def init_sensori_DMP(self,
optim_initial_position=True,
optim_end_position=True,
default_sensori_initial_position=None,
default_sensori_end_position=None):
default = np.zeros(self.n_dynamic_sensori_dims *
(self.n_sensori_traj_points + 2))
if not optim_initial_position:
default[:self.
n_dynamic_sensori_dims] = default_sensori_initial_position
dims_optim = [False] * self.n_dynamic_sensori_dims
else:
dims_optim = [True] * self.n_dynamic_sensori_dims
dims_optim += [True] * (self.n_dynamic_sensori_dims *
self.n_sensori_traj_points)
if not optim_end_position:
default[-self.
n_dynamic_sensori_dims:] = default_sensori_end_position
dims_optim += [False] * self.n_dynamic_sensori_dims
else:
dims_optim += [True] * self.n_dynamic_sensori_dims
self.sensori_dmp = DmpPrimitive(self.n_dynamic_sensori_dims,
self.n_sensori_traj_points,
dims_optim,
default,
type='discrete',
timesteps=self.move_steps)
def init_motor_DMP(self, optim_initial_position=True, optim_end_position=True, default_motor_initial_position=None, default_motor_end_position=None):
default = np.zeros(self.n_dynamic_motor_dims * (self.n_bfs + 2))
if not optim_initial_position:
default[:self.n_dynamic_motor_dims] = default_motor_initial_position
dims_optim = [False] * self.n_dynamic_motor_dims
else:
dims_optim = [True] * self.n_dynamic_motor_dims
dims_optim += [True] * (self.n_dynamic_motor_dims * self.n_bfs)
if not optim_end_position:
default[-self.n_dynamic_motor_dims:] = default_motor_end_position
dims_optim += [False] * self.n_dynamic_motor_dims
else:
dims_optim += [True] * self.n_dynamic_motor_dims
self.motor_dmp = DmpPrimitive(self.n_dynamic_motor_dims,
self.n_bfs,
dims_optim,
default,
type='discrete',
timesteps=self.move_steps)
class DynamicEnvironment(Environment):
def __init__(self, env_cls, env_cfg,
m_mins, m_maxs, s_mins, s_maxs,
n_bfs, n_motor_traj_points, n_sensori_traj_points, move_steps,
n_dynamic_motor_dims, n_dynamic_sensori_dims, max_params,
motor_traj_type="DMP", sensori_traj_type="DMP",
optim_initial_position=True, optim_end_position=True, default_motor_initial_position=None, default_motor_end_position=None,
default_sensori_initial_position=None, default_sensori_end_position=None,
gui=False):
self.env = env_cls(**env_cfg)
self.n_bfs = n_bfs
self.n_motor_traj_points = n_motor_traj_points
self.n_sensori_traj_points = n_sensori_traj_points
self.move_steps = move_steps
self.n_dynamic_motor_dims = n_dynamic_motor_dims
self.n_dynamic_sensori_dims = n_dynamic_sensori_dims
self.max_params = max_params
self.motor_traj_type = motor_traj_type
self.sensori_traj_type = sensori_traj_type
self.optim_initial_position = optim_initial_position
self.optim_end_position = optim_end_position
self.gui = gui
self.n_mvt = 1
if self.gui:
plt.ion()
self.ax = plt.subplot()
plt.gcf().set_size_inches(12., 12., forward=True)
plt.gca().set_aspect('equal')
#plt.show(block=False)
plt.draw()
Environment.__init__(self, m_mins, m_maxs, s_mins, s_maxs)
self.s_traj = None
if self.motor_traj_type == "DMP":
self.init_motor_DMP(optim_initial_position, optim_end_position, default_motor_initial_position, default_motor_end_position)
else:
raise NotImplementedError
if self.sensori_traj_type == "DMP":
self.init_sensori_DMP(optim_initial_position, optim_end_position, default_sensori_initial_position, default_sensori_end_position)
elif self.sensori_traj_type == "samples":
