def __init__(self, hyperparams):
self._hyperparams = hyperparams
self._log_filename = self._hyperparams['log_filename']
if 'target_filename' in self._hyperparams:
self._target_filename = self._hyperparams['target_filename']
else:
self._target_filename = None
# GPS Training Status.
self.mode = config[
'initial_mode'] # Modes: run, wait, end, request, process.
self.request = None # Requests: stop, reset, go, fail, None.
self.err_msg = None
self._colors = {
'run': 'cyan',
'wait': 'orange',
'end': 'red',
'stop': 'red',
'reset': 'yellow',
'go': 'green',
'fail': 'magenta',
}
self._first_update = True
# Actions.
actions_arr = [
Action('stop', 'stop', self.request_stop, axis_pos=0),
Action('reset', 'reset', self.request_reset, axis_pos=1),
Action('go', 'go', self.request_go, axis_pos=2),
Action('fail', 'fail', self.request_fail, axis_pos=3),
]
# Setup figure.
plt.ion()
plt.rcParams['toolbar'] = 'None'
for key in plt.rcParams:
if key.startswith('keymap.'):
plt.rcParams[key] = ''
self._fig = plt.figure(figsize=config['figsize'])
self._fig.subplots_adjust(left=0.01,
bottom=0.01,
right=0.99,
top=0.99,
wspace=0,
hspace=0)
# Assign GUI component locations.
self._gs = gridspec.GridSpec(16, 8)
self._gs_action_panel = self._gs[0:1, 0:8]
self._gs_action_output = self._gs[1:2, 0:4]
self._gs_status_output = self._gs[2:3, 0:4]
self._gs_cost_plotter = self._gs[1:3, 4:8]
self._gs_gt_cost_plotter = self._gs[4:6, 4:8]
self._gs_algthm_output = self._gs[3:9, 0:4]
if config['image_on']:
self._gs_traj_visualizer = self._gs[9:16, 0:4]
self._gs_image_visualizer = self._gs[9:16, 4:8]
else:
self._gs_traj_visualizer = self._gs[9:16, 0:8]
# Create GUI components.
self._action_panel = ActionPanel(self._fig, self._gs_action_panel, 1,
4, actions_arr)
self._action_output = Textbox(self._fig,
self._gs_action_output,
border_on=True)
self._status_output = Textbox(self._fig,
self._gs_status_output,
border_on=False)
self._algthm_output = Textbox(
self._fig,
self._gs_algthm_output,
max_display_size=config['algthm_output_max_display_size'],
log_filename=self._log_filename,
fontsize=config['algthm_output_fontsize'],
font_family='monospace')
self._cost_plotter = MeanPlotter(self._fig,
self._gs_cost_plotter,
color='blue',
label='mean cost')
self._gt_cost_plotter = MeanPlotter(self._fig,
self._gs_gt_cost_plotter,
color='red',
label='ground truth cost')
self._traj_visualizer = Plotter3D(
self._fig,
self._gs_traj_visualizer,
num_plots=self._hyperparams['conditions'])
if config['image_on']:
self._image_visualizer = ImageVisualizer(
self._fig,
self._gs_image_visualizer,
cropsize=config['image_size'],
rostopic=config['image_topic'],
show_overlay_buttons=True)
# Setup GUI components.
self._algthm_output.log_text('\n')
self.set_output_text(self._hyperparams['info'])
if config['initial_mode'] == 'run':
self.run_mode()
else:
self.wait_mode()
# Setup 3D Trajectory Visualizer plot titles and legends
for m in range(self._hyperparams['conditions']):
self._traj_visualizer.set_title(m, 'Condition %d' % (m))
self._traj_visualizer.add_legend(linestyle='-',
marker='None',
color='green',
label='Trajectory Samples')
self._traj_visualizer.add_legend(linestyle='-',
marker='None',
color='blue',
label='Policy Samples')
self._traj_visualizer.add_legend(linestyle='None',
marker='x',
color=(0.5, 0, 0),
label='LG Controller Means')
self._traj_visualizer.add_legend(linestyle='-',
marker='None',
color='red',
label='LG Controller Distributions')
self._fig.canvas.draw()
# Display calculating thread
def display_calculating(delay, run_event):
while True:
if not run_event.is_set():
run_event.wait()
if run_event.is_set():
self.set_status_text('Calculating.')
