def main():
# module parameters
maxIterations = [ 1000]
#maxIterations = [ 77, 84, 92, 66, 34, 81, 52, 31, 48, 66]
handStartPos = 0
#thumbAdductionJointStartPos = 60 #2A
#indMidPressuresPercStartValue = 0 #3A
actionEnabled = True
rolloutsNumFirst = 30
rolloutsNumStd = 10
thumbFingerId = 4
indexFingerId = 0 #3F
middleFingerId = 1
thumbAdductionJoint = 8
actionDuration = 0.75
pauseDuration = 0.0
tactileAverageTS = 5
maxHandPos = 20;
minHandPos = -20;
#maxThumbAdductionJointPos = 80; #2A
#minThumbAdductionJointPos = 40; #2A
#maxIndMidPressuresPercValue = 30 #3A
#minIndMidPressuresPercValue = -30 #3A
dataDumperPortName = "/gpc/log:i"
iCubIconfigFileName = "iCubInterface.txt"
inputFilePath = "./"
initInputFileName = "controller_init_stable_grasp_prox.txt"
standardInputFileName = "controller.txt"
outputFilePath = "./"
outputFileName = "rolloutdata.txt"
dataPath = "./data/experiments/"
fileNameIterID = "iterationID.txt"
fileNameExperimentID = "experimentID.txt"
fileNameExpParams = "parameters.txt"
isNewExperiment = True
expID = readValueFromFile(fileNameExperimentID)
if isNewExperiment:
expID = expID + 1
writeIntoFile(fileNameExperimentID,str(expID))
# create output folder name
experimentFolderName = dataPath + "exp_" + str(expID) + "/" # could be changed adding more information about the experiment
#print expID,isNewExperiment
if os.path.exists(experimentFolderName):
# get iteration ID
iterID = readValueFromFile(fileNameIterID)
writeIntoFile(fileNameIterID,str(iterID+1))
inputFileFullName = inputFilePath + standardInputFileName
rolloutsNum = rolloutsNumStd
else:
# create directory, create an experiment descrition file and reset iteration ID
os.mkdir(experimentFolderName)
descriptionData = ""
descriptionData = descriptionData + "handStartPos " + str(handStartPos) + "\n"
#descriptionData = descriptionData + "thumbAdductionJointStartPos " + str(thumbAdductionJointStartPos) + "\n" #2A
#descriptionData = descriptionData + "indMidPressuresPercStartValue " + str(indMidPressuresPercStartValue) + "\n" #3A
descriptionData = descriptionData + "maxHandPos " + str(maxHandPos) + "\n"
descriptionData = descriptionData + "minHandPos " + str(minHandPos) + "\n"
#descriptionData = descriptionData + "maxThumbAdductionJointPos " + str(maxThumbAdductionJointPos) + "\n" #2A
#descriptionData = descriptionData + "minThumbAdductionJointPos " + str(minThumbAdductionJointPos) + "\n" #2A
#descriptionData = descriptionData + "maxIndMidPressuresPercValue " + str(maxIndMidPressuresPercValue) + "\n" #3A
#descriptionData = descriptionData + "minIndMidPressuresPercValue " + str(minIndMidPressuresPercValue) + "\n" #3A
descriptionData = descriptionData + "actionDuration " + str(actionDuration) + "\n"
descriptionData = descriptionData + "pauseDuration " + str(pauseDuration) + "\n"
#descriptionData = descriptionData + "additionaNotes " + "" + "\n"
writeIntoFile(experimentFolderName + fileNameExpParams,descriptionData)
iterID = 0
writeIntoFile(fileNameIterID,"1")
inputFileFullName = inputFilePath + initInputFileName
rolloutsNum = rolloutsNumFirst
outputInputFileSuffix = str(expID) + "_" + str(iterID);
backupOutputFileFullName = experimentFolderName + "contr_out_" + outputInputFileSuffix + ".txt"
backupInputFileFullName = experimentFolderName + "contr_in_" + outputInputFileSuffix + ".txt"
outputFileFullName = outputFilePath + outputFileName