self.samples = np.array(np.linspace(-1, self.move_steps-1, self.n_sensori_traj_points + 1), dtype=int)[1:]
else:
raise NotImplementedError
def reset(self):
self.env.reset()
def init_motor_DMP(self, optim_initial_position=True, optim_end_position=True, default_motor_initial_position=None, default_motor_end_position=None):
default = np.zeros(self.n_dynamic_motor_dims * (self.n_bfs + 2))
if not optim_initial_position:
default[:self.n_dynamic_motor_dims] = default_motor_initial_position
dims_optim = [False] * self.n_dynamic_motor_dims
else:
dims_optim = [True] * self.n_dynamic_motor_dims
dims_optim += [True] * (self.n_dynamic_motor_dims * self.n_bfs)
if not optim_end_position:
default[-self.n_dynamic_motor_dims:] = default_motor_end_position
dims_optim += [False] * self.n_dynamic_motor_dims
else:
dims_optim += [True] * self.n_dynamic_motor_dims
self.motor_dmp = DmpPrimitive(self.n_dynamic_motor_dims,
self.n_bfs,
dims_optim,
default,
type='discrete',
timesteps=self.move_steps)
def init_sensori_DMP(self, optim_initial_position=True, optim_end_position=True, default_sensori_initial_position=None, default_sensori_end_position=None):
default = np.zeros(self.n_dynamic_sensori_dims * (self.n_sensori_traj_points + 2))
if not optim_initial_position:
default[:self.n_dynamic_sensori_dims] = default_sensori_initial_position
dims_optim = [False] * self.n_dynamic_sensori_dims
else:
dims_optim = [True] * self.n_dynamic_sensori_dims
dims_optim += [True] * (self.n_dynamic_sensori_dims * self.n_sensori_traj_points)
if not optim_end_position:
default[-self.n_dynamic_sensori_dims:] = default_sensori_end_position
dims_optim += [False] * self.n_dynamic_sensori_dims
else:
dims_optim += [True] * self.n_dynamic_sensori_dims
self.sensori_dmp = DmpPrimitive(self.n_dynamic_sensori_dims,
self.n_sensori_traj_points,
dims_optim,
default,
type='discrete',
timesteps=self.move_steps)
def compute_motor_command(self, m_ag):
m_ag = bounds_min_max(m_ag, self.conf.m_mins, self.conf.m_maxs)
if self.motor_traj_type == "DMP":
dyn_idx = range(self.n_dynamic_motor_dims * self.n_motor_traj_points)
#print "m params", m_ag[dyn_idx] * self.max_params
m_dyn = self.motor_dmp.trajectory(m_ag[dyn_idx] * self.max_params)
#print "mov", m_dyn
static_idx = range(self.n_dynamic_motor_dims * self.n_motor_traj_points, self.conf.m_ndims)
m_static = m_ag[static_idx]
m = [list(m_dyn_param) + list(m_static) for m_dyn_param in list(m_dyn)]
else:
raise NotImplementedError
return m
def compute_sensori_effect(self, m_traj):
s = self.env.update(m_traj, reset=False, log=False)
self.s_traj = s
y = np.array(s[:self.move_steps])
if self.sensori_traj_type == "DMP":
self.sensori_dmp.dmp.imitate_path(np.transpose(y))
w = self.sensori_dmp.dmp.w.flatten()
s_ag = list(w)
elif self.sensori_traj_type == "samples":
w = y[self.samples,:]
s_ag = list(np.transpose(w).flatten())
else:
raise NotImplementedError
s = s_ag
if self.gui:
#if abs(s[11] - (-0.85)) > 0.1: #Tool1
#if s[-2] > 0: # One of the boxes
#if abs(s[-1] - 0.8) > 0.01:
#if np.random.rand() < 0.001:
#if abs(s[-1] - s[-3]) > 0.01:
self.plot()
#print 'dyn env s', s
return bounds_min_max(s, self.conf.s_mins, self.conf.s_maxs)
def update(self, m_ag, reset=True, log=False):
if reset:
self.reset()
if len(np.array(m_ag).shape) == 1:
s = self.one_update(m_ag, log)
else:
s = []
for m in m_ag:
s.append(self.one_update(m, log))
s = np.array(s)
