def copy_action(self, action_id):
'''Make a copy of action
Args:
action_id (int)
'''
self._clear_world_objects_srv()
new_id = self.n_actions()
map_fun = '''function(doc) {
emit(doc.id, doc);
}'''
results = self._db.query(map_fun)
# Load data from db into Action objects.
for result in results:
if int(result.value['id']) == action_id:
action = Action(self._robot, self._tf_listener,
self._im_server, self._selected_primitive_cb,
self._action_change_cb)
result.value['id'] = new_id
action.build_from_json(result.value)
name = action.get_name()
action.set_name("Copy of " + name)
self._actions[new_id] = action
self._action_ids.append(new_id)
self._current_action_id = new_id
self._update_session_state()
def new_action(self, name=None):
'''Creates new action.'''
self._clear_world_objects_srv()
if self.n_actions() > 0:
if not self._current_action_id is None:
self.get_current_action().reset_viz()
self._current_action_id = self.n_actions()
else:
self._current_action_id = 0
# action_id = self._db.insert_new(name)
action = Action(self._robot, self._tf_listener, self._im_server,
self._selected_primitive_cb, self._action_change_cb,
self._current_action_id,
self._grasp_suggestion_service,
self._grasp_feedback_topic, self._external_ee_link)
if not name is None:
action.set_name(name)
else:
time_str = datetime.datetime.now().strftime('%c')
action.set_name("Untitled action {}".format(time_str))
self._actions.update({self._current_action_id: action})
self._actions_disabled.append(False)
self._action_ids.append(self._current_action_id)
self._marker_visibility = [True] * self.n_primitives()
self._update_session_state()
def _load_session_state(self):
'''Loads the experiment state from couchdb database or json file.'''
# It retrieves actions from db sorted by their integer ids.
map_fun = '''function(doc) {
emit(doc.id, doc);
}'''
results = self._db.query(map_fun)
# Load data from db into Action objects.
for result in results:
action = Action(self._robot, self._tf_listener, self._im_server,
self._selected_primitive_cb,
self._action_change_cb)
action.build_from_json(result.value)
self._actions[int(result.value['id'])] = action
self._action_ids.append(int(result.value['id']))
self._update_db_with_action(action)
if self._from_file:
time_str = datetime.datetime.now().strftime('%c')
for key in self._actions:
action = self._actions[key]
self._update_db_with_action(action, time_str + '.json')
del self._couch['fetch_pbd']
self._db = self._couch.create('fetch_pbd')
self._actions = {}
self._action_ids = []
with open(self._from_file) as json_file:
self._json = json.load(json_file)
keys = self._json.keys()
keys.sort()
for key in keys:
action = Action(self._robot, self._tf_listener,
self._im_server, self._selected_primitive_cb,
self._action_change_cb)
action.build_from_json(self._json[key])
self._actions[int(self._json[key]['id'])] = action
self._action_ids.append(int(self._json[key]['id']))
self._update_db_with_action(action)
def _load_session_state(self):
'''Loads the experiment state from couchdb database or json file.'''
# It retrieves actions from db sorted by their integer ids.
map_fun = '''function(doc) {
emit(doc.id, doc);
}'''
results = self._db.query(map_fun)
# Load data from db into Action objects.
for result in results:
action = Action(
self._robot,
self._tf_listener,
self._im_server,
self._selected_primitive_cb,
self._action_change_cb,
grasp_suggestion_service=self._grasp_suggestion_service,
grasp_feedback_topic=self._grasp_feedback_topic,
external_ee_link=self._external_ee_link)
success = action.build_from_json(result.value)
self._actions_disabled.append(not success)
self._actions[int(result.value['id'])] = action
self._action_ids.append(int(result.value['id']))
self._update_db_with_action(action)
if self._from_file:
time_str = datetime.datetime.now().strftime('%c')
for key in self._actions:
action = self._actions[key]
self._update_db_with_action(action, time_str + '.json')
del self._couch['fetch_pbd']
self._db = self._couch.create('fetch_pbd')
self._actions = {}
self._action_ids = []
with open(self._from_file) as json_file:
self._json = json.load(json_file)
keys = self._json.keys()
keys.sort()
self._actions_disabled = []
for key in keys:
action = Action(
self._robot,
self._tf_listener,
self._im_server,
self._selected_primitive_cb,
self._action_change_cb,
grasp_suggestion_service=self._grasp_suggestion_service,
grasp_feedback_topic=self._grasp_feedback_topic,
external_ee_link=self._external_ee_link)
success = action.build_from_json(self._json[key])
self._actions_disabled.append(not success)
self._actions[int(self._json[key]['id'])] = action
self._action_ids.append(int(self._json[key]['id']))
self._update_db_with_action(action)
if True in self._actions_disabled:
self._status_publisher.publish(
String("Some actions have been " +
"disabled because they require grasp suggestion."))