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, 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()
realtime_plotter = RealtimePlotter(fig, gs[3],
labels=['i', 'j', 'i+j', 'i-j', 'mean'],
alphas=[0.15, 0.15, 0.15, 0.15, 1.0])
run_demo(demo_realtime_plotter)
# Mean Plotter
def demo_mean_plotter():
i, j = 0, 0
while True:
i += random.randint(-10, 10)
j += random.randint(-10, 10)
data = [i, j, i + j, i - j]
mean_plotter.update(data)
time.sleep(1)
mean_plotter = MeanPlotter(fig, gs[4])
run_demo(demo_mean_plotter)
# Plotter 3D
def demo_plotter_3d():
xyzs = np.zeros((3, 1))
while True:
plotter_3d.clear_all()
xyz = np.random.randint(-10, 10, size=3).reshape((3,1))
xyzs = np.append(xyzs, xyz, axis=1)
xs, ys, zs = xyzs
plotter_3d.plot(0, xs, ys, zs)
plotter_3d.draw() # this must be called explicitly
time.sleep(1)
plotter_3d = Plotter3D(fig, gs[5], num_plots=1, rows=1, cols=1)