return s
def plot(self, **kwargs):
#if self.n_mvt < 100 or ((self.n_mvt-100) % 1000) >= 900:
if True:
for i in range(self.move_steps):
plt.pause(0.0001)
plt.cla()
self.env.plot(self.ax, i, **kwargs)
plt.xlim([-1.3, 1.3])
plt.ylim([-1.3, 1.3])
plt.draw()
plt.show(block=False)
if False:
plt.savefig('/data/ICDL2016/image_phase2/mvt-' + str(self.n_mvt) + "-" + '{0:02d}'.format(i) + '.jpg', format='jpg', dpi=100, bbox_inches='tight')
self.n_mvt = self.n_mvt + 1
class DynamicEnvironment(Environment):
def __init__(self,
env_cls,
env_cfg,
m_mins,
m_maxs,
s_mins,
s_maxs,
n_bfs,
n_motor_traj_points,
n_sensori_traj_points,
move_steps,
n_dynamic_motor_dims,
n_dynamic_sensori_dims,
max_params,
motor_traj_type="DMP",
sensori_traj_type="DMP",
optim_initial_position=True,
optim_end_position=True,
default_motor_initial_position=None,
default_motor_end_position=None,
default_sensori_initial_position=None,
default_sensori_end_position=None,
gui=False):
self.env = env_cls(**env_cfg)
self.n_bfs = n_bfs
self.n_motor_traj_points = n_motor_traj_points
self.n_sensori_traj_points = n_sensori_traj_points
self.move_steps = move_steps
self.n_dynamic_motor_dims = n_dynamic_motor_dims
self.n_dynamic_sensori_dims = n_dynamic_sensori_dims
self.max_params = max_params
self.motor_traj_type = motor_traj_type
self.sensori_traj_type = sensori_traj_type
self.optim_initial_position = optim_initial_position
self.optim_end_position = optim_end_position
self.gui = gui
self.n_mvt = 0
if self.gui:
plt.ion()
self.ax = plt.subplot()
plt.gcf().set_size_inches(12., 12., forward=True)
plt.gca().set_aspect('equal')
#plt.show(block=False)
plt.draw()
Environment.__init__(self, m_mins, m_maxs, s_mins, s_maxs)
if self.motor_traj_type == "DMP":
self.init_motor_DMP(optim_initial_position, optim_end_position,
default_motor_initial_position,
default_motor_end_position)
else:
raise NotImplementedError
if self.sensori_traj_type == "DMP":
self.init_sensori_DMP(optim_initial_position, optim_end_position,
default_sensori_initial_position,
default_sensori_end_position)
elif self.sensori_traj_type == "samples":
self.samples = np.array(np.linspace(
-1, self.move_steps - 1, self.n_sensori_traj_points + 1),
dtype=int)[1:]
else:
raise NotImplementedError
def reset(self):
self.env.reset()
def init_motor_DMP(self,
optim_initial_position=True,
optim_end_position=True,
default_motor_initial_position=None,
default_motor_end_position=None):
default = np.zeros(self.n_dynamic_motor_dims * (self.n_bfs + 2))
if not optim_initial_position:
default[:self.
n_dynamic_motor_dims] = default_motor_initial_position
dims_optim = [False] * self.n_dynamic_motor_dims
else:
dims_optim = [True] * self.n_dynamic_motor_dims
dims_optim += [True] * (self.n_dynamic_motor_dims * self.n_bfs)
if not optim_end_position:
default[-self.n_dynamic_motor_dims:] = default_motor_end_position
dims_optim += [False] * self.n_dynamic_motor_dims
else:
dims_optim += [True] * self.n_dynamic_motor_dims
self.motor_dmp = DmpPrimitive(self.n_dynamic_motor_dims,
self.n_bfs,
dims_optim,
default,
type='discrete',
timesteps=self.move_steps)
def init_sensori_DMP(self,
optim_initial_position=True,
optim_end_position=True,
default_sensori_initial_position=None,
default_sensori_end_position=None):
default = np.zeros(self.n_dynamic_sensori_dims *
(self.n_sensori_traj_points + 2))
if not optim_initial_position:
default[:self.