# load gaussian process controller
gp = gpc.GPController(inputFileFullName)
gp.load_controller()
# load iCub interface
iCubI = iCubInterface.ICubInterface(dataDumperPortName,iCubIconfigFileName)
iCubI.loadInterfaces()
# set start position
if actionEnabled:
setPosition(handStartPos,0,0,iCubI) #1A
#setPosition(handStartPos,thumbAdductionJointStartPos,0,iCubI) #2A
#setPosition(handStartPos,thumbAdductionJointStartPos,indMidPressuresPercStartValue,iCubI) #3A
time.sleep(4)
# wait for the user
raw_input("- press enter to start the controller -")
fd = open(outputFileFullName,"w")
fd.write("nrollouts: ")
fd.write(str(rolloutsNum))
fd.write("\n")
fd.close()
rolloutsCounter = 0
while rolloutsCounter < rolloutsNum:
print "starting iteration n. ",rolloutsCounter + 1
fd = open(outputFileFullName,"a")
fd.write("# HEADER ")
fd.write(str(rolloutsCounter + 1))
fd.write("\n")
iterCounter = 0
exit = False
positionArray = [0] #1A
oldPositionArray = [0] #1A
newPositionArray = [0] #1A
#positionArray = [0,0] #2A
#oldPositionArray = [0,0] #2A
#newPositionArray = [0,0] #2A
#positionArray = [0,0,0] #3A
#oldPositionArray = [0,0,0] #3A
#newPositionArray = [0,0,0] #3A
#TEMPORARY CODE
accuracyList = [[]] #1A
#accuracyList = [[],[]] #2-3A
oldContactPositions = np.zeros(6)
contactPositionsDiffAvg = np.zeros(6)
contactPositionsMatrix = np.array([])
# main loop
while iterCounter < maxIterations[rolloutsCounter%10] and not exit:
tactileDataAverage = np.zeros(36)
for i in range(tactileAverageTS):
# read tactile data
fullTactileData = iCubI.readTactileData()
tactileData = []
for j in range(12):
tactileData.append(fullTactileData.get(12*thumbFingerId+j).asDouble())
for j in range(12): #3F
tactileData.append(fullTactileData.get(12*indexFingerId+j).asDouble()) #3F
for j in range(12):
tactileData.append(fullTactileData.get(12*middleFingerId+j).asDouble())
#if iterCounter%10 == 0:
# print 'raw',tactileData[0],tactileData[1]
tactileDataAr = np.array(tactileData)
tactileDataAverage = tactileDataAverage + tactileDataAr
#if iterCounter%10 == 0:
# print 'avg',tactileDataAverage[0],tactileDataAverage[1]
time.sleep(0.02)
tactileDataAverage = tactileDataAverage / tactileAverageTS
tactileData = tactileDataAverage.tolist()
#if iterCounter%10 == 0:
# print 'end',tactileData[0],tactileData[1]
contactPositions = []
contactPositions.extend(util.getContactPosition(tactileData[0:12]))
contactPositions.extend(util.getContactPosition(tactileData[12:24]))
contactPositions.extend(util.getContactPosition(tactileData[24:36])) #3F
print 'CP',contactPositions
if len(contactPositionsMatrix) == 0:
contactPositionsMatrix = np.array([contactPositions])
else:
contactPositionsMatrix = np.append(contactPositionsMatrix,[contactPositions],0)
if iterCounter > 0:
contactPositionsDiffAvg = contactPositionsDiffAvg + abs(oldContactPositions - np.array(contactPositions))
#if iterCounter%10 == 0:
#print 'old',oldContactPositions
#print 'now',np.array(contactPositions)
#print 'avg',contactPositionsDiffAvg
oldContactPositions = np.array(contactPositions)
fullEncodersData = iCubI.readEncodersData()
positionArray[0] = calculateHandPosition(fullEncodersData)
#positionArray[1] = fullEncodersData.get(thumbAdductionJoint) #2A
#positionArray[2] = newPositionArray[2] #3A
#TEMPORARY CODE
expectedMovement = [0] #1A
actualMovement = [0] #1A
movementAccuracyRate = [0] #1A
#expectedMovement = [0,0] #2-3A
