def run_experiment(argst):
args, location = argst
# reset all things for every new experiment
pid = multiprocessing.current_process().pid
np.random.seed(pid)
bcd.offline_changepoint_detection.data = None
Record.records[pid] = pd.DataFrame()
world = create_world()
controllers = []
for j, _ in enumerate(world.joints):
controllers.append(Controller(world, j))
alpha_prior = np.array([.1, .1])
n = len(world.joints)
independent_prior = .7
# the model prior is proportional to 1/distance between the joints
model_prior = np.array([[0 if x == y
else independent_prior if x == n
else 1/abs(x-y)
for x in range(n+1)]
for y in range(n)])
# normalize
model_prior[:, :-1] = ((model_prior.T[:-1, :] /
np.sum(model_prior[:, :-1], 1)).T *
(1-independent_prior))
if args.objective == "random":
objective = random_objective
elif args.objective == "entropy":
objective = exp_neg_entropy
elif args.objective == "cross_entropy":
objective = exp_cross_entropy
data, metadata = dependency_learning(N_actions=args.queries,
N_samples=args.samples, world=world,
objective_fnc=objective,
use_change_points=args.changepoint,
alpha_prior=alpha_prior,
model_prior=model_prior,
action_machine=
ActionMachine(world, controllers, .1),
location=location)
filename = generate_filename(metadata)
with open(filename, "wb") as _file:
cPickle.dump((data, metadata), _file)
import argparse
__author__ = 'johannes'
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('--useRos',
action='store_true',
help="Enable ROS/real robot usage.")
args = parser.parse_args()
if args.useRos:
world = create_ros_drawer_world()
action_machine = RosActionMachine(world)
else:
world = create_world()
controller = [
Controller(world, i) for i, joint in enumerate(world.joints)
]
action_machine = ActionMachine(world, controller)
jpos = np.array([int(j.get_q()) for j in world.joints])
try:
for i, joint in enumerate(world.joints):
action_pos = np.array(jpos)
action_pos[i] = world.joints[i].max_limit
action_machine.run_action(action_pos)
action_pos[i] = world.joints[i].min_limit
action_machine.run_action(action_pos)
except KeyboardInterrupt:
import argparse
__author__ = 'johannes'
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('--useRos', action='store_true',
help="Enable ROS/real robot usage.")
args = parser.parse_args()
if args.useRos:
world = create_ros_drawer_world()
action_machine = RosActionMachine(world)
else:
world = create_world()
controller = [Controller(world, i)
for i, joint in enumerate(world.joints)]
action_machine = ActionMachine(world, controller)
jpos = np.array([int(j.get_q()) for j in world.joints])
try:
for i, joint in enumerate(world.joints):
action_pos = np.array(jpos)
action_pos[i] = world.joints[i].max_limit
action_machine.run_action(action_pos)
action_pos[i] = world.joints[i].min_limit
action_machine.run_action(action_pos)
except KeyboardInterrupt:
pass
def test_create_world(self):
world = create_world(3)
self.assertEqual(len(world.joints), 6)
