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 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 insert_tasks(self):
"""
@brief Insert all of the tasks necessary to run this generation.
"""
for hand in self.hand_id_list:
for p in self.task_model_list.values():
t = eigenhand_db_objects.Task(task_id = [], #set automatically
task_time = self.trial_len,
scaled_model_id = p.scaled_model_id,
hand_id = hand,
task_type_id = self.task_type_id,
task_outcome_id = 1,
comment = p.world,
parameters = [t*10**6 for t in p.wrench])
for i in range(self.trials_per_task):
t.task_id = self.interface.add_task_to_db(t)
self.task_list.append(t)
return
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()