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Merge pull request aistairc#19 from aistairc/fix_state_value
Fix state value
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,170 @@ | ||
| { | ||
| "cells": [ | ||
| { | ||
| "cell_type": "code", | ||
| "execution_count": 1, | ||
| "metadata": {}, | ||
| "outputs": [], | ||
| "source": [ | ||
| "import sys\n", | ||
| "import os\n", | ||
| "import re\n", | ||
| "import json\n", | ||
| "import glob\n", | ||
| "import copy\n", | ||
| "import time\n", | ||
| "import random\n", | ||
| "import shutil\n", | ||
| "from pathlib import Path\n", | ||
| "\n", | ||
| "sys.path.append('../simulation/')\n", | ||
| "sys.path.append('../dataset_utils/')\n", | ||
| "\n", | ||
| "import augmentation_utils" | ||
| ] | ||
| }, | ||
| { | ||
| "cell_type": "code", | ||
| "execution_count": 2, | ||
| "metadata": {}, | ||
| "outputs": [], | ||
| "source": [ | ||
| "def get_program_file(file_path):\n", | ||
| " program_name = ''\n", | ||
| " list_of_steps = []\n", | ||
| " i = 1\n", | ||
| " with open(file_path, \"r\") as f:\n", | ||
| " lines = f.readlines()\n", | ||
| " program_name = lines[0].replace(\"\\n\", \"\")\n", | ||
| " for line in lines[2:]:\n", | ||
| " line = line.replace(\"\\n\", \"\")\n", | ||
| " if line.startswith(\"<\"):\n", | ||
| " line = line.replace(\"<char0> \",\"\")\n", | ||
| " i+=1\n", | ||
| " temp_dict = {}\n", | ||
| " temp_dict['step']=i\n", | ||
| " action, objs, indexs = augmentation_utils.parseStrBlock(line)\n", | ||
| " temp_dict['action']=action\n", | ||
| " if len(objs) > 0:\n", | ||
| " temp_dict['obj1']=objs[0]\n", | ||
| " temp_dict['index1']=indexs[0]\n", | ||
| " if len(objs) > 1:\n", | ||
| " temp_dict['obj2']=objs[1]\n", | ||
| " temp_dict['index2']=indexs[1]\n", | ||
| " list_of_steps.append(temp_dict)\n", | ||
| " else:\n", | ||
| " pass\n", | ||
| "\n", | ||
| " return program_name, list_of_steps" | ||
| ] | ||
| }, | ||
| { | ||
| "cell_type": "code", | ||
| "execution_count": 3, | ||
| "metadata": {}, | ||
| "outputs": [], | ||
| "source": [ | ||
| "def read_and_write(script_dict,path,scene,program_name,item,start_step_index=None,put_id=None):\n", | ||
| " if start_step_index is None:\n", | ||
| " json_file = \"/activityList-graph-state-{:03d}.json\".format(script_dict['step'])\n", | ||
| " else:\n", | ||
| " json_file = \"/activityList-graph-state-{:03d}.json\".format(start_step_index)\n", | ||
| " json_path = path+\"/\"+scene+\"/graph states/\"+program_name+json_file\n", | ||
| " new_data={}\n", | ||
| " with open(json_path, \"r\") as f:\n", | ||
| " json_data = json.load(f)\n", | ||
| " for node in json_data['nodes']:\n", | ||
| " if start_step_index is None:\n", | ||
| " if node['id']==int(script_dict['index1']) and node['class_name']==script_dict['obj1']:\n", | ||
| " if 'GRABED' in node['states']:\n", | ||
| " node['states'].remove('GRABED')\n", | ||
| " else:\n", | ||
| " if node['id']==int(put_id):\n", | ||
| " if 'GRABED' in node['states']:\n", | ||
| " node['states'].remove('GRABED')\n", | ||
| " new_data=json_data\n", | ||
| " output_path = \"../simulation/Output/edited jsons/\"+item+\"/\"+scene+\"/graph states/\"+program_name\n", | ||
| " if os.path.exists(output_path) is False:\n", | ||
| " os.makedirs(output_path)\n", | ||
| " output_json_path = output_path+json_file\n", | ||
