-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy path__main__.py
60 lines (45 loc) · 2.41 KB
/
__main__.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
from os.path import join
from sklearn.externals import joblib
import sys
from grasping_position_inference.training.model_generator import generate_models
from grasping_position_inference.inference.model import Model
MODEL_PATH = 'models'
def get_probability_distribution_for_grid(x, y, model_name):
model_filepath = join(MODEL_PATH, model_name)
model = joblib.load(model_filepath)
result = []
for i in range(0, len(x)):
success_rate = []
for predict_values in model.predict_proba(map(list, zip(x[i], y[i]))):
success_rate.append(predict_values[1])
result.append(success_rate)
return result
if __name__ == "__main__":
args = sys.argv[1:]
generate_models(args[0], args[1])
model = Model(args[1])
model.add_predictor('cup.n.01', 'FRONT','FRONT', 'BOTTOM', 'pr2_left_arm')
model.add_predictor('cup.n.01', 'LEFT-SIDE', 'LEFT-SIDE', 'BOTTOM', 'pr2_left_arm')
model.add_predictor('cup.n.01', 'RIGHT-SIDE', 'RIGHT-SIDE', 'BOTTOM', 'pr2_left_arm')
model.add_predictor('cup.n.01', 'BACK', 'BACK', 'BOTTOM', 'pr2_left_arm')
result = model.get_probability_distribution_for_grid()
model = Model(args[1])
model.add_predictor('bowl.n.01', 'TOP', 'FRONT', 'BOTTOM', 'pr2_left_arm')
model.add_predictor('bowl.n.01', 'TOP', 'LEFT-SIDE', 'BOTTOM', 'pr2_left_arm')
model.add_predictor('bowl.n.01', 'TOP', 'RIGHT-SIDE', 'BOTTOM', 'pr2_left_arm')
model.add_predictor('bowl.n.01', 'TOP', 'BACK', 'BOTTOM', 'pr2_left_arm')
result = model.get_probability_distribution_for_grid()
model = Model(args[1])
model.add_predictor('spoon.n.01', 'TOP', 'FRONT', 'BOTTOM', 'pr2_left_arm')
model.add_predictor('spoon.n.01', 'TOP', 'LEFT-SIDE', 'BOTTOM', 'pr2_left_arm')
model.add_predictor('spoon.n.01', 'TOP', 'RIGHT-SIDE', 'BOTTOM', 'pr2_left_arm')
model.add_predictor('spoon.n.01', 'TOP', 'BACK', 'BOTTOM', 'pr2_left_arm')
result = model.get_probability_distribution_for_grid()
model = Model(args[1])
model.add_predictor('not_object.n.01', 'TOP', 'FRONT', 'BOTTOM', 'pr2_left_arm')
model.add_predictor('not_object.n.01', 'TOP', 'LEFT-SIDE', 'BOTTOM', 'pr2_left_arm')
model.add_predictor('not_object.n.01', 'TOP', 'RIGHT-SIDE', 'BOTTOM', 'pr2_left_arm')
model.add_predictor('not_object.n.01', 'TOP', 'BACK', 'BOTTOM', 'pr2_left_arm')
result = model.get_probability_distribution_for_grid()
print result
print 'done'