def test_save_simulation(self):
db = MVBBLoader(abspath+'/data/test_db', 19, 15)
k = db.db.keys()[0]
p = db.db[k][0]
self.assertFalse(db.has_simulation(k,p))
nan = float('nan')
db.save_simulation(k, p, np.eye(4), [nan]*19, [nan]*3*15, [nan]*6*15)
self.assertTrue(db.has_simulation(k, p))
print "Reloading..."
db2 = MVBBLoader(abspath+'/data/test_db', 19, 15)
self.assertTrue(db2.has_simulation(k, p))
## module,
# box_db,
#links_to_check)
# vis.setPlugin(None)
#vis.setPlugin(program)
#program.reshape(800, 600)
# vis.show()
# this code manually updates the visualization
# while vis.shown():
# time.sleep(0.1)
return
if __name__ == '__main__':
box_db = None
try:
import os.path
filename = os.path.splitext(sys.argv[1])[0]
except:
filename = 'box_db'
if not os.path.isfile(filename + '.csv'):
print "Error: file", filename, "doesn't exist"
exit()
# palm, index (proximal, middle, distal), little, middle, ring, thumb
links_to_check = np.array(soft_hand.links_to_check) + 6
box_db = MVBBLoader(filename, soft_hand.numJoints, len(links_to_check))
launch_test_mvbb_grasps("soft_hand", box_db, links_to_check)
def grasp_boxes(filename):
subprocess.call(['python', './grasp_boxes_batch.py', filename])
if __name__ == '__main__':
try:
import os.path
filename = os.path.splitext(sys.argv[1])[0]
except:
filename = 'box_db'
if not os.path.isfile(filename + '.csv'):
print "Error: file", filename, "doesn't exist"
exit()
try:
n_dofs = int(sys.argv[2])
n_l = int(sys.argv[3])
except:
n_dofs = soft_hand.numJoints
n_l = len(soft_hand.links_to_check)
# for SoftHand
box_db = MVBBLoader(filename, n_dofs, n_l)
filenames = box_db.split_db()
p = Pool(multiprocessing.cpu_count())
p.map(grasp_boxes, filenames)
box_db.join_results(filenames)
def test_split_join(self):
db = MVBBLoader(abspath+'/data/test_db', 19, 15)
filenames = db.split_db()
self.assertEqual(len(filenames), 6)
for fname in filenames:
db_i = MVBBLoader(fname, 19, 15)
for k, ps in db_i.db.items():
for p in ps:
nan = float('nan')
db_i.save_simulation(k, p, np.eye(4), [nan]*19, [nan]*3*15, [nan]*6*15)
db.join_results(filenames)
poses = db.get_all_simulated_poses()
pose_count = 0
for i in poses.keys():
pose_count+=len(poses[i])
self.assertEqual(6,len(db.get_all_simulated_poses()))
self.assertEqual(12,pose_count)
filename = os.path.splitext(sys.argv[1])[0]
except:
filename = 'box_db'
if not os.path.isfile(filename + '.csv'):
print "Error: file", filename, "doesn't exist"
exit()
try:
n_dofs = int(sys.argv[2])
n_l = int(sys.argv[3])
except:
n_dofs = 19
n_l = 16
box_db = MVBBLoader(filename, n_dofs, n_l)
fout = filename + '_filtered'
copyfile(filename + '.csv', fout + '.csv')
box_db_filtered = MVBBLoader(fout, n_dofs, n_l)
poses = box_db.db_simulated
suc_pose_count = 0
pose_count = 0
for k in poses.keys():
pose_count += len(poses[k])
for pose in poses[k]:
if not math.isnan(pose['q'][0]):
box_db_filtered.save_simulation(k, pose['T'], pose['h_T_o'],
pose['q'], pose['c_p'],
pose['c_f'])
suc_pose_count += 1