n_dynamic_sensori_dims] = default_sensori_initial_position
dims_optim = [False] * self.n_dynamic_sensori_dims
else:
dims_optim = [True] * self.n_dynamic_sensori_dims
dims_optim += [True] * (self.n_dynamic_sensori_dims *
self.n_sensori_traj_points)
if not optim_end_position:
default[-self.
n_dynamic_sensori_dims:] = default_sensori_end_position
dims_optim += [False] * self.n_dynamic_sensori_dims
else:
dims_optim += [True] * self.n_dynamic_sensori_dims
self.sensori_dmp = DmpPrimitive(self.n_dynamic_sensori_dims,
self.n_sensori_traj_points,
dims_optim,
default,
type='discrete',
timesteps=self.move_steps)
def compute_motor_command(self, m_ag):
m_ag = bounds_min_max(m_ag, self.conf.m_mins, self.conf.m_maxs)
if self.motor_traj_type == "DMP":
dyn_idx = range(self.n_dynamic_motor_dims *
self.n_motor_traj_points)
#print "m params", m_ag[dyn_idx] * self.max_params
m_dyn = self.motor_dmp.trajectory(m_ag[dyn_idx] * self.max_params)
#print "mov", m_dyn
static_idx = range(
self.n_dynamic_motor_dims * self.n_motor_traj_points,
self.conf.m_ndims)
m_static = m_ag[static_idx]
m = [
list(m_dyn_param) + list(m_static)
for m_dyn_param in list(m_dyn)
]
else:
raise NotImplementedError
return m
def compute_sensori_effect(self, m_traj):
s = self.env.update(m_traj, reset=False, log=False)
y = np.array(s[:self.move_steps])
if self.sensori_traj_type == "DMP":
self.sensori_dmp.dmp.imitate_path(np.transpose(y))
w = self.sensori_dmp.dmp.w.flatten()
s_ag = list(w)
elif self.sensori_traj_type == "samples":
w = y[self.samples, :]
s_ag = list(np.transpose(w).flatten())
else:
raise NotImplementedError
s = s_ag
if self.gui:
self.plot()
return bounds_min_max(s, self.conf.s_mins, self.conf.s_maxs)
def update(self, m_ag, reset=True, log=False):
if reset:
self.reset()
if len(np.array(m_ag).shape) == 1:
s = self.one_update(m_ag, log)
else:
s = []
for m in m_ag:
s.append(self.one_update(m, log))
s = np.array(s)
return s
def plot(self, **kwargs):
if self.n_mvt < 10 or (self.n_mvt > 90010):
plt.xlim([-1.6, 1.6])
plt.ylim([-0.5, 1.6])
for i in range(self.move_steps):
plt.pause(0.0001)
plt.cla()
self.env.plot(self.ax, i, **kwargs)
plt.draw()
#plt.show(block=False)
if True:
plt.savefig('/data/IROS2016/image/M-NN-AMB/mvt-' +
str(self.n_mvt) + "-" + '{0:02d}'.format(i) +
'.jpg',
format='jpg',
dpi=50,
bbox_inches='tight')
print "ploted mvt", self.n_mvt
else:
print "dont plot mvt", self.n_mvt
self.n_mvt = self.n_mvt + 1
class DynamicEnvironment(Environment):
def __init__(self, env_cls, env_cfg,
m_mins, m_maxs, s_mins, s_maxs,
n_bfs, n_motor_traj_points, n_sensori_traj_points, move_steps,
n_dynamic_motor_dims, n_dynamic_sensori_dims, max_params,
motor_traj_type="DMP", sensori_traj_type="DMP",
optim_initial_position=True, optim_end_position=True, default_motor_initial_position=None, default_motor_end_position=None,
default_sensori_initial_position=None, default_sensori_end_position=None,
gui=False):
self.env = env_cls(**env_cfg)
self.n_bfs = n_bfs
self.n_motor_traj_points = n_motor_traj_points
self.n_sensori_traj_points = n_sensori_traj_points
self.move_steps = move_steps
self.n_dynamic_motor_dims = n_dynamic_motor_dims
self.n_dynamic_sensori_dims = n_dynamic_sensori_dims
self.max_params = max_params
self.motor_traj_type = motor_traj_type