time.sleep(delay)
if run_event.is_set():
self.set_status_text('Calculating..')
time.sleep(delay)
if run_event.is_set():
self.set_status_text('Calculating...')
time.sleep(delay)
self._calculating_run = threading.Event()
self._calculating_thread = threading.Thread(
target=display_calculating, args=(1, self._calculating_run))
self._calculating_thread.daemon = True
self._calculating_thread.start()
def __init__(self, hyperparams, agent):
self._hyperparams = hyperparams
self._agent = agent
self._log_filename = self._hyperparams['log_filename']
self._target_filename = self._hyperparams['target_filename']
self._num_targets = config['num_targets']
self._actuator_types = config['actuator_types']
self._actuator_names = config['actuator_names']
self._num_actuators = len(self._actuator_types)
# Target Setup Status.
self._target_number = 0
self._actuator_number = 0
self._actuator_type = self._actuator_types[self._actuator_number]
self._actuator_name = self._actuator_names[self._actuator_number]
self._initial_position = ('unknown', 'unknown', 'unknown')
self._target_position = ('unknown', 'unknown', 'unknown')
self._initial_image = None
self._target_image = None
self._mannequin_mode = False
self._mm_process = None
# Actions.
actions_arr = [
Action('ptn',
'prev_target_number',
self.prev_target_number,
axis_pos=0),
Action('ntn',
'next_target_number',
self.next_target_number,
axis_pos=1),
Action('pat',
'prev_actuator_type',
self.prev_actuator_type,
axis_pos=2),
Action('nat',
'next_actuator_type',
self.next_actuator_type,
axis_pos=3),
Action('sip',
'set_initial_position',
self.set_initial_position,
axis_pos=4),
Action('stp',
'set_target_position',
self.set_target_position,
axis_pos=5),
Action('sii',
'set_initial_image',
self.set_initial_image,
axis_pos=6),
Action('sti',
'set_target_image',
self.set_target_image,
axis_pos=7),
Action('mti', 'move_to_initial', self.move_to_initial, axis_pos=8),
Action('mtt', 'move_to_target', self.move_to_target, axis_pos=9),
Action('rc',
'relax_controller',
self.relax_controller,
axis_pos=10),
Action('mm', 'mannequin_mode', self.mannequin_mode, axis_pos=11),
]
# Setup figure.
plt.ion()
plt.rcParams['toolbar'] = 'None'
for key in plt.rcParams:
if key.startswith('keymap.'):
plt.rcParams[key] = ''
self._fig = plt.figure(figsize=config['figsize'])
self._fig.subplots_adjust(left=0.01,
bottom=0.01,
right=0.99,
top=0.99,
wspace=0,
hspace=0)
# Assign GUI component locations.
self._gs = gridspec.GridSpec(4, 4)
self._gs_action_panel = self._gs[0:1, 0:4]
if config['image_on']:
self._gs_target_output = self._gs[1:3, 0:2]
self._gs_initial_image_visualizer = self._gs[3:4, 0:1]
self._gs_target_image_visualizer = self._gs[3:4, 1:2]
self._gs_action_output = self._gs[1:2, 2:4]
self._gs_image_visualizer = self._gs[2:4, 2:4]
else:
self._gs_target_output = self._gs[1:4, 0:2]
self._gs_action_output = self._gs[1:4, 2:4]
# Create GUI components.
self._action_panel = ActionPanel(self._fig, self._gs_action_panel, 3,
4, actions_arr)
self._target_output = Textbox(
self._fig,
self._gs_target_output,
log_filename=self._log_filename,
fontsize=config['target_output_fontsize'])
self._action_output = Textbox(self._fig, self._gs_action_output)
if config['image_on']:
self._initial_image_visualizer = ImageVisualizer(
self._fig, self._gs_initial_image_visualizer)
self._target_image_visualizer = ImageVisualizer(
self._fig, self._gs_target_image_visualizer)
self._image_visualizer = ImageVisualizer(
self._fig,
self._gs_image_visualizer,
cropsize=config['image_size'],
rostopic=config['image_topic'],
show_overlay_buttons=True)
# Setup GUI components.
self.reload_positions()
self.update_target_text()
self.set_action_text('Press an action to begin.')