#actualMovement = [0,0] #2-3A
#movementAccuracyRate = [0,0] #2-3A
expectedMovement[0] = newPositionArray[0]-oldPositionArray[0]
#expectedMovement[1] = newPositionArray[1]-oldPositionArray[1] #2-3A
actualMovement[0] = positionArray[0]-oldPositionArray[0]
#actualMovement[1] = positionArray[1]-oldPositionArray[1] #2-3A
if expectedMovement[0] != 0:
movementAccuracyRate[0] = 100.0*actualMovement[0]/expectedMovement[0]
#if expectedMovement[1] != 0: #2-3A
# movementAccuracyRate[1] = 100.0*actualMovement[1]/expectedMovement[1] #2-3A
#print "{:7.3f}".format(oldPositionArray[0]),'\t',"{:7.3f}".format(expectedMovement[0]),'\t',"{:7.3f}".format(actualMovement[0]),'\t',"{:6.2f}".format(movementAccuracyRate[0])
#print "{:7.3f}".format(oldPositionArray[1]),'\t',"{:7.3f}".format(expectedMovement[1]),'\t',"{:7.3f}".format(actualMovement[1]),'\t',"{:6.2f}".format(movementAccuracyRate[1])
#print "---"
if abs(expectedMovement[0]) > 1:
accuracyList[0].append(movementAccuracyRate[0])
#if abs(expectedMovement[1]) > 2: #2-3A
# accuracyList[1].append(movementAccuracyRate[1]) #2-3A
oldPositionArray[0] = positionArray[0]
#oldPositionArray[1] = positionArray[1] #2-3A
state = [tactileData,contactPositions]
# choose action
action = gp.get_control(state)
# update and cut distal joints position
newPositionArray[0] = boundValue(positionArray[0] + action[0],minHandPos,maxHandPos)
#newPositionArray[1] = boundValue(positionArray[1] + action[1],minThumbAdductionJointPos,maxThumbAdductionJointPos) #2A
#newPositionArray[2] = boundValue(positionArray[2] + action[2],minIndMidPressuresPercValue,maxIndMidPressuresPercValue) #3A
#print newPositionArray
# apply action
if actionEnabled:
sendAction(newPositionArray[0],0,0,iCubI) #1A
#sendAction(newPositionArray[0],newPositionArray[1],0,iCubI) #2A
#sendAction(newPositionArray[0],newPositionArray[1],newPositionArray[2],iCubI) #3A
beforeTS = time.time()
# here processing can take place
afterTS = time.time()
timeForAverage = tactileAverageTS*0.02
timeToSleep = max((actionDuration-(afterTS-beforeTS))-timeForAverage,0)
time.sleep(timeToSleep)
# wait for stabilization
time.sleep(pauseDuration)
# log data
iCubI.logData([contactPositions[0] + contactPositions[4] - 3.25])
logArray(tactileData,fd)
#logArray([fullEncodersData[9],[fullEncodersData[13]],fd) #2F
logArray([fullEncodersData[9],fullEncodersData[11],fullEncodersData[13]],fd) #3F
logArray(contactPositions,fd)
logArray(action,fd)
logArray([0],fd) #reward
fd.write("\n")
iterCounter = iterCounter + 1
exit = False #exitModule(resetProbability)
fd.close()
#TEMPORARY CODE
#print accuracyList[0]
print '---'
print 'thumb','\t',np.mean(accuracyList[0]),'\t',np.std(accuracyList[0]),'\t',len(accuracyList[0])
#print accuracyList[1] #2-3A
#print 'hand','\t',np.mean(accuracyList[1]),'\t',np.std(accuracyList[1]),'\t',len(accuracyList[1]) #2-3A
print 'avgContactDiff',contactPositionsDiffAvg/(iterCounter-1)
contactPositionsMedian = []
for i in range(6):
tempSum = []
currContactPositionsArray = np.array([row[i] for row in contactPositionsMatrix])
for j in range(len(currContactPositionsArray) - 1):
for k in range(j + 1,len(currContactPositionsArray)):
tempSum.append(abs(currContactPositionsArray[j] - currContactPositionsArray[k]))
contactPositionsMedian.append(np.median(tempSum))
print 'med',contactPositionsMedian
print '---'
if actionEnabled:
print "hand ripositioning..."
