def check_pick(file_name, diff_values):
fullData = ParseLogFile(file_name, '', 0,
'vrep/ver5').getFullDataWithoutBelief()
final_state = fullData['stepInfo'][-1]['state']
final_reward = fullData['stepInfo'][-1]['reward']
final_action = ("").join(
fullData['stepInfo'][-1]['action'][:-1].split(" "))
distance = 0
if (final_action == '-Action=ActionisPICK'):
distance = math.pow(final_state.g_x - final_state.o_x + diff_values[0],
2)
distance = distance + math.pow(
final_state.g_y - final_state.o_y + diff_values[1], 2)
distance = distance + math.pow(
final_state.g_z - final_state.o_z + diff_values[2], 2)
distance = math.pow(distance, 0.5)
if (distance > 0.12):
calculated_reward = -10
else:
calculated_reward = 100
else:
calculated_reward = final_reward
return [calculated_reward, final_reward, distance]
def test_parsing_methods(filename):
fullData1 = ParseLogFile(filename, '', -1, 'toy',
1).getFullDataWithoutBelief()
seqs1 = []
process_full_data(fullData1, seqs1)
fullData2 = ParseLogFile(filename, '', -1, 'toy',
2).getFullDataWithoutBelief()
seqs2 = []
process_full_data(fullData2, seqs2)
assert len(seqs1[0]) == len(seqs2[0])
for i in range(0, len(seqs1[0])):
assert seqs1[0][i][0] == seqs2[0][i][0]
for j in range(0, len(seqs1[0][i][1])):
assert seqs1[0][i][1][j] == seqs2[0][i][1][j]
print seqs2
print seqs1
def parse_file(file_name,
belief_type='',
isTraining=True,
round_no=0,
state_type='toy'):
if not isTraining:
round_no = -1
fullData = ParseLogFile(file_name, belief_type, round_no,
state_type).getFullDataWithoutBelief()
seqs = []
process_full_data(fullData, seqs, state_type, isTraining)
return seqs
def main():
featureId = '5'
logType = 'learning'
if len(sys.argv) > 1:
featureId = sys.argv[1]
if len(sys.argv) > 2:
logType = sys.argv[2]
successfulTestCases = []
failureTestCases = []
for i in range(0, 400):
#logfileName = '/home/neha/WORK_FOLDER/phd2013/phdTopic/despot/despot-0.2-server-version/4_objects_obs_prob_change_particles_as_state/adaboost_different_objects/grasping_v' + featureId + '/state_' + repr(i) + '.log'
#logfileName = '/home/neha/WORK_FOLDER/phd2013/phdTopic/despot/despot-0.2-server-version/4_objects_obs_prob_change_particles_as_state/adaboost_different_objects/sensor_observation_sum/state_' + repr(i) + '.log'
#logfileName = '/home/neha/WORK_FOLDER/phd2013/phdTopic/despot/despot-0.2-server-version/4_objects_obs_prob_change_particles_as_state/deepLearning_different_objects/version3/state_' + repr(i) + '.log'
logfileName = '/home/neha/WORK_FOLDER/ncl_dir_mount/neha_github/autonomousGrasping/graspingV4/results/despot_logs/t1_n20/Toy_test_belief_default_t1_n20_trial_' + repr(
i) + '.log'
#logfileName = '/home/neha/WORK_FOLDER/phd2013/phdTopic/despot/despot-0.2-server-version/4_objects_obs_prob_change_particles_as_state/adaboost_different_objects' + '/state_' + repr(i) + '.log'
#logfileName = '/home/neha/WORK_FOLDER/phd2013/phdTopic/despot/despot-0.2-server-version/4_objects_obs_prob_change_particles_as_state/graspingV4_state_' + repr(i) + '_t10_obs_prob_change_particles_as_state_4objects.log'
#logfileName = '/home/neha/WORK_FOLDER/phd2013/phdTopic/despot/despot-0.2-server-version/4_objects_obs_prob_change_particles_as_state/graspingV3_state_' + repr(i) + '_t20_obs_prob_change_particles_as_state_4objects.log'
logParser = ParseLogFile(logfileName, '')
if (len(logParser.stepInfo_) < 90):
successfulTestCases.append(logParser)
else:
failureTestCases.append(logParser)
app = QApplication([])