self.set_action_bgcolor('white')
self._fig.canvas.draw()
def __init__(self, hyperparams, agent):
self._agent = agent
self._hyperparams = hyperparams
self._log_filename = self._hyperparams['log_filename']
if 'target_filename' in self._hyperparams:
self._target_filename = self._hyperparams['target_filename']
else:
self._target_filename = None
# GPS Training Status.
self.mode = config['initial_mode'] # Modes: run, wait, end, request, process.
self.request = None # Requests: stop, reset, go, fail, None.
self.err_msg = None
self._colors = {
'run': 'cyan',
'wait': 'orange',
'end': 'red',
}
self._actuator_types = config['actuator_types']
self._actuator_names = config['actuator_names']
self._first_update = True
self._actuator_number = 0
self._actuator_type = self._actuator_types[self._actuator_number]
self._initial_position = ('unknown', 'unknown', 'unknown')
self._target_position = ('unknown', 'unknown', 'unknown')
# Actions.
actions_arr = [
Action('stop', 'stop', self.request_stop, axis_pos=0),
Action('reset', 'reset', self.request_reset, axis_pos=1),
Action('GCM go', 'go', self.request_go, axis_pos=2),
Action('transfer learning', 'transfer_learning', self.request_tl, axis_pos=3),
Action('set initial state', 'initstate', self.request_init_state, axis_pos=4),
Action('set goal state', 'goalstate', self.request_goal_state, axis_pos=5),
Action('test transfer learning', 'test_tl', self.request_test_tl, axis_pos=6),
Action('generalize', 'generalize', self.request_generalize, axis_pos=7),
Action('mti', 'move_to_initial', self.move_to_initial, axis_pos=8),
Action('mtt', 'move_to_target', self.move_to_target, axis_pos=9),
Action('rc', 'relax_controller', self.relax_controller, axis_pos=10),
]
# Setup figure.
plt.ion()
plt.rcParams['toolbar'] = 'None'
for key in plt.rcParams:
if key.startswith('keymap.'):
plt.rcParams[key] = ''
self._fig = plt.figure(figsize=config['figsize'])
self._fig.subplots_adjust(left=0.01, bottom=0.01, right=0.99, top=0.99,
wspace=0, hspace=0)
# Assign GUI component locations.
self._gs = gridspec.GridSpec(18, 8)
self._gs_action_panel = self._gs[0:4, 0:8]
self._gs_action_output = self._gs[4:5, 0:4]
self._gs_status_output = self._gs[5:6, 0:4]
self._gs_cost_plotter = self._gs[4:10, 4:8]
self._gs_algthm_output = self._gs[6:10, 0:4]
self._gs_traj_visualizer = self._gs[10:18, 0:8]
# Create GUI components.
self._action_panel = ActionPanel(self._fig, self._gs_action_panel, 3, 4, actions_arr)
self._action_output = Textbox(self._fig, self._gs_action_output, border_on=True)
self._status_output = Textbox(self._fig, self._gs_status_output, border_on=False)
self._algthm_output = Textbox(self._fig, self._gs_algthm_output,
max_display_size=config['algthm_output_max_display_size'],
log_filename=self._log_filename,
fontsize=config['algthm_output_fontsize'],
font_family='monospace')
self._cost_plotter = MeanPlotter(self._fig, self._gs_cost_plotter,
color='blue', label='mean cost')
self._traj_visualizer = Plotter3D(self._fig, self._gs_traj_visualizer,
num_plots=self._hyperparams['conditions'])
