started_video = True
time.sleep(9999)
except KeyboardInterrupt:
print colorize("got control-c", "green")
finally:
if started_bag:
bag_handle.send_signal(signal.SIGINT)
bag_handle.wait()
if started_video:
video_handle.send_signal(signal.SIGINT)
video_handle.wait()
bagfilename = demo_name+".bag"
if yes_or_no("save demo?"):
annfilename = demo_name+".ann.yaml"
call_and_print("generate_annotations.py %s %s"%(bagfilename, annfilename))
with open(args.master_file,"a") as fh:
fh.write("\n"
"- bag_file: %(bagfilename)s\n"
" annotation_file: %(annfilename)s\n"
" video_dir: %(videodir)s"
" demo_name: %(demoname)s"%dict(bagfilename=bagfilename, annfilename=annfilename, videodir=demo_name, demoname=demo_name))
else:
shutil.rmtree(demo_name) #video dir
os.unlink(bagfilename)
import os
from rapprentice.call_and_print import call_and_print
os.chdir("../scripts")
od = "~/henry_sandbox/rapprentice/sampledata/overhand"
call_and_print(
"./generate_annotations.py %(od)s/demo0_2013-04-20-15-58-09.bag %(od)s/demo0_2013-04-20-15-58-09.bag.ann.yaml"
% dict(od=od))
call_and_print("./generate_h5.py %(od)s/overhand.yaml" % dict(od=od))
import os
from rapprentice.call_and_print import call_and_print
os.chdir("../scripts")
od = "~/henry_sandbox/rapprentice/sampledata/overhand"
call_and_print(
"./generate_annotations.py %(od)s/demo0_2013-04-20-15-58-09.bag %(od)s/demo0_2013-04-20-15-58-09.bag.ann.yaml"
% dict(od=od)
)
call_and_print("./generate_h5.py %(od)s/overhand.yaml" % dict(od=od))
import rapprentice, os, os.path as osp
from rapprentice.call_and_print import call_and_print
assert osp.basename(os.getcwd()) == "test"
call_and_print("python tps_unit_tests.py")
call_and_print("python ../scripts/download_sampledata.py /tmp --use_rsync")
call_and_print("python ../scripts/generate_h5.py /tmp/sampledata/overhand/overhand.yaml")
def main():
demofile = h5py.File(args.h5file, 'r')
trajoptpy.SetInteractive(args.interactive)
if args.execution:
rospy.init_node("exec_task",disable_signals=True)
Globals.pr2 = PR2.PR2()
Globals.env = Globals.pr2.env
Globals.robot = Globals.pr2.robot
else:
Globals.env = openravepy.Environment()
Globals.env.StopSimulation()
Globals.env.Load("robots/pr2-beta-static.zae")
Globals.robot = Globals.env.GetRobots()[0]
if not args.fake_data_segment:
grabber = cloudprocpy.CloudGrabber()
grabber.startRGBD()
Globals.viewer = trajoptpy.GetViewer(Globals.env)
#####################
started_bag = False
started_video = False
localtime = time.localtime()
time_string = time.strftime("%Y-%m-%d-%H-%M-%S", localtime)
os.chdir(osp.dirname(args.new_demo))
if not osp.exists(args.new_demo):
yn = yes_or_no("master file does not exist. create?")
basename = raw_input("what is the base name?\n").strip()
if yn:
with open(args.new_demo,'w') as fh: fh.write("""
name: %s
h5path: %s
bags:
"""%(basename, basename+".h5"))
else:
print "exiting."