setPosition(handStartPos,0,0,iCubI) #1A
#setPosition(handStartPos,thumbAdductionJointStartPos,0,iCubI) #2A
#setPosition(handStartPos,thumbAdductionJointStartPos,indMidPressuresPercStartValue,iCubI) #3A
time.sleep(4)
print "...done"
rolloutsCounter = rolloutsCounter + 1
# copy input and output file
os.system("cp " + inputFileFullName + " " + backupInputFileFullName)
os.system("cp " + outputFileFullName + " " + backupOutputFileFullName)
iCubI.closeInterface()
def main():
# module parameters
maxIterations = [ 50]
#maxIterations = [ 77, 84, 134, 66, 34, 81, 52, 31, 48, 66]
thumbDistalJointStartPos = 15
indexDistalJointStartPos = 15
middleDistalJointStartPos = 15
actionEnabled = True
rolloutsNumFirst = 30
rolloutsNumStd = 10
thumbFingerId = 4
indexFingerId = 0
middleFingerId = 1
thumbDistalJoint = 10
indexDistalJoint = 12
middleDistalJoint = 14
actionDuration = 2
pauseDuration = 0.0
# normalizedMaxVoltageY = 1.0
# maxVoltageProxJointY = 250.0
# maxVoltageDistJointY = 800.0
# slopeAtMaxVoltageY = 1.0
maxThumbDistalPos = 60;
minThumbDistalPos = 0;
maxDistalPos = 90;
minDistalPos = 0;
dataDumperPortName = "/gpc/log:i"
iCubIconfigFileName = "iCubInterface.txt"
inputFilePath = "./"
initInputFileName = "controller_init_stable_grasp_dist.txt"
standardInputFileName = "controller_input.txt"
outputFilePath = "./"
outputFileName = "controller_output.txt"
dataPath = "./data/experiments/"
# jointsToActuate = [thumbDistalJoint,indexDistalJoint,middleDistalJoint]
fileNameIterID = "iterationID.txt"
fileNameExperimentID = "experimentID.txt"
fileNameExpParams = "parameters.txt"
isNewExperiment = False
if len(sys.argv) > 1:
if sys.argv[1] == 'new':
isNewExperiment = True
expID = readValueFromFile(fileNameExperimentID)
if isNewExperiment:
expID = expID + 1
writeIntoFile(fileNameExperimentID,str(expID))
# create output folder name
experimentFolderName = dataPath + "exp_" + str(expID) + "/" # could be changed adding more information about the experiment
print expID,isNewExperiment
if os.path.exists(experimentFolderName):
# get iteration ID
iterID = readValueFromFile(fileNameIterID)
writeIntoFile(fileNameIterID,str(iterID+1))
inputFileFullName = inputFilePath + standardInputFileName
rolloutsNum = rolloutsNumStd
else:
# create directory, create an experiment descrition file and reset iteration ID
os.mkdir(experimentFolderName)
descriptionData = ""
descriptionData = descriptionData + "thumbDistalJointStartPos " + str(thumbDistalJointStartPos) + "\n"
descriptionData = descriptionData + "indexDistalJointStartPos " + str(indexDistalJointStartPos) + "\n"
descriptionData = descriptionData + "middleDistalJointStartPos " + str(middleDistalJointStartPos) + "\n"
descriptionData = descriptionData + "actionDuration " + str(actionDuration) + "\n"
descriptionData = descriptionData + "pauseDuration " + str(pauseDuration) + "\n"