self.sensori_traj_type = sensori_traj_type
self.optim_initial_position = optim_initial_position
self.optim_end_position = optim_end_position
self.gui = gui
if self.gui:
self.ax = plt.subplot()
plt.gcf().set_size_inches(12., 12., forward=True)
plt.gca().set_aspect('equal')
plt.show(block=False)
Environment.__init__(self, m_mins, m_maxs, s_mins, s_maxs)
if self.motor_traj_type == "DMP":
self.init_motor_DMP(optim_initial_position, optim_end_position, default_motor_initial_position, default_motor_end_position)
else:
raise NotImplementedError
if self.sensori_traj_type == "DMP":
self.init_sensori_DMP(optim_initial_position, optim_end_position, default_sensori_initial_position, default_sensori_end_position)
elif self.sensori_traj_type == "samples":
self.samples = np.array(np.linspace(-1, self.move_steps-1, self.n_sensori_traj_points + 1), dtype=int)[1:]
else:
raise NotImplementedError
def reset(self):
self.env.reset()
def init_motor_DMP(self, optim_initial_position=True, optim_end_position=True, default_motor_initial_position=None, default_motor_end_position=None):
default = np.zeros(self.n_dynamic_motor_dims * (self.n_bfs + 2))
if not optim_initial_position:
default[:self.n_dynamic_motor_dims] = default_motor_initial_position
dims_optim = [False] * self.n_dynamic_motor_dims
else:
dims_optim = [True] * self.n_dynamic_motor_dims
dims_optim += [True] * (self.n_dynamic_motor_dims * self.n_bfs)
if not optim_end_position:
default[-self.n_dynamic_motor_dims:] = default_motor_end_position
dims_optim += [False] * self.n_dynamic_motor_dims
else:
dims_optim += [True] * self.n_dynamic_motor_dims
self.motor_dmp = DmpPrimitive(self.n_dynamic_motor_dims,
self.n_bfs,
dims_optim,
default,
type='discrete',
timesteps=self.move_steps)
def init_sensori_DMP(self, optim_initial_position=True, optim_end_position=True, default_sensori_initial_position=None, default_sensori_end_position=None):
default = np.zeros(self.n_dynamic_sensori_dims * (self.n_sensori_traj_points + 2))
if not optim_initial_position:
default[:self.n_dynamic_sensori_dims] = default_sensori_initial_position
dims_optim = [False] * self.n_dynamic_sensori_dims
else:
dims_optim = [True] * self.n_dynamic_sensori_dims
dims_optim += [True] * (self.n_dynamic_sensori_dims * self.n_sensori_traj_points)
if not optim_end_position:
default[-self.n_dynamic_sensori_dims:] = default_sensori_end_position
dims_optim += [False] * self.n_dynamic_sensori_dims
else:
dims_optim += [True] * self.n_dynamic_sensori_dims
self.sensori_dmp = DmpPrimitive(self.n_dynamic_sensori_dims,
self.n_sensori_traj_points,
dims_optim,
default,
type='discrete',
timesteps=self.move_steps)
def compute_motor_command(self, m_ag):
m_ag = bounds_min_max(m_ag, self.conf.m_mins, self.conf.m_maxs)
if self.motor_traj_type == "DMP":
dyn_idx = range(self.n_dynamic_motor_dims * self.n_motor_traj_points)
#print "m params", m_ag[dyn_idx] * self.max_params
m_dyn = self.motor_dmp.trajectory(m_ag[dyn_idx] * self.max_params)
#print "mov", m_dyn
static_idx = range(self.n_dynamic_motor_dims * self.n_motor_traj_points, self.conf.m_ndims)
m_static = m_ag[static_idx]
m = [list(m_dyn_param) + list(m_static) for m_dyn_param in list(m_dyn)]
else:
raise NotImplementedError
return m
def compute_sensori_effect(self, m_traj):