| " with open(output_json_path, \"w\") as out_file:\n", | ||
| " json.dump(new_data, out_file, indent=2)" | ||
| ] | ||
| }, | ||
| { | ||
| "cell_type": "code", | ||
| "execution_count": 5, | ||
| "metadata": {}, | ||
| "outputs": [], | ||
| "source": [ | ||
| "data_path = \"E:/件名：納品物/4(3)の生成データ 一式/データセット２（部屋から移動あり）/\"\n", | ||
| "for item in os.listdir(data_path):\n", | ||
| " category_path = data_path+item\n", | ||
| " for scene in os.listdir(category_path+\"/executed_program/\"):\n", | ||
| " program_path = category_path+\"/executed_program/\"+scene+\"/\"\n", | ||
| " for program in os.listdir(program_path):\n", | ||
| " path=program_path+program\n", | ||
| " program_name, script_info = get_program_file(path)\n", | ||
| " keep_change_list=[]\n", | ||
| " for script_dict in script_info:\n", | ||
| " if script_dict['action'] in ['GRAB']:\n", | ||
| " for dict in keep_change_list:\n", | ||
| " if script_dict['index1'] == dict['put_id']:\n", | ||
| " keep_change_list.remove(dict)\n", | ||
| " # we need to change JSON file until program end or agent pick same obj again\n", | ||
| " if len(keep_change_list) > 0:\n", | ||
| " existing_path=category_path\n", | ||
| " for dict in keep_change_list:\n", | ||
| " dict['start_index'] = dict['start_index']+1\n", | ||
| " read_and_write(script_dict,existing_path,scene,program_name,item, dict['start_index'],dict['put_id'])\n", | ||
| " existing_path=\"../simulation/Output/edited jsons/\"+item\n", | ||
| " json_file = \"/activityList-graph-state-{:03d}.json\".format(dict['start_index'])\n", | ||
| " if os.path.exists(existing_path+\"/\"+scene+\"/graph states/\"+program_name+json_file) is False:\n", | ||
| " print('edit new',program_name+json_file)\n", | ||
| " existing_path=category_path\n", | ||
| " if script_dict['action'] in ['PUTBACK','PUTOBJBACK','PUTIN']:\n", | ||
| " keep_change_dict={}\n", | ||
| " keep_change_dict['start_index']=script_dict['step']\n", | ||
| " keep_change_dict['put_id']=script_dict['index1']\n", | ||
| " keep_change_list.append(keep_change_dict)\n", | ||
| " if len(keep_change_list) > 1:\n", | ||
| " existing_path=\"../simulation/Output/edited jsons/\"+item\n", | ||
| " json_file = \"/activityList-graph-state-{:03d}.json\".format(script_dict['step'])\n", | ||
| " if os.path.exists(existing_path+\"/\"+scene+\"/graph states/\"+program_name+json_file):\n", | ||
| " read_and_write(script_dict,existing_path,scene,program_name,item)\n", | ||
| " else:\n", | ||
| " read_and_write(script_dict,category_path,scene,program_name,item)\n", | ||
| " else:\n", | ||
| " read_and_write(script_dict,category_path,scene,program_name,item)" | ||
| ] | ||
| }, | ||
| { | ||
| "cell_type": "code", | ||
| "execution_count": null, | ||
| "metadata": {}, | ||
| "outputs": [], | ||
| "source": [] | ||
| } | ||
| ], | ||
| "metadata": { | ||
| "kernelspec": { | ||
| "display_name": "Python 3", | ||
| "language": "python", | ||
| "name": "python3" | ||
| }, | ||
| "language_info": { | ||
| "codemirror_mode": { | ||
| "name": "ipython", | ||
| "version": 3 | ||
| }, | ||
| "file_extension": ".py", | ||
| "mimetype": "text/x-python", | ||
| "name": "python", | ||
| "nbconvert_exporter": "python", | ||
| "pygments_lexer": "ipython3", | ||
| "version": "3.8.3" | ||
| } | ||
| }, | ||
| "nbformat": 4, | ||
| "nbformat_minor": 4 | ||
| } |
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