updated file paths and added file for online weight learning

canonical_assembly_v1.py

@@ -27,7 +27,7 @@
 directory_syspath = "/home/icaros/ros_ws/src/ada_manipulation_demos"
 
 # urdf files path 
-urdf_filepath = "package://ada_manipulation_demos/urdf_collection"
+urdf_filepath = "package://ada_manipulation_demos/urdfs"
 
 
 # ------------------------------------------------------- MAIN ------------------------------------------------------- #
@@ -174,7 +174,7 @@ def __init__(self):
 
         # task info
         assembly_image = QLabel(self)
-        pixmap = QPixmap(directory_syspath + "/src/canonical_task.png")
+        pixmap = QPixmap(directory_syspath + "/media/canonical_task.png")
         pixmap = pixmap.scaledToWidth(1125)
         assembly_image.setPixmap(pixmap)
         assembly_image.adjustSize()

canonical_assembly_v2.py

@@ -27,7 +27,7 @@
 directory_syspath = "/home/icaros/ros_ws/src/ada_manipulation_demos"
 
 # urdf files path 
-urdf_filepath = "package://ada_manipulation_demos/urdf_collection"
+urdf_filepath = "package://ada_manipulation_demos/urdfs"
 
 
 # ------------------------------------------------------- MAIN ------------------------------------------------------- #
@@ -215,7 +215,7 @@ def __init__(self):
 
         # task info
         assembly_image = QLabel(self)
-        pixmap = QPixmap(directory_syspath + "/src/canonical_task.png")
+        pixmap = QPixmap(directory_syspath + "/media/canonical_task.png")
         pixmap = pixmap.scaledToWidth(1125)
         assembly_image.setPixmap(pixmap)
         assembly_image.adjustSize()

irl.py

@@ -0,0 +1,58 @@
+import numpy as np
+from copy import deepcopy
+
+
+def get_trajectories(states, demonstrations, transition_function):
+    trajectories = []
+    for demo in demonstrations:
+        s = states[0]
+        trajectory = []
+        for action in demo:
+            p, sp = transition_function(s, action)
+            s_idx, sp_idx = states.index(s), states.index(sp)
+            trajectory.append((s_idx, action, sp_idx))
+            s = sp
+        trajectories.append(trajectory)
+
+    return trajectories
+
+def rollout_trajectory(qf, states, transition_function, remaining_actions, start_state=0):
+
+    s = start_state
+    available_actions = deepcopy(remaining_actions)
+    generated_sequence = []
+    while len(available_actions) > 0:
+        max_action_val = -np.inf
+        candidates = []
+        for a in available_actions:
+            p, sp = transition_function(states[s], a)
+            if sp:
+                if qf[s][a] > max_action_val:
+                    candidates = [a]
+                    max_action_val = qf[s][a]
+                elif qf[s][a] == max_action_val:
+                    candidates.append(a)
+                    max_action_val = qf[s][a]
+
+        if not candidates:
+            print(s)
+        take_action = np.random.choice(candidates)
+        generated_sequence.append(take_action)
+        p, sp = transition_function(states[s], take_action)
+        s = states.index(sp)
+        available_actions.remove(take_action)
+
+    return generated_sequence
+
+def boltzman_likelihood(state_features, trajectories, weights, rationality=0.99):
+    n_states, n_features = np.shape(state_features)
+    likelihood, rewards = [], []
+    for traj in trajectories:
+        feature_count = deepcopy(state_features[traj[0][0]])
+        for t in traj:
+            feature_count += deepcopy(state_features[t[2]])
+        total_reward = rationality * weights.dot(feature_count)
+        rewards.append(total_reward)
+        likelihood.append(np.exp(total_reward))
+
+    return likelihood, rewards

proactive_assembly_v1.py

@@ -27,7 +27,7 @@
 directory_syspath = "/home/icaros/ros_ws/src/ada_manipulation_demos"
 
 # urdf files path 
-urdf_filepath = "package://ada_manipulation_demos/urdf_collection"
+urdf_filepath = "package://ada_manipulation_demos/urdfs"
 
 
 # ------------------------------------------------------- MAIN ------------------------------------------------------- #
@@ -206,7 +206,7 @@ def __init__(self):
 
         # task info
         assembly_image = QLabel(self)
-        pixmap = QPixmap(directory_syspath + "/src/actual_task.jpg")
+        pixmap = QPixmap(directory_syspath + "/media/actual_task.jpg")
         pixmap = pixmap.scaledToWidth(1125)
         assembly_image.setPixmap(pixmap)
         assembly_image.adjustSize()

proactive_assembly_v2.py

@@ -28,7 +28,7 @@
 directory_syspath = "/home/icaros/ros_ws/src/ada_manipulation_demos"
 
 # urdf files path 
-urdf_filepath = "package://ada_manipulation_demos/urdf_collection"
+urdf_filepath = "package://ada_manipulation_demos/urdfs"
 
 
 # ------------------------------------------------------- MAIN ------------------------------------------------------- #
@@ -262,7 +262,7 @@ def __init__(self):
 
         # task info
         assembly_image = QLabel(self)
-        pixmap = QPixmap(directory_syspath + "/src/actual_task.jpg")
+        pixmap = QPixmap(directory_syspath + "/media/actual_task.jpg")
         pixmap = pixmap.scaledToWidth(1125)
         assembly_image.setPixmap(pixmap)
         assembly_image.adjustSize()

reactive_assembly_v1.py

@@ -27,7 +27,7 @@
 directory_syspath = "/home/icaros/ros_ws/src/ada_manipulation_demos"
 
 # urdf files path 
-urdf_filepath = "package://ada_manipulation_demos/urdf_collection"
+urdf_filepath = "package://ada_manipulation_demos/urdfs"
 
 
 # ------------------------------------------------------- MAIN ------------------------------------------------------- #
@@ -180,7 +180,7 @@ def __init__(self):
 
         # task info
         assembly_image = QLabel(self)
-        pixmap = QPixmap(directory_syspath + "/src/actual_task.jpg")
+        pixmap = QPixmap(directory_syspath + "/media/actual_task.jpg")
         pixmap = pixmap.scaledToWidth(1125)
         assembly_image.setPixmap(pixmap)
         assembly_image.adjustSize()

reactive_assembly_v2.py

@@ -28,7 +28,7 @@
 directory_syspath = "/home/icaros/ros_ws/src/ada_manipulation_demos"
 
 # urdf files path 
-urdf_filepath = "package://ada_manipulation_demos/urdf_collection"
+urdf_filepath = "package://ada_manipulation_demos/urdfs"
 
 
 # ------------------------------------------------------- MAIN ------------------------------------------------------- #
@@ -235,7 +235,7 @@ def __init__(self):
 
         # task info
         assembly_image = QLabel(self)
-        pixmap = QPixmap(directory_syspath + "/src/actual_task.jpg")
+        pixmap = QPixmap(directory_syspath + "/media/actual_task.jpg")
         pixmap = pixmap.scaledToWidth(1125)
         assembly_image.setPixmap(pixmap)
         assembly_image.adjustSize()