s = self.env.update(m_traj, log=False)
y = np.array(s[:self.move_steps])
if self.sensori_traj_type == "DMP":
self.sensori_dmp.dmp.imitate_path(np.transpose(y))
w = self.sensori_dmp.dmp.w.flatten()
s_ag = list(w)
elif self.sensori_traj_type == "samples":
w = y[self.samples,:]
s_ag = list(np.transpose(w).flatten())
else:
raise NotImplementedError
s = s_ag + s[self.move_steps:]
if self.gui:
#if abs(s[11] - (-0.85)) > 0.1: #Tool1
#if s[-2] > 0: # One of the boxes
self.plot()
return bounds_min_max(s, self.conf.s_mins, self.conf.s_maxs)
def update(self, m_ag, reset=False, log=False):
return Environment.update(self, m_ag, reset=True, log=log)
def plot(self, **kwargs):
l = [0, 16, 32, 49]
for i in range(1,len(l)):
plt.cla()
for j in range(l[i-1]+1, l[i]-1, 5):
self.env.plot(self.ax, j, alpha=0.2)
self.env.plot(self.ax, l[i], **kwargs)
plt.xlim([-1.6, 1.6])
plt.ylim([-0.2, 1.6])
self.ax.set_xticklabels([])
self.ax.set_yticklabels([])
plt.gca().yaxis.set_major_locator(plt.NullLocator())
plt.gca().yaxis.set_major_locator(plt.NullLocator())
plt.draw()
if True:
plt.savefig('/home/sforesti/scm/PhD/cogsci2016/include/test-mvt-' + str(l[i]) + '.pdf', format='pdf', dpi=1000, bbox_inches='tight')
class DynamicEnvironment(Environment):
def __init__(self,
env_cls,
env_cfg,
m_mins,
m_maxs,
s_mins,
s_maxs,
n_bfs,
n_motor_traj_points,
n_sensori_traj_points,
move_steps,
n_dynamic_motor_dims,
n_dynamic_sensori_dims,
max_params,
motor_traj_type="DMP",
sensori_traj_type="DMP",
optim_initial_position=True,
optim_end_position=True,
default_motor_initial_position=None,
default_motor_end_position=None,
default_sensori_initial_position=None,
default_sensori_end_position=None,
gui=False):
self.env = env_cls(**env_cfg)
self.n_bfs = n_bfs
self.n_motor_traj_points = n_motor_traj_points
self.n_sensori_traj_points = n_sensori_traj_points
self.move_steps = move_steps
self.n_dynamic_motor_dims = n_dynamic_motor_dims
self.n_dynamic_sensori_dims = n_dynamic_sensori_dims
self.max_params = max_params
self.motor_traj_type = motor_traj_type
self.sensori_traj_type = sensori_traj_type
self.optim_initial_position = optim_initial_position
self.optim_end_position = optim_end_position
self.gui = gui
if self.gui:
self.ax = plt.subplot()
plt.gcf().set_size_inches(12., 12., forward=True)
plt.gca().set_aspect('equal')
plt.show(block=False)
Environment.__init__(self, m_mins, m_maxs, s_mins, s_maxs)
if self.motor_traj_type == "DMP":
self.init_motor_DMP(optim_initial_position, optim_end_position,
default_motor_initial_position,
default_motor_end_position)
else:
raise NotImplementedError
if self.sensori_traj_type == "DMP":
self.init_sensori_DMP(optim_initial_position, optim_end_position,
default_sensori_initial_position,
default_sensori_end_position)
elif self.sensori_traj_type == "samples":
self.samples = np.array(np.linspace(
-1, self.move_steps - 1, self.n_sensori_traj_points + 1),
dtype=int)[1:]
else:
raise NotImplementedError
def reset(self):
self.env.reset()
def init_motor_DMP(self,
optim_initial_position=True,
optim_end_position=True,
default_motor_initial_position=None,
default_motor_end_position=None):
default = np.zeros(self.n_dynamic_motor_dims * (self.n_bfs + 2))
if not optim_initial_position:
default[:self.
