ | ||
| *.py[cod] | ||
| installNoiseTesting.sh | ||
| *.swp | ||
| failurePy/utility/CalibrationData/* | ||
| *checkpoint.ipynb | ||
| failurePy/utility/test.ipynb | ||
| failurePy/visualization/.ipynb_checkpoints/FTC Paper Visualization-checkpoint.ipynb | ||
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| failurePy/visualization/*.pdf | ||
| failurePy.egg-info/* | ||
| dFailurePy.egg-info/* | ||
| *.DS_Store |
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| { | ||
| // Use IntelliSense to learn about possible attributes. | ||
| // Hover to view descriptions of existing attributes. | ||
| // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 | ||
| "version": "0.2.0", | ||
| "configurations": [ | ||
| { | ||
| "name": "Python: Pipeline", | ||
| "type": "python", | ||
| "request": "launch", | ||
| "program": "failurePy/pipeline.py", | ||
| "justMyCode": false, | ||
| //"cwd": "failurePy", | ||
| "args": [ | ||
| //"--configFilePath", | ||
| "./failurePy/config/safetyNonLinearModelTest4.yaml" | ||
| ] | ||
| } | ||
| //{ | ||
| // "name": "Python: Remove Tree Data", | ||
| // "type": "python", | ||
| // "request": "launch", | ||
| // "program": "utility/savedTreeRemover.py", | ||
| // "justMyCode": false, | ||
| // "cwd": "failurePy" | ||
| //} | ||
| ] | ||
| } |
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| { | ||
| "python.analysis.diagnosticSeverityOverrides": { //Disable rerportMissingImports, as VS Code seems to miss local imports (and because using VS code in windows and conda env in WSL seems to be cause missed imports too) | ||
| "reportMissingImports": "none", | ||
| "reportMissingModuleSource": "none", | ||
| "todohighlight.keywords": [ | ||
| "DEBUG:", | ||
| ], | ||
| }, | ||
| "cSpell.words": [ | ||
| "argnames", | ||
| "edgecolor", | ||
| "fejekf", | ||
| "fejkalman", | ||
| "fontsize""horizontalalignment", | ||
| "Labbe", | ||
| "pcov" | ||
| ], | ||
| "python.REPL.enableREPLSmartSend": false | ||
| } |
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| Copyright 2024 James Ragan. | ||
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| The data and code here are for personal and educational use only and provided without warranty; written permission from the authors is required for further use. Please cite our work when the article is published. | ||
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| FilterPy library adapted under MIT license, copyright 2014-2018 Roger R Labbe Jr. Full license in readme.md located here http://github.com/rlabbe/filterpy |
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| #Example showing our binary fault model under an averse fault like the simulations shown in our paper. | ||
| #Initiate experiment by running "python pipeline.py ./config/binaryFaultModelExample.yaml" in the failurePy directory | ||
| nSimulationsPerTree: #This is a list of simulation levels to run | ||
| - 200 | ||
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| nTrialsPerPoint: 1 #How many times to repeat each experiment configuration | ||
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| dim: 3 | ||
| linear: False | ||
| spacecraftMass: 1 | ||
| spacecraftMoment: 4 | ||
| sigmaW: | ||
| - 0.2 | ||
| - 0.2 | ||
| - 0.01 | ||
| sigmaV: .4 | ||
| discretization: .125 | ||
| dt: 1 | ||
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| numWheels: 2 | ||
| providedFailure: #1 indicates nominal, 0 indicates failure | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| - 0 | ||
| - 0 | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
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| maxNumActions: 20 | ||
| rngKeysOffset: 0 | ||
| actionRNGSeed: 0 # Actions are selected randomly, but same for every trial | ||
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| #Not letting simulation break early to enforce safety over full experiment | ||
| diagnosisThreshold: 1.1 | ||
| nMaxComponentFailures: 3 | ||
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| initialState: | ||
| - 0 | ||
| - 0 | ||
| - 0 #Giving 10 time steps until collision | ||
| - -1 | ||
| - 0 | ||
| - 0 | ||
| - 0 | ||
| - 0 | ||
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| nExperimentSteps: 15 #Didn't see any noticeable changes with more time steps, so less to run faster | ||
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| solverFList: | ||
| - sFEAST | ||
