def on_the_truck_cost(cf):
state, am = waverly_state_truck()
print state.orientation
#state.orientation = 3.14/6
cf.initialize_state(state)
extractor = Extractor()
esdcs = extractor.extractEsdcs("next to the truck.")
place_esdc = esdcs[0]
place_esdc.type = "PLACE"
truck_esdc = place_esdc.l[0]
print "place", place_esdc, place_esdc.type
print "truck", truck_esdc
searcher = BeamSearch(cf)
annotation = initial_annotation(state, esdcs[0])
truck = [
state.getGroundableById(o) for o in state.getObjectsSet()
if 'flatbed' in state.getGroundableById(o).tags
][0]
annotation.setGrounding(truck_esdc, truck)
annotation.setGrounding("sequence", [(state, None)])
obj = prism_from_point(0,
0,
truck.centroid3d[2] + .2,
truck.centroid3d[2] + .5,
width=0.5)
#axes = p.axes()
featureBrowser = crfFeatureWeights.MainWindow()
featureBrowser.show()
axes = featureBrowser.axes
for o in state.getObjectsSet():
drawObject(axes, state.getGroundableById(o))
drawPlaceCostMap(featureBrowser, obj, place_esdc, annotation, searcher, -5,
10, 25, 40, .2)
#p.axes().set_aspect('equal')
#p.show()
state, gggs = annotation_to_ggg_map(annotation)
ggg = gggs[place_esdc]
#ggg = ggg_from_esdc(esdcs[0])
factor = ggg.esdc_to_factor(place_esdc)
print "factor", factor, factor.id
print "cache", cf.factor_to_cost
factor_to_cost = cf.factor_to_cost[factor]
print "cache", factor_to_cost
featureBrowser.load(cf.lccrf, factor_to_cost)
def approach_the_truck_cost_path(cf):
state, am = waverly_state_truck()
cf.initialize_state(state)
extractor = Extractor()
esdcs = extractor.extractEsdcs("Approach the truck.")
event_esdc = esdcs[0]
truck_esdc = event_esdc.l[0]
annotation = initial_annotation(state, esdcs[0])
truck = [o for o in state.objects if 'flatbed' in o.tags][0]
annotation.setGrounding(truck_esdc, truck)
featureBrowser = crfFeatureWeights.MainWindow()
featureBrowser.show()
ggg = drawAgentPathCostMap(featureBrowser, [event_esdc], annotation, cf,
-15, 25, 15, 50, 1)
factor = ggg.esdc_to_factor(event_esdc)
featureBrowser.load(annotation.context, cf, factor)
def __init__(self, describer):
QMainWindow.__init__(self)
self.setupUi(self)
self.describer = describer
self.cf = self.describer.cf
self.figure = mpl.figure()
self.axes = self.figure.gca()
self.axes.set_aspect("equal")
self.oldParent = self.figure.canvas.parent()
self.figure.canvas.setParent(self)
self.matplotlibFrame.layout().addWidget(self.figure.canvas)
self.toolbar = NavigationToolbar2QT(self.figure.canvas, self)
self.addToolBar(self.toolbar)
self.crfFeatureWeights = crfFeatureWeights.MainWindow()
self.crfFeatureWeights.setWindowTitle(
"CRF Feature Weights" + " created by " +
str(self.crfFeatureWeights.windowTitle()))
self.crfFeatureWeights.show()
self.draw()
def pick_up_the_pallet_cost_pickup(cf):
state, am = waverly_state_truck()
cf.initialize_state(state)
extractor = Extractor()
esdcs = extractor.extractEsdcs("Pick up the tire pallet.")