n_dynamic_motor_dims] = default_motor_initial_position
dims_optim = [False] * self.n_dynamic_motor_dims
else:
dims_optim = [True] * self.n_dynamic_motor_dims
dims_optim += [True] * (self.n_dynamic_motor_dims * self.n_bfs)
if not optim_end_position:
default[-self.n_dynamic_motor_dims:] = default_motor_end_position
dims_optim += [False] * self.n_dynamic_motor_dims
else:
dims_optim += [True] * self.n_dynamic_motor_dims
self.motor_dmp = DmpPrimitive(self.n_dynamic_motor_dims,
self.n_bfs,
dims_optim,
default,
type='discrete',
timesteps=self.move_steps)
def init_sensori_DMP(self,
optim_initial_position=True,
optim_end_position=True,
default_sensori_initial_position=None,
default_sensori_end_position=None):
default = np.zeros(self.n_dynamic_sensori_dims *
(self.n_sensori_traj_points + 2))
if not optim_initial_position:
default[:self.
n_dynamic_sensori_dims] = default_sensori_initial_position
dims_optim = [False] * self.n_dynamic_sensori_dims
else:
dims_optim = [True] * self.n_dynamic_sensori_dims
dims_optim += [True] * (self.n_dynamic_sensori_dims *
self.n_sensori_traj_points)
if not optim_end_position:
default[-self.
n_dynamic_sensori_dims:] = default_sensori_end_position
dims_optim += [False] * self.n_dynamic_sensori_dims
else:
dims_optim += [True] * self.n_dynamic_sensori_dims
self.sensori_dmp = DmpPrimitive(self.n_dynamic_sensori_dims,
self.n_sensori_traj_points,
dims_optim,
default,
type='discrete',
timesteps=self.move_steps)
def compute_motor_command(self, m_ag):
m_ag = bounds_min_max(m_ag, self.conf.m_mins, self.conf.m_maxs)
if self.motor_traj_type == "DMP":
dyn_idx = range(self.n_dynamic_motor_dims *
self.n_motor_traj_points)
#print "m params", m_ag[dyn_idx] * self.max_params
m_dyn = self.motor_dmp.trajectory(m_ag[dyn_idx] * self.max_params)
#print "mov", m_dyn
static_idx = range(
self.n_dynamic_motor_dims * self.n_motor_traj_points,
self.conf.m_ndims)
m_static = m_ag[static_idx]
m = [
list(m_dyn_param) + list(m_static)
for m_dyn_param in list(m_dyn)
]
else:
raise NotImplementedError
return m
def compute_sensori_effect(self, m_traj):
s = self.env.update(m_traj, log=False)
y = np.array(s[:self.move_steps])
if self.sensori_traj_type == "DMP":
self.sensori_dmp.dmp.imitate_path(np.transpose(y))
w = self.sensori_dmp.dmp.w.flatten()
s_ag = list(w)
elif self.sensori_traj_type == "samples":
w = y[self.samples, :]
s_ag = list(np.transpose(w).flatten())
else:
raise NotImplementedError
s = s_ag + s[self.move_steps:]
if self.gui:
#if abs(s[11] - (-0.85)) > 0.1: #Tool1
#if s[-2] > 0: # One of the boxes
self.plot()
return bounds_min_max(s, self.conf.s_mins, self.conf.s_maxs)
def update(self, m_ag, reset=False, log=False):
return Environment.update(self, m_ag, reset=True, log=log)
def plot(self, **kwargs):
l = [0, 16, 32, 49]
for i in range(1, len(l)):
plt.cla()
for j in range(l[i - 1] + 1, l[i] - 1, 5):
self.env.plot(self.ax, j, alpha=0.2)
self.env.plot(self.ax, l[i], **kwargs)
plt.xlim([-1.6, 1.6])
plt.ylim([-0.2, 1.6])
self.ax.set_xticklabels([])
self.ax.set_yticklabels([])
plt.gca().yaxis.set_major_locator(plt.NullLocator())
plt.gca().yaxis.set_major_locator(plt.NullLocator())
plt.draw()
if True:
plt.savefig(
'/home/sforesti/scm/PhD/cogsci2016/include/test-mvt-' +
str(l[i]) + '.pdf',
format='pdf',
dpi=1000,
bbox_inches='tight')