# Setup GUI components.
self._algthm_output.log_text('\n')
self.set_output_text(self._hyperparams['info'])
if config['initial_mode'] == 'run':
self.run_mode()
else:
self.wait_mode()
# Setup 3D Trajectory Visualizer plot titles and legends
for m in range(self._hyperparams['conditions']):
self._traj_visualizer.set_title(m, 'Condition %d' % (m))
self._traj_visualizer.add_legend(linestyle='-', marker='None',
color='green', label='Trajectory Samples')
self._traj_visualizer.add_legend(linestyle='-', marker='None',
color='blue', label='Policy Samples')
self._traj_visualizer.add_legend(linestyle='None', marker='x',
color=(0.5, 0, 0), label='LG Controller Means')
self._traj_visualizer.add_legend(linestyle='-', marker='None',
color='red', label='LG Controller Distributions')
self._fig.canvas.draw()
# Display calculating thread
def display_calculating(delay, run_event):
while True:
if not run_event.is_set():
run_event.wait()
if run_event.is_set():
self.set_status_text('Calculating.')
time.sleep(delay)
if run_event.is_set():
self.set_status_text('Calculating..')
time.sleep(delay)
if run_event.is_set():
self.set_status_text('Calculating...')
time.sleep(delay)
self._calculating_run = threading.Event()
self._calculating_thread = threading.Thread(target=display_calculating,
args=(1, self._calculating_run))
self._calculating_thread.daemon = True
self._calculating_thread.start()
def __init__(self,
fig,
gs,
cropsize=None,
rostopic=None,
show_overlay_buttons=False):
"""
If rostopic is given to this constructor, then the image visualizer will
automatically update with rostopic image. Else, the update method must
be manually called to supply images.
"""
# Real-time image
self._t = 0
self._current_image = None
self._crop_size = cropsize
# Image overlay
self._initial_image_overlay_on = False
self._target_image_overlay_on = False
self._initial_image = None
self._initial_alpha = None
self._target_image = None
self._target_alpha = None
self._default_image = np.zeros((1, 1, 3))
self._default_alpha = 0.0
# Actions
actions_arr = [
Action('oii',
'overlay_initial_image',
self.toggle_initial_image_overlay,
axis_pos=0),
Action('oti',
'overlay_target_image',
self.toggle_target_image_overlay,
axis_pos=1),
]
# GUI Components
self._fig = fig
self._gs = gridspec.GridSpecFromSubplotSpec(8, 1, subplot_spec=gs)
self._gs_action_panel = self._gs[0:1, 0]
self._gs_image_axis = self._gs[1:8, 0]
if show_overlay_buttons:
self._action_panel = ActionPanel(self._fig, self._gs_action_panel,
1, 2, actions_arr)
self._ax_image = plt.subplot(self._gs_image_axis)
self._ax_image.set_axis_off()
self._plot = self._ax_image.imshow(self._default_image)
self._overlay_plot_initial = self._ax_image.imshow(
self._default_image, alpha=self._default_alpha)
self._overlay_plot_target = self._ax_image.imshow(
self._default_image, alpha=self._default_alpha)
self._fig.canvas.draw()
self._fig.canvas.flush_events() # Fixes bug with Qt4Agg backend
# ROS subscriber for PS3 controller
if rostopic and ROS_ENABLED:
rospy.Subscriber(rostopic,
Image,
self.update_ros,
queue_size=1,
buff_size=2**24)
demo_thread = threading.Thread(target=demo_func)
demo_thread.daemon = True
demo_thread.start()
# Initialize Figure
fig = plt.figure()
gs = gridspec.GridSpec(2, 3)
# Action Panel
number = 0
def plus_1(event=None): global number; number += 1; print(number)
def plus_2(event=None): global number; number += 2; print(number)
def mult_4(event=None): global number; number *= 4; print(number)
actions_arr = [
Action('plus1', 'plus1', plus_1, axis_pos=0, keyboard_binding='1', ps3_binding=None),
Action('plus2', 'plus2', plus_2, axis_pos=1, keyboard_binding='2', ps3_binding=None),
Action('print', 'print', mult_4, axis_pos=2, keyboard_binding='4', ps3_binding=None),
]
action_panel = ActionPanel(fig, gs[0], 3, 1, actions_arr)
# Textbox
def demo_textbox():
max_i = 20
for i in range(max_i):
textbox.append_text(str(i))
c = 0.5 + 0.5*i/max_i
textbox.set_bgcolor((c, c, c))
time.sleep(1)
textbox = Textbox(fig, gs[1], max_display_size=10, log_filename=None)