event_esdc = esdcs[0]
print 'event', event_esdc
# pickup_esdc = event_esdc.r
# print 'pickup', pickup_esdc
pallet_esdc = event_esdc.l[0]
print "pallet", pallet_esdc
annotation = initial_annotation(state, esdcs[0])
pallet = [o for o in state.objects if 'tire' in o.tags][0]
annotation.setGrounding(pallet_esdc, pallet)
featureBrowser = crfFeatureWeights.MainWindow()
featureBrowser.show()
ggg = drawObjectPathCostMap(featureBrowser, pallet_esdc, [event_esdc],
annotation, cf, -20, 40, 15, 50, 1)
factor = ggg.esdc_to_factor(event_esdc)
featureBrowser.load(annotation.context, cf, factor)
def __init__(self,
limits,
taskPlanner=None,
initialState=True,
show_gui=True,
merging_mode="merge_none",
start_command=None):
QMainWindow.__init__(self)
self.setupUi(self)
self.windowManager = WindowManager(self.windowsMenu)
self.artists = []
self.extractor = None
self.taskPlanner = taskPlanner
self.plansDict = None
self.currAnnotation = None
self.save_state_tree = True
self.allow_null_action = False
self.command = ""
if start_command:
self.command = start_command
self.commandEdit.setPlainText(start_command)
self.figure = mpl.figure()
self.axes = self.figure.gca()
self.axes.set_aspect("equal")
self.oldParent = self.figure.canvas.parent()
self.figure.canvas.setParent(self)
self.matplotlibFrame.layout().addWidget(self.figure.canvas)
self.toolbar = NavigationToolbar2QT(self.figure.canvas, self)
self.addToolBar(self.toolbar)
self.limits = limits
self.restoreLimits()
self.figure.canvas.mpl_connect('draw_event', self.updateLimits)
self.esdcFeatureBrowser = esdcFeatureBrowser.MainWindow()
self.esdcFeatureBrowser.setWindowTitle(
str(self.esdcFeatureBrowser.windowTitle()) +
" (ESDC Feature Browser)")
self.contextWindow = context3d.MainWindow()
self.contextWindow.setWindowTitle(self.contextWindow.windowTitle() +
" - Cost Function Browser")
self.windowManager.addWindow(self.contextWindow)
self.gggWindow = gggBrowser.MainWindow()
self.gggWindow.setWindowTitle(self.gggWindow.windowTitle() +
"(GGG Visualizer)")
self.windowManager.addWindow(self.gggWindow)
self.crfFeatureWeights = crfFeatureWeights.MainWindow()
self.crfFeatureWeights.setWindowTitle(
str(self.crfFeatureWeights.windowTitle()) + " (CFB)")
self.windowManager.addWindow(self.crfFeatureWeights)
self.nodeFeatureWeights = nodeFeatureWeights.MainWindow()
self.nodeFeatureWeights.setWindowTitle(
str(self.nodeFeatureWeights.windowTitle()) + " (CFB)")
self.windowManager.addWindow(self.nodeFeatureWeights)
self.esdcModel = esdcTreeModel.Model(self.esdcView)
self.plansModel = plansModel.Model(self.plansView)
self.connect(self.submitButton, SIGNAL("clicked()"),
self.followCommandSelf)
self.connect(
self.esdcView.selectionModel(),
SIGNAL("selectionChanged ( QItemSelection, QItemSelection )"),
self.selectEsdc)
self.connect(
self.plansView.selectionModel(),
SIGNAL("selectionChanged ( QItemSelection, QItemSelection )"),
self.selectPlan)
self.connect(self.esdcParserComboBox,
SIGNAL("currentIndexChanged( QString)"),
self.selectEsdcExtractor)
self.connect(self.esdcParserModelButton, SIGNAL("clicked()"),
self.askForEsdcParserModel)
self.connect(self.actionLoadContext, SIGNAL("triggered()"),
self.loadContext)
self.connect(self.actionSaveState, SIGNAL("triggered()"),
self.saveState)
self.connect(self.actionLoadState, SIGNAL("triggered()"),
self.loadState)
self.connect(self.actionGroundingProbabilityGraph,
SIGNAL("triggered()"), self.groundingProbabilityGraph)
self.esdcParserModelButton.setText(
"%s/data/directions/direction_training/annotation/models/crf_discrete_esdcs_1.5.pck"
% SLU_HOME)
self.esdcs = []
self.factors_to_esdcs = None
self.gggs = None
#self.selectEsdcExtractor()
self.merging_mode = merging_mode