currentState = MainWindow(successfulTestCases, failureTestCases)
#circles2 = DrawCircles()
currentState.show()
#circles2.show()
app.exec_()
def get_log_file_parser(log_filename):
lfp = ParseLogFile(log_filename, 'vrep', 0, 'vrep')
return lfp
msg.observation = touch_0 * 2 + touch_1
return msg
if __name__ == '__main__':
log_filename = sys.argv[1]
pub_gripper = rospy.Publisher('gripper_pose', State, queue_size=10)
pub_belief = rospy.Publisher("object_pose", Belief, queue_size=10)
rospy.init_node('python_belief_state_publisher')
rate = rospy.Rate(10000)
rate.sleep()
lfp = ParseLogFile(log_filename, 'vrep', 0, 'vrep')
for i in range(0, len(lfp.stepInfo_)):
if i == 0:
state_value = lfp.roundInfo_['state']
touch_0 = 0
touch_1 = 0
else:
state_value = lfp.stepInfo_[i - 1]['state']
touch_0 = lfp.stepInfo_[i - 1]['obs'].sensor_obs[0]
touch_1 = lfp.stepInfo_[i - 1]['obs'].sensor_obs[1]
p_State = getPublishableState(state_value, touch_0, touch_1)
p_Belief = getPublishableBelief(lfp.stepInfo_[i]['belief'])
pub_gripper.publish(p_State)
pub_belief.publish(p_Belief)
def __init__(self, logfileName, drawPlanningBelief=True, parent=None):
QWidget.__init__(self, parent)
# setGeometry(x_pos, y_pos, width, height)
self.setGeometry(300, 300, 1300, 700)
self.setWindowTitle('Main')
self.drawPlanningBelief = drawPlanningBelief
self.nextButton = QPushButton('Next', self)
self.nextButton.clicked.connect(self.handleNextButton)
self.prevButton = QPushButton('Prev', self)
self.prevButton.clicked.connect(self.handlePrevButton)
self.playButton = QPushButton('Play', self)
self.playButton.clicked.connect(self.handlePlayButton)
self.playButtonState = 0
self.playButtonTimers = [
threading.Timer(1, self.playTimer),
threading.Timer(1, self.playTimer)
]
self.currentTimer = 0
belief_type = ''
if drawPlanningBelief:
belief_type = 'planning'
self.logParser = ParseLogFile(logfileName, belief_type)
self.stateWindow = DrawState(self.logParser, self)
if self.drawPlanningBelief:
self.beliefWindow = DrawPlanningBelief(self.logParser, self)
else:
self.beliefWindow = DrawLearningBelief(self.logParser, self)
self.messageWindow = QWidget(self)
self.messageWindow.setMaximumSize(200, 600)
actionLayout = QVBoxLayout(self.messageWindow)
scroll = QScrollArea(self)
scroll.setVerticalScrollBarPolicy(Qt.ScrollBarAlwaysOn)
scroll.setHorizontalScrollBarPolicy(Qt.ScrollBarAlwaysOff)
scroll.setWidgetResizable(True)
scroll.setWidget(self.messageWindow)
self.currentStepLabel = QLabel(
'Current Step: ' + repr(self.stateWindow.step) + '/' +
repr(len(self.logParser.stepInfo_)), self)
self.currentActionLabel = QLabel('Action: ', self)
self.nextActionLabel = QLabel(
'0:' + self.logParser.stepInfo_[0]['action'][20:], self)
actionLayout.addWidget(self.currentStepLabel)
actionLayout.addWidget(self.currentActionLabel)
actionLayout.addWidget(self.nextActionLabel)
#actionLayout.addWidget(QLabel('Actions', self))
self.actionLabels = []
for i in range(0, len(self.logParser.stepInfo_)):
actionText = repr(
i) + ":" + self.logParser.stepInfo_[i]['action'][20:]
self.actionLabels.append(QLabel(actionText, self))
#actionLayout.addWidget(self.actionLabels[i])
layout = QVBoxLayout(self)
hLayout = QHBoxLayout(self)
hLayout.addWidget(self.messageWindow)
hLayout.addWidget(self.stateWindow)
hLayout.addWidget(self.beliefWindow)
hLayoutB = QHBoxLayout(self)
hLayoutB.addWidget(self.playButton)
hLayoutB.addWidget(self.prevButton)
hLayoutB.addWidget(self.nextButton)
layout.addLayout(hLayout)
layout.addLayout(hLayoutB)