From bcbeb3ebed5f9f0e92f3edae5ed5efb5e009b58d Mon Sep 17 00:00:00 2001
From: Michel Breyer <10465414+mbreyer@users.noreply.github.com>
Date: Fri, 26 Nov 2021 13:55:54 +0100
Subject: [PATCH] Update metrics

---
 scripts/print_stats.ipynb | 28 ++++++++--------------------
 1 file changed, 8 insertions(+), 20 deletions(-)

diff --git a/scripts/print_stats.ipynb b/scripts/print_stats.ipynb
index 94e9747..1645365 100644
--- a/scripts/print_stats.ipynb
+++ b/scripts/print_stats.ipynb
@@ -25,35 +25,23 @@
     "logfile = \"\"\n",
     "\n",
     "df = pd.read_csv(logfile)\n",
+    "df = df[df.result != \"no_motion_plan_found\"]\n",
     "\n",
     "n_attempts = len(df.index)\n",
     "n_succeeded = (df.result == \"succeeded\").sum()\n",
-    "n_failed = ((df.result == \"failed\") | (df.result == \"no_motion_plan_found\")).sum()\n",
+    "n_failed = (df.result == \"failed\").sum()\n",
     "n_aborted = (df.result == \"aborted\").sum()\n",
+    "\n",
     "views_mean = df.view_count.mean()\n",
     "views_std = df.view_count.std()\n",
+    "\n",
     "search_time_mean = df.search_time.mean()\n",
     "search_time_std = df.search_time.std()\n",
-    "grasp_time_mean = df.grasp_time.mean()\n",
-    "grasp_time_std = df.grasp_time.std()\n",
     "\n",
-    "print(f\"${n_succeeded}$ & ${n_failed}$ & ${n_aborted}$ & ${views_mean:.1f} \\pm {views_std:.1f}$ & ${search_time_mean:.2f} \\pm {search_time_std:.2f}$ & ${grasp_time_mean:.2f} \\pm {grasp_time_std:.2f}$\")"
-   ]
-  },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "How often does it fail because no motion plan was found?\n"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "print((df.result == \"no_motion_plan_found\").sum())"
+    "total_time_mean = (df.search_time + df.grasp_time).mean()\n",
+    "total_time_std = (df.search_time + df.grasp_time).std()\n",
+    "\n",
+    "print(f\"${n_succeeded / n_attempts:.2f}$ & ${n_failed / n_attempts:.2f}$ & ${n_aborted / n_attempts:.2f}$ & ${views_mean:.0f} \\pm {views_std:.0f}$ & ${search_time_mean:.2f} \\pm {search_time_std:.2f}$ & ${total_time_mean:.2f} \\pm {total_time_std:.2f}$\")"
    ]
   },
   {