#descriptionData = descriptionData + "finger " + str(finger) + "\n"
#descriptionData = descriptionData + "jointActuated " + str(proximalJoint) + " " + str(distalJoint) + "\n"
#descriptionData = descriptionData + "jointStartingPositions " + str(proximalJointStartPos) + " " + str(distalJointStartPos) + "\n"
#descriptionData = descriptionData + "resetProbabilty " + str(resetProbability) + "\n"
#descriptionData = descriptionData + "additionaNotes " + "" + "\n"
writeIntoFile(experimentFolderName + fileNameExpParams,descriptionData)
iterID = 0
writeIntoFile(fileNameIterID,"1")
inputFileFullName = inputFilePath + initInputFileName
rolloutsNum = rolloutsNumFirst
outputInputFileSuffix = str(expID) + "_" + str(iterID);
backupOutputFileFullName = experimentFolderName + "contr_out_" + outputInputFileSuffix + ".txt"
backupInputFileFullName = experimentFolderName + "contr_in_" + outputInputFileSuffix + ".txt"
outputFileFullName = outputFilePath + outputFileName
# calculate voltageX-voltageY mapping parameters (voltageY = k*(voltageX^(1/3)))
# k = pow(3*slopeAtMaxVoltageY*(pow(normalizedMaxVoltageY,2)),(1/3.0))
# maxVoltageX = pow(normalizedMaxVoltageY/k,3)
# load gaussian process controller
gp = gpc.GPController(inputFileFullName)
gp.load_controller()
# load iCub interface
iCubI = iCubInterface.ICubInterface(dataDumperPortName,iCubIconfigFileName)
iCubI.loadInterfaces()
# set start position
if actionEnabled:
iCubI.setJointPositionNoWait(thumbDistalJoint,thumbDistalJointStartPos)
#iCubI.setJointPosition(indexDistalJoint,indexDistalJointStartPos) #3FING
iCubI.setJointPositionNoWait(middleDistalJoint,middleDistalJointStartPos)
time.sleep(3)
# wait for the user
raw_input("- press enter to start the controller -")
fd = open(outputFileFullName,"w")
fd.write("nrollouts: ")
fd.write(str(rolloutsNum))
fd.write("\n")
fd.close()
# initialize velocity mode
# if actionEnabled:
# iCubI.setOpenLoopMode(jointsToActuate)
rolloutsCounter = 0
while rolloutsCounter < rolloutsNum:
print "starting iteration n. ",rolloutsCounter + 1
fd = open(outputFileFullName,"a")
fd.write("# HEADER ")
fd.write(str(rolloutsCounter + 1))
fd.write("\n")
iterCounter = 0
exit = False
distalJointsPos = [0,0] #2FING
oldDistalJointsPos = [0,0] #2FING
newDistalJointsPos = [0,0] #2FING
#distalJointsPos = [0,0,0] #3FING
#oldDistalJointsPos = [0,0,0] #3FING
#newDistalJointsPos = [0,0,0] #3FING
#TEMPORARY CODE
accuracyList = [[],[]]
# voltage = [0,0]
# oldVoltage = [0,0]
# realVoltage = [0,0]
# main loop
while iterCounter < maxIterations[rolloutsCounter%10] and not exit:
# read tactile data
fullTactileData = iCubI.readTactileData()
tactileData = []
for j in range(12):
tactileData.append(fullTactileData.get(12*thumbFingerId+j).asDouble())
#for j in range(12):
