def __init__(self, hyperparams, agent): self._hyperparams = hyperparams self._agent = agent self._log_filename = self._hyperparams['log_filename'] self._target_filename = self._hyperparams['target_filename'] self._num_targets = config['num_targets'] self._actuator_types = config['actuator_types'] self._actuator_names = config['actuator_names'] self._num_actuators = len(self._actuator_types) # Target Setup Status. self._target_number = 0 self._actuator_number = 0 self._actuator_type = self._actuator_types[self._actuator_number] self._actuator_name = self._actuator_names[self._actuator_number] self._initial_position = ('unknown', 'unknown', 'unknown') self._target_position = ('unknown', 'unknown', 'unknown') self._initial_image = None self._target_image = None self._mannequin_mode = False self._mm_process = None # Actions. actions_arr = [ Action('ptn', 'prev_target_number', self.prev_target_number, axis_pos=0), Action('ntn', 'next_target_number', self.next_target_number, axis_pos=1), Action('pat', 'prev_actuator_type', self.prev_actuator_type, axis_pos=2), Action('nat', 'next_actuator_type', self.next_actuator_type, axis_pos=3), Action('sip', 'set_initial_position', self.set_initial_position, axis_pos=4), Action('stp', 'set_target_position', self.set_target_position, axis_pos=5), Action('sii', 'set_initial_image', self.set_initial_image, axis_pos=6), Action('sti', 'set_target_image', self.set_target_image, 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), Action('mm', 'mannequin_mode', self.mannequin_mode, axis_pos=11), ] # 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(4, 4) self._gs_action_panel = self._gs[0:1, 0:4] if config['image_on']: self._gs_target_output = self._gs[1:3, 0:2] self._gs_initial_image_visualizer = self._gs[3:4, 0:1] self._gs_target_image_visualizer = self._gs[3:4, 1:2] self._gs_action_output = self._gs[1:2, 2:4] self._gs_image_visualizer = self._gs[2:4, 2:4] else: self._gs_target_output = self._gs[1:4, 0:2] self._gs_action_output = self._gs[1:4, 2:4] # Create GUI components. self._action_panel = ActionPanel(self._fig, self._gs_action_panel, 3, 4, actions_arr) self._target_output = Textbox( self._fig, self._gs_target_output, log_filename=self._log_filename, fontsize=config['target_output_fontsize']) self._action_output = Textbox(self._fig, self._gs_action_output) if config['image_on']: self._initial_image_visualizer = ImageVisualizer( self._fig, self._gs_initial_image_visualizer) self._target_image_visualizer = ImageVisualizer( self._fig, self._gs_target_image_visualizer) 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.reload_positions() self.update_target_text() self.set_action_text('Press an action to begin.') self.set_action_bgcolor('white') self._fig.canvas.draw()
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()
textbox = Textbox(fig, gs[1], max_display_size=10, log_filename=None) run_demo(demo_textbox) # Image Visualizer def demo_image_visualizer(): im = np.zeros((5, 5, 3)) while True: i = random.randint(0, im.shape[0] - 1) j = random.randint(0, im.shape[1] - 1) k = random.randint(0, im.shape[2] - 1) im[i, j, k] = (im[i, j, k] + random.randint(0, 255)) % 256 image_visualizer.update(im) time.sleep(5e-3) image_visualizer = ImageVisualizer(fig, gs[2], cropsize=(3, 3)) run_demo(demo_image_visualizer) # Realtime Plotter def demo_realtime_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 = np.mean(data) realtime_plotter.update(data + [mean]) time.sleep(5e-3) realtime_plotter = RealtimePlotter(fig, gs[3], labels=['i', 'j', 'i+j', 'i-j', 'mean'],