def perfrom_experiment(self, experiment_name='test', movement_list=[]):
# 1. We save the background image:
dc = DataCollector(only_one_shot=False, automatic=True)
dc.get_data(get_cart=False, get_gs1=(1 in self.gs_id), get_gs2=(2 in self.gs_id), get_wsg=False, save=True, directory=experiment_name+'/air', iteration=-1)
print "Air data gathered"
# 2. We perfomr the experiment:
i = 0
if not os.path.exists(experiment_name): # If the directory does not exist, we create it
os.makedirs(experiment_name)
for movement in movement_list:
path = experiment_name + '/p_' + str(i) + '/'
self.palpate(speed=40, force_list=self.force_list, save=True, path=path)
self.move_cart_mm(movement[0], movement[1], movement[2])
time.sleep(6)
i += 1
path = experiment_name + '/p_' + str(i) + '/'
self.palpate(speed=40, force_list=self.force_list, save=True, path=path)
def palpate(self, speed=40, force_list=[1, 10, 20, 40], save=False, path=''):
# 0. We create the directory
if save is True and not os.path.exists(path): # If the directory does not exist, we create it
os.makedirs(path)
# 1. We get and save the cartesian coord.
dc = DataCollector(only_one_shot=False, automatic=True)
cart = dc.getCart()
if save is True:
np.save(path + '/cart.npy', cart)
# 2. We get wsg forces and gs images at every set force and store them
i = 0
for force in force_list:
self.close_gripper_f(grasp_speed=speed, grasp_force=force)
print "Applying: " + str(force)
time.sleep(1.0)
dc.get_data(get_cart=False, get_gs1=(1 in self.gs_id), get_gs2=(2 in self.gs_id), get_wsg=True, save=save, directory=path, iteration=i)
self.open_gripper()
time.sleep(1.0)
i += 1