# tactileData.append(fullTactileData.get(12*indexFingerId+j).asDouble()) #3FING
for j in range(12):
tactileData.append(fullTactileData.get(12*middleFingerId+j).asDouble())
contactPositions = []
contactPositions.append(util.getContactPosition(tactileData[0:12]))
contactPositions.append(util.getContactPosition(tactileData[12:24]))
#contactPositions.append(util.getContactPosition(tactileData[24:36])) #3FING
fullEncodersData = iCubI.readEncodersData()
distalJointsPos[0] = fullEncodersData.get(thumbDistalJoint)
distalJointsPos[1] = fullEncodersData.get(middleDistalJoint) #2FING
#distalJointsPos[1] = fullEncodersData.get(indexDistalJoint) #3FING
#distalJointsPos[2] = fullEncodersData.get(middleDistalJoint) #3FING
#TEMPORARY CODE
expectedMovement = [0,0]
actualMovement = [0,0]
movementAccuracyRate = [0,0]
expectedMovement[0] = newDistalJointsPos[0]-oldDistalJointsPos[0]
expectedMovement[1] = newDistalJointsPos[1]-oldDistalJointsPos[1]
actualMovement[0] = distalJointsPos[0]-oldDistalJointsPos[0]
actualMovement[1] = distalJointsPos[1]-oldDistalJointsPos[1]
if expectedMovement[0] != 0:
movementAccuracyRate[0] = 100.0*actualMovement[0]/expectedMovement[0]
if expectedMovement[1] != 0:
movementAccuracyRate[1] = 100.0*actualMovement[1]/expectedMovement[1]
print "{:7.3f}".format(oldDistalJointsPos[0]),'\t',"{:7.3f}".format(expectedMovement[0]),'\t',"{:7.3f}".format(actualMovement[0]),'\t',"{:6.2f}".format(movementAccuracyRate[0])
print "{:7.3f}".format(oldDistalJointsPos[1]),'\t',"{:7.3f}".format(expectedMovement[1]),'\t',"{:7.3f}".format(actualMovement[1]),'\t',"{:6.2f}".format(movementAccuracyRate[1])
print "---"
if abs(expectedMovement[0]) > 5:
accuracyList[0].append(movementAccuracyRate[0])
if abs(expectedMovement[1]) > 5:
accuracyList[1].append(movementAccuracyRate[1])
oldDistalJointsPos[0] = distalJointsPos[0]
oldDistalJointsPos[1] = distalJointsPos[1]
state = [tactileData,contactPositions]
# choose action
action = gp.get_control(state)
# update and cut distal joints position
newDistalJointsPos[0] = distalJointsPos[0] + action[0]
newDistalJointsPos[1] = distalJointsPos[1] + action[1]
#newDistalJointsPos[2] = distalJointsPos[2] + action[1] #3FING
if newDistalJointsPos[0] > maxThumbDistalPos:
newDistalJointsPos[0] = maxThumbDistalPos
if newDistalJointsPos[0] < minThumbDistalPos:
newDistalJointsPos[0] = minThumbDistalPos
if newDistalJointsPos[1] > maxDistalPos:
newDistalJointsPos[1] = maxDistalPos
if newDistalJointsPos[1] < minDistalPos:
newDistalJointsPos[1] = minDistalPos
#if newDistalJointsPos[2] > maxDistalPos: #3FING
# newDistalJointsPos[2] = maxDistalPos #3FING
#if newDistalJointsPos[2] < minDistalPos: #3FING
# newDistalJointsPos[2] = minDistalPos #3FING
#if abs(voltage[0]) > maxVoltageX:
# voltage[0] = maxVoltageX*np.sign(voltage[0])
#if abs(voltage[1]) > maxVoltageX:
