def new_action(self):
'''Creates new action.'''
if self.n_actions() > 0:
self.get_current_action().reset_viz()
time_str = datetime.datetime.now().strftime('%c')
name = 'Untitled action {}'.format(time_str)
action_id = self._db.insert_new(name)
self.current_action_id = action_id
action = ProgrammedAction(self._world, self.current_action_id,
self._selected_step_cb)
action.name = name
self.actions.update({self.current_action_id: action})
self._session_actions.append(action_id)
self._update_experiment_state()
def _load_session_state(self, object_list):
'''Loads the experiment state from disk.
Args:
object_list ([Object]): List of Object (as defined by
Object.msg), the current reference frames.
'''
# Load data from YAML file into Python dictionary.
with open(self._data_dir + SAVE_FILENAME, 'r') as state_file:
exp_state = yaml.load(state_file)
# Create all actions.
n_actions = exp_state[YAML_KEY_NACTIONS]
for i in range(n_actions):
act_idx = i + 1
self.actions[act_idx] = ProgrammedAction(act_idx,
self._selected_step_cb)
# Load each action's data from a ROS bag.
self.actions[act_idx].load(self._data_dir)
# Select the correct starting action.
self.current_action_index = exp_state[YAML_KEY_CURIDX]
# NOTE(mbforbes): The object_list is not saved to
# self._object_list here because this method is only called from
# the constructor, where the object_list is already saved.
self.actions[self.current_action_index].initialize_viz(object_list)
def load_action(self, db_id):
'''Loads an action from the database.
This effectively creates an action in the current session.
Args:
db_id: string, the ID of the action to load from the database.
Returns:
True on success, False otherwise.
'''
if self.n_actions() > 0:
self.get_current_action().reset_viz()
self.current_action_id = db_id
if db_id not in self.actions:
msg = self._db.find(db_id)
if msg is None:
return False
self.actions.update({
self.current_action_id:
ProgrammedAction.from_msg(msg, self._world,
self.current_action_id,
self._selected_step_cb)
})
self._session_actions.append(db_id)
self._update_experiment_state()
return True
def new_action(self):
'''Creates new action.'''
if self.n_actions() > 0:
self.get_current_action().reset_viz()
self.current_action_index = self.n_actions() + 1
self.actions.update({
self.current_action_index:
ProgrammedAction(self.current_action_index, self._selected_step_cb)
})
self._update_experiment_state()