def test_mutate(hand_id):
interface = eigenhand_db_interface.EGHandDBaseInterface()
hand = interface.load_hand(hand_id)
hand2 = eigenhand_genetic_algorithm.GA_mutate(hand, .5)
return hand2
def start_experiment(num_ga_iters=50,
num_atr_iters=5,
trials_per_task=5,
experiment_name='eigenhand_ate_threshold_3_object'):
interface = eigenhand_db_interface.EGHandDBaseInterface()
task_prototype = eigenhand_db_objects.Task(task_type_id=4, task_time=60)
em = experiment_manager.ExperimentManager(num_ga_iters,
num_atr_iters,
task_models.small_model_dict,
task_prototype,
trials_per_task,
ate.weighted_threshold_ATE_hand,
interface,
experiment_name=experiment_name)
print 'clearing old database'
try:
interface.prepare_gen_0()
except:
em.kill_existing()
interface.prepare_gen_0()
print 'starting experiment'
em.run_experiment()
em.restore_to_new_dbase()
output_results(em)
return em
def test_legal_mutate(hand_id, times = 1000):
interface = eigenhand_db_interface.EGHandDBaseInterface()
hand = interface.load_hand(hand_id)
hand_list = []
for i in range(1000):
hand2 = eigenhand_genetic_algorithm.GA_mutate(hand, .5)
if hand2:
hand_list.append(hand2)
print test_starting_set(hand_list)
def test_split_phalange(hand = None):
interface = eigenhand_db_interface.EGHandDBaseInterface()
hands = interface.load_hands_for_generation(0)
if(hand is None):
test_hand = hands[0]
else:
test_hand = hand
new_finger = eigenhand_genetic_algorithm.split_phalange(test_hand.fingers[0], 1)
new_hand = copy.deepcopy(test_hand)
new_hand.fingers[0] = new_finger
return new_hand
def restore_experiment(num_ga_iters=50,
num_atr_iters=5,
trials_per_task=5,
experiment_name='eigenhand_ate_threshold'):
interface = eigenhand_db_interface.EGHandDBaseInterface()
task_prototype = eigenhand_db_objects.Task(task_type_id=4, task_time=60)
em = experiment_manager.ExperimentManager(num_ga_iters,
num_atr_iters,
task_models.small_model_dict,
task_prototype,
trials_per_task,
ate.weighted_threshold_ATE_hand,
interface,
experiment_name=experiment_name)
em.restore_to_new_dbase()
def quick_test(in_hand=None):
interface = eigenhand_db_interface.EGHandDBaseInterface()
if (in_hand == None):
hands = interface.load_hands_for_generation(0)
hand = hands[0]
else:
hand = in_hand
finger = hand.fingers[0]
finger.link_length_list = [
finger.link_length_list[0], finger.link_length_list[1], 1.0, .25, 1.0,
.25, 1.0, .25
]
finger.joint_range_list = finger.joint_range_list[0:2] * len(
finger.link_length_list)
finger.joint_default_speed_list = [finger.joint_default_speed_list[0]
] * len(finger.link_length_list)
hand.fingers[0] = finger
load_up_robot(hand, interface)
return interface
def DB_test_split_phalange(hand = None, test_load = True):
interface = eigenhand_db_interface.EGHandDBaseInterface()
hands = interface.load_hands_for_generation(0)
if hand is None:
test_hand = hands[0]
else:
test_hand = hand
new_finger = eigenhand_genetic_algorithm.split_phalange(test_hand.fingers[0], 1)
new_hand = copy.deepcopy(test_hand)
new_hand.fingers[0] = new_finger
hand_list = [new_hand]
hand_list = eigenhand_db_tools.insert_unique_hand_list(hand_list, interface)
if test_load:
s = socket.socket()
s.connect(('localhost', 4765))
s.send('loadEigenhand %i \n'%(hand_list[0].hand_id))
output = s.recv(2048)
if int(output.split(" ")[0]) == 0:
raise ValueError("could not load hand")
return new_hand
def test_finger_permutes():
interface = eigenhand_db_interface.EGHandDBaseInterface()
hands = interface.load_hands_for_generation(0)
hand = hands[0]
hand.fingers = [hand.fingers[0]]
count = 1
for x in [.25 + i * .125 for i in range(7)]:
for y in [.25 + i * .125 for i in range(7)]:
for z in [
.25 + i * .125 for i in range(-1, 7)
]: #value of .125 means skip the third and fourth phalange
for w in [.25 + i * .125 for i in range(-1, 7)
]: #value of .125 means skip the fourth phalange
finger = hand.fingers[0]
if (z == .125):
finger.link_length_list = [
finger.link_length_list[0],
finger.link_length_list[1], 1.0, x, 1.0, y
]
elif (w == .125):
finger.link_length_list = [
finger.link_length_list[0],
finger.link_length_list[1], 1.0, x, 1.0, y, 1.0, z
]
else:
finger.link_length_list = [
finger.link_length_list[0],
finger.link_length_list[1], 1.0, x, 1.0, y, 1.0, z,
1.0, w
]
finger.joint_range_list = finger.joint_range_list[
0:2] * len(finger.link_length_list)
finger.joint_default_speed_list = [
finger.joint_default_speed_list[0]
] * len(finger.link_length_list)
hand.fingers[0] = finger
print("%d: " % count)
print hand.fingers[0].link_length_list
count += 1
delete_robot(interface)
print "All tests run fine."
def continue_experiment(num_ga_iters=50,
num_atr_iters=5,
trials_per_task=5,
experiment_name='default'):
task_prototype = eigenhand_db_objects.Task(task_type_id=4, task_time=60)
em = experiment_manager.ExperimentManager(num_ga_iters,
num_atr_iters,
task_models.small_model_dict,
task_prototype,
trials_per_task,
ate.weighted_threshold_ATE_hand,
[],
experiment_name=experiment_name)
#em.kill_existing()
em.db_interface = eigenhand_db_interface.EGHandDBaseInterface()
print 'killed existing \n'
em.restore_all()
print 'restored grasps \n'
em.run_experiment()
print 'ran experiment \n '
em.restore_all()
def test_load():
interface = eigenhand_db_interface.EGHandDBaseInterface("eigenhanddb_test")
interface.cursor.execute("delete from fake_finger;")
d = dict()
d['fake_finger'] = "/data/backups_fake_finger"
interface.incremental_restore(d)
def test_backup():
interface = eigenhand_db_interface.EGHandDBaseInterface("eigenhanddb_test")
interface.incremental_backup("/data/backups", ['fake_finger'])
def restore_to_new_dbase(self):
self.db_interface.prepare_empty_db(self.experiment_name)
self.db_interface = eigenhand_db_interface.EGHandDBaseInterface(self.experiment_name)
self.restore_all()
def qlist():
interface = eigenhand_db_interface.EGHandDBaseInterface()
return interface.load_hands_for_generation(0), interface