Add metrics processing notebook

.gitignore

@@ -1,6 +1,9 @@
 .vscode*
 *egg-info*
 *__pycache__*
+**/*.ipynb
+.github
+**/*.ipynb_checkpoints
 
 tasknet/task_conditions/parsing_tests/sample.pddl
 tasknet/sample_natural_condition.txt

notebooks/generate_notebooks.sh

@@ -0,0 +1 @@
+jupytext --to notebook *.py

notebooks/metrics.py

@@ -0,0 +1,103 @@
+# ---
+# jupyter:
+#   jupytext:
+#     formats: ipynb,py:light
+#     text_representation:
+#       extension: .py
+#       format_name: light
+#       format_version: '1.5'
+#       jupytext_version: 1.10.3
+#   kernelspec:
+#     display_name: Python 3
+#     language: python
+#     name: python3
+# ---
+
+import h5py
+import matplotlib.pyplot as plt
+import numpy as np
+
+filename = "../../iGibson/putting_away_Christmas_decorations_filtered_0_Beechwood_0_int_2021-03-13_22-51-53.hdf5"
+
+f = h5py.File(filename, "r")
+print("Task Name: ", f.attrs['/metadata/task_name'])
+print("Task Instance: ", f.attrs['/metadata/task_instance'])
+print("Scene ID: ", f.attrs['/metadata/scene_id'])
+print("Start time: ", f.attrs['/metadata/start_time'])
+
+# # Satisfied and unsatisfied predicates
+
+fig, ax = plt.subplots()
+ax.plot(np.sum(f['goal_status']['satisfied'][:], axis=1))
+ax.plot(np.sum(f['goal_status']['unsatisfied'][:], axis=1))
+
+# +
+left_position = f['vr']['vr_device_data']['left_controller'][:, 1:4]
+right_position = f['vr']['vr_device_data']['right_controller'][:, 1:4]
+body_position = f['vr']['vr_device_data']['vr_position_data'][:, 0:3]
+
+left_delta_position = np.linalg.norm(left_position[1:-1] - left_position[0:-2], axis=1)
+right_delta_position = np.linalg.norm(right_position[1:-1] - right_position[0:-2], axis=1)
+body_delta_position = np.linalg.norm(body_position[1:-1] - body_position[0:-2], axis=1)
+
+left_delta_position = np.clip(-0.2, 0.2, left_delta_position)
+right_delta_position = np.clip(-0.2, 0.2, right_delta_position)
+body_delta_position = np.clip(-0.2, 0.2, body_delta_position)
+# -
+
+# # Cumulative distance traveled
+
+fig, ax = plt.subplots()
+ax.plot(np.cumsum(left_delta_position))
+ax.plot(np.cumsum(right_delta_position))
+ax.plot(np.cumsum(body_delta_position))
+
+# # Instantaneous velocity
+
+fig, ax = plt.subplots()
+ax.plot(left_delta_position)
+ax.plot(right_delta_position)
+ax.plot(body_delta_position)
+
+# # Grasping
+
+# +
+left_grasp = f['vr']['vr_button_data']['left_controller'][:, 0]
+right_grasp = f['vr']['vr_button_data']['right_controller'][:, 0]
+
+left_grasp_engaged = left_grasp * (left_grasp > 0.8)
+right_grasp_engaged = right_grasp * (right_grasp > 0.8)
+# -
+
+fig, ax = plt.subplots()
+ax.plot(left_grasp_engaged)
+ax.plot(right_grasp_engaged)
+
+# +
+right_grasp_on_filter = np.convolve(right_grasp_engaged, np.array([1,-1]))
+right_grasp_on = np.where(np.isclose(right_grasp_on_filter, 1, 0.2))
+
+right_grasp_off_filter = np.convolve(right_grasp_engaged, np.array([-1,1]))
+right_grasp_off = np.where(np.isclose(right_grasp_off_filter, -1, 0.2))
+
+
+# +
+left_grasp_on_filter = np.convolve(left_grasp_engaged, np.array([1,-1]))
+left_grasp_on = np.where(np.isclose(left_grasp_on_filter, 1, 0.2))
+
+left_grasp_off_filter = np.convolve(left_grasp_engaged, np.array([-1,1]))
+left_grasp_off = np.where(np.isclose(left_grasp_off_filter, -1, 0.2))
+# -
+# # Force/Work
+
+
+left_force = np.sum(f['vr']['vr_device_data']['left_controller'][:, 17:23], axis=1)
+right_force = np.sum(f['vr']['vr_device_data']['right_controller'][:, 17:23], axis=1)
+body_force = np.sum(f['vr']['vr_device_data']['vr_position_data'][:, 6:12], axis=1)
+
+fig, ax = plt.subplots()
+ax.plot(left_force)
+ax.plot(right_force)
+ax.plot(body_force)
+
+

setup.py

@@ -20,7 +20,8 @@ setup(
     install_requires=[
         'pytest',
         'numpy',
-        "networkx"
+        'networkx'
+        'jupytext'
     ],
     package_data={},
     include_package_data=True