# voltage[1] = maxVoltageX*np.sign(voltage[1])
# calculate real applied voltage
# realVoltage[0] = maxVoltageProxJointY*k*pow(abs(voltage[0]),1/3.0)*np.sign(voltage[0])
# realVoltage[1] = maxVoltageDistJointY*k*pow(abs(voltage[1]),1/3.0)*np.sign(voltage[1])
# voltage safety check (it should never happen!)
#if abs(realVoltage[0]) > maxVoltageProxJointY:
# realVoltage[0] = maxVoltageProxJointY*np.sign(realVoltage[0])
# print 'warning, voltage out of bounds!'
#if abs(realVoltage[1]) > maxVoltageDistJointY:
# realVoltage[1] = maxVoltageDistJointY*np.sign(realVoltage[1])
# print 'warning, voltage out of bounds!'
# apply action
if actionEnabled:
iCubI.setJointPositionNoWait(thumbDistalJoint,newDistalJointsPos[0])
iCubI.setJointPositionNoWait(middleDistalJoint,newDistalJointsPos[1]) #2FING
#iCubI.setJointPositionNoWait(indexDistalJoint,newDistalJointsPos[1]) #3FING
#iCubI.setJointPositionNoWait(middleDistalJoint,newDistalJointsPos[2]) #3FING
# iCubI.openLoopCommand(proximalJoint,realVoltage[0])
# iCubI.openLoopCommand(distalJoint,realVoltage[1])
# get feedback angle
# previousFbAngle = currentFbAngle
beforeTS = time.time()
# if rolloutsCounter == 0 and iterCounter < 50:
# matplotlib.image.imsave('images/test_'+ str(rolloutsCounter) + '_' + str(iterCounter) +'.tiff', img_array, format='tiff')
# currentFbAngle = getFeedbackAngle(yarp_image,img_array)
# fbAngleDifference = calculateFeedbackAngleDifference(previousFbAngle,currentFbAngle,fbAngleRange)
# if abs(fbAngleDifference) > maxFbAngleDifference:
# currentFbAngle = previousFbAngle
# fbAngleDifference = 0.0
# print fbAngleDifference
afterTS = time.time()
timeToSleep = max(actionDuration-(afterTS-beforeTS),0)
time.sleep(timeToSleep)
#print "curr ",previousFbAngle*180/3.1415,"diff ",fbAngleDifference*180/3.1415,afterTS - beforeTS,timeToSleep
# wait for stabilization
time.sleep(pauseDuration)
# log data
iCubI.logData(tactileData + contactPositions[0] + contactPositions[1] + [action[0],action[1]])#[action[0],action[1]])
logArray(tactileData,fd)
logArray(action,fd)
fd.write("\n")
iterCounter = iterCounter + 1
exit = False #exitModule(resetProbability)
fd.close()
#TEMPORARY CODE
print accuracyList[0]
print 'thumb','\t',np.mean(accuracyList[0]),'\t',np.std(accuracyList[0]),'\t',len(accuracyList[0])
print accuracyList[1]
print 'middle','\t',np.mean(accuracyList[1]),'\t',np.std(accuracyList[1]),'\t',len(accuracyList[1])
if actionEnabled:
print "finger ripositioning..."
# finger repositioning
iCubI.setJointPositionNoWait(thumbDistalJoint,thumbDistalJointStartPos)
#iCubI.setJointPosition(indexDistalJoint,indexDistalJointStartPos) #3FING
iCubI.setJointPositionNoWait(middleDistalJoint,middleDistalJointStartPos)
time.sleep(3)
# iCubI.setPositionMode(jointsToActuate)
# iCubI.setJointPosition(proximalJoint,0.0)
# iCubI.setJointPosition(distalJoint,0.0)
# time.sleep(waitTimeForFingersRepositioning)
# iCubI.setJointPosition(proximalJoint,proximalJointStartPos)
# iCubI.setJointPosition(distalJoint,distalJointStartPos)
# time.sleep(waitTimeForFingersRepositioning)
# iCubI.setOpenLoopMode(jointsToActuate)
print "...done"
rolloutsCounter = rolloutsCounter + 1
os.system("cp " + inputFileFullName + " " + backupInputFileFullName)
os.system("cp " + outputFileFullName + " " + backupOutputFileFullName)
# copy input and output file
# restore position mode and close iCubInterface
# if actionEnabled:
# iCubI.setPositionMode(jointsToActuate)
iCubI.closeInterface()