| #- cbf #Baseline methods, to use, note "nSimulationsPerTree" must be 1 | ||
| #- greedy | ||
| #- scp | ||
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| estimator: marginalizedFilter | ||
| physicalStateSubEstimator: ekf #Required sub filter if using marginal filter | ||
| reward: squareSumFailureBeliefReward | ||
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| safetyMethod: safetyConstrainedReward | ||
| safetyFunctionEvaluation: chebyshev | ||
| allowableFailureChance: .10 | ||
| safetyFunction: worstCase | ||
| safetyConstraints: #Should be nested list, constraint, and parameters | ||
| - - circularObstacleConstraint | ||
| - - 10 #Radius (Currently obstacle + s/c radius) | ||
| - - 0 #center x | ||
| - -20 #center y | ||
| #- - circularSafeZoneConstraint | ||
| # - - 30 #Radius (Currently safe zone - s/c radius) | ||
| # - - 0 #center x | ||
| # - 0 #center y | ||
| #Square constraint, normal matrix, offset | ||
| - - linearSafeZoneConstraint #Of form Ax - b < 0, need all to be satisfied. Here is is a 60x60 rect around origin | ||
| - - - - 1 #First row of A matrix, should be external normals | ||
| - 0 | ||
| - - -1 #next row of A matrix | ||
| - 0 | ||
| - - 0 | ||
| - 1 | ||
| - - 0 | ||
| - -1 | ||
| - - 25 #First offset | ||
| - 25 | ||
| - 25 | ||
| - 25 | ||
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| saveDirectoryPath: binaryExample | ||
| clobber: True #Overwrites data when true! | ||
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| nMaxPossibleFailures: 40 | ||
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| #Plotting config | ||
| plottingExtent: 30 | ||
| resolution: 100 | ||
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| generalFaultFlag: False | ||
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| particleResampleType: gaussian | ||
| particleResampleCheck: never | ||
| particleInitializationFunction: biasedRandomRedundant #Biased to 1/2 chance to be nominal, biases repeated x5 | ||
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| saveTreeFlag: True #Visualizes the tree search, but this must be disabled when running more than one trial, as it produces a lot of data | ||
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| multiprocessingFlag: False #To enable multiprocessing (useful when running any trials per point), type a number to represent how many CPU cores should NOT be used by failurePy. Note this can have undefined behavior if more cores are provided than trials are run | ||
| discountFactor: 1 |
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| nSimulationsPerTree: | ||
| - 0 | ||
| #- 20 | ||
| - 80 | ||
| - 200 | ||
| - 600 | ||
| #- 1000 | ||
| - 2000 | ||
| nTrialsPerPoint: 1 | ||
| dim: 3 | ||
| linear: false | ||
| spacecraftMass: 1 | ||
| spacecraftMoment: 4 | ||
| sigmaW: | ||
| - 0.2 | ||
| - 0.2 | ||
| - 0.01 | ||
| sigmaV: 0.4 | ||
| discretization: 0.125 | ||
| dt: 1 | ||
| nExperimentSteps: 15 | ||
| saveTrajectory: true | ||
| providedFailure: | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| - 0 | ||
| - 0 | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| - 1 | ||
| maxNumActions: 20 | ||
| rngKeysOffset: 0 | ||
| actionRNGSeed: 0 | ||
| diagnosisThreshold: 1.9 | ||
| nMaxComponentFailures: 3 | ||
| initialState: | ||
| - 0 | ||
| - 0 | ||
| - 0 | ||
| - -1 | ||
| - 0 | ||
| - 0 | ||
| - 0 | ||
| - 0 | ||
| solverFList: | ||
| - SFEAST | ||
| estimator: marginalizedFilter | ||
| physicalStateSubEstimator: ekf | ||
| reward: squareSumFailureBeliefReward | ||
| safetyMethod: safetyConstrainedReward | ||
| penalty: 0 | ||
| safetyFunctionEvaluation: chebyshev | ||
| allowableFailureChance: 0.1 | ||
| safetyFunction: worstCase | ||
| safetyConstraints: | ||
| - - circularObstacleConstraint | ||
| - - 10 | ||
| - - 0 | ||
| - -20 | ||
| - - linearSafeZoneConstraint | ||
| - - - - 1 | ||
| - 0 | ||
| - - -1 | ||
| - 0 | ||
| - - 0 | ||
| - 1 | ||
| - - 0 | ||
| - -1 | ||
| - - 25 | ||
| - 25 | ||
| - 25 | ||
| - 25 | ||
| saveDirectoryPath: figure5/binaryAdverseCrashCourse | ||
| clobber: false | ||
| nMaxPossibleFailures: 40 | ||
| saveTreeFlag: false | ||
| multiprocessingFlag: 10 | ||
| plottingExtent: 30 | ||
| resolution: 400 | ||
| hardwareEmulationFlag: false | ||
| filterDivergenceHandlingMethod: acceptDiagnosisBeforeNan | ||
| discountFactor: 1 |
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