def __str__(self):
return "".join(self.tree[node].tag.symbol+repr(self.spatial_model.positions[node]) for node in self.tree.expand_tree(mode=Tree.DEPTH)
if self.tree[node].tag.symbol in self.grammar.terminals and
self.tree[node].tag.symbol is not 'Null')
if __name__ == '__main__':
# best b values: for visual 750, for haptics
# object 1: 5000
# object 2: 9000
# object 3: 5000 (maybe lower)
# object 4: 6000
data = np.load('data/visual/1.npy')
params = {'b': 750.0}
forward_model = VisionForwardModel()
#forward_model = HapticsForwardModel()
# TEST TREES: We look at the prior, likelihood and acceptance probabilities for
# empty tree, correct configuration (4 parts in correct positions) and tree with
# 1 part (ear) removed. Our purpose is to understand the b value we should set
# to make sure correct configuration has the highest posterior.
# Tree with no parts
t1 = Tree()
t1.create_node(ParseNode('S', 1), identifier='S')
t1.create_node(ParseNode('Null', ''), parent='S')
spatial_model1 = AoMRSimpleSpatialModel()
rrs = AoMRSimpleShapeState(forward_model=forward_model, data=data,
import numpy as np
from aomr_grammar import AoMRShapeState, AoMRSpatialModel
from vision_forward_model import VisionForwardModel
from mcmc_sampler import MCMCSampler
import sys
from haptics_forward_model import HapticsForwardModel
if __name__ == '__main__':
# AoMR Simple Shape Grammar, visual condition
obj_id = int(sys.argv[1])
b = float(sys.argv[2])
forward_model_type = sys.argv[3] #v, h or vh
spatial_model = AoMRSpatialModel()
if forward_model_type == 'v':
forward_model = VisionForwardModel(body_fixed=False)
npy_path = 'data/visual'
info = 'AoMRShapeGrammar Visual Obj{0:d}'.format(obj_id)
elif forward_model_type == 'h':
forward_model = HapticsForwardModel(body_fixed=False)
npy_path = 'data/haptic'
info = 'AoMRShapeGrammar Haptic Obj{0:d}'.format(obj_id)
elif forward_model_type == 'vh':
raise NotImplementedError()
else:
raise Exception('Forward model type can be v, h or vh')
data = np.load('{0:s}/{1:d}.npy'.format(npy_path, obj_id))
# visual condition
# b parameter for objects