exit(0)
with open(args.new_demo, "r") as fh: master_info = yaml.load(fh)
if master_info["bags"] is None: master_info["bags"] = []
for suffix in itertools.chain("", (str(i) for i in itertools.count())):
demo_name = args.demo_prefix + suffix
if not any(bag["demo_name"] == demo_name for bag in master_info["bags"]):
break
print demo_name
timestampfile = demo_name+"timestamps.txt"
fht = open(timestampfile,"w")
try:
bag_cmd = "rosbag record /joint_states /joy -O %s"%demo_name
#print colorize(bag_cmd, "green")
bag_handle = subprocess.Popen(bag_cmd, shell=True)
time.sleep(1)
poll_result = bag_handle.poll()
print "poll result", poll_result
if poll_result is not None:
raise Exception("problem starting video recording")
else: started_bag = True
video_cmd = "record_rgbd_video --out=%s --downsample=%i"%(demo_name, args.downsample)
#print colorize(video_cmd, "green")
video_handle = subprocess.Popen(video_cmd, shell=True)
started_video = True
#grab_end(new_xyz)
fht.write('look:' + str(rospy.get_rostime().secs))
################################
redprint("Finding closest demonstration")
seg_name = find_closest_manual(demofile, None)
seg_info = demofile[seg_name]
redprint("Generating end-effector trajectory")
old_xyz = np.squeeze(seg_info["cloud_xyz"])
scaled_old_xyz, src_params = registration.unit_boxify(old_xyz)
link2eetraj = {}
for lr in 'lr':
link_name = "%s_gripper_tool_frame"%lr
old_ee_traj = asarray(seg_info[link_name]["hmat"])
miniseg_starts, miniseg_ends = split_trajectory_by_gripper(seg_info)
success = True
for (i_miniseg, (i_start, i_end)) in enumerate(zip(miniseg_starts, miniseg_ends)):
if args.execution=="real": Globals.pr2.update_rave()
################################
redprint("Generating joint trajectory for segment %s, part %i"%(seg_name, i_miniseg))
# figure out how we're gonna resample stuff
lr2oldtraj = {}
for lr in 'lr':
manip_name = {"l":"leftarm", "r":"rightarm"}[lr]
old_joint_traj = asarray(seg_info[manip_name][i_start:i_end+1])
#print (old_joint_traj[1:] - old_joint_traj[:-1]).ptp(axis=0), i_start, i_end
lr2oldtraj[lr] = old_joint_traj
### Generate fullbody traj
bodypart2traj = {}
for (lr,old_joint_traj) in lr2oldtraj.items():
manip_name = {"l":"leftarm", "r":"rightarm"}[lr]
#old_joint_traj_rs = mu.interp2d(timesteps_rs, np.arange(len(old_joint_traj)), old_joint_traj)
ee_link_name = "%s_gripper_tool_frame"%lr
#new_ee_traj = link2eetraj[ee_link_name][i_start:i_end+1]
#new_ee_traj_rs = resampling.interp_hmats(timesteps_rs, np.arange(len(new_ee_traj)), new_ee_traj)
if args.execution: Globals.pr2.update_rave()
#new_joint_traj = planning.plan_follow_traj(Globals.robot, manip_name,
# Globals.robot.GetLink(ee_link_name), new_ee_traj_rs,old_joint_traj_rs)
part_name = {"l":"larm", "r":"rarm"}[lr]
bodypart2traj[part_name] = old_joint_traj
traj = {}
for lr in 'lr':
part_name = {"l":"larm", "r":"rarm"}[lr]
traj[lr] = bodypart2traj[part_name]
if i_miniseg ==0:
redprint("Press enter to use current position as starting point")
raw_input()
arm_positions = {}
(arm_position, arm_velocity, arm_effort) = robot_states.call_return_joint_states(robot_states.r_arm_joint_names)
arm_positions['r'] = arm_position
diff_r = np.array(arm_position - traj['r'][0,:])
maximum_r = max(abs(diff_r))
(arm_position, arm_velocity, arm_effort) = robot_states.call_return_joint_states(robot_states.l_arm_joint_names)
arm_positions['l'] = arm_position
diff_l = np.array(arm_position - traj['l'][0,:])
maximum_l = max(abs(diff_l))
maximum = max(maximum_l, maximum_r)
speed = (20.0/360.0*2*(np.pi))
time_needed = maximum / speed
initial_pos_traj = {}
for lr in 'lr':
part_name = {"l":"larm", "r":"rarm"}[lr]
initial_pos_traj[part_name] = mu.interp2d(np.arange(0, time_needed, 0.01), np.array([0,time_needed]), np.array([arm_positions[lr], traj[lr][0,:]]))
#initial_traj_length = initial_pos_traj.shape[0]
#traj[lr] = np.concatenate((initial_pos_traj, traj_part[lr]), axis=0)
#=======================send to controller======================
length_total = initial_pos_traj["larm"].shape[0]
qs_l = np.resize(initial_pos_traj["larm"], (1, initial_pos_traj["larm"].shape[0]*7))[0] #resize the data to 1x7n (n being the number of steps)
qs_r = np.resize(initial_pos_traj["rarm"], (1, initial_pos_traj["rarm"].shape[0]*7))[0]
#F = np.array(np.matrix(F).T) # 6 x n
F = np.zeros((length_total,6))
F = np.resize(F, (1, F.shape[0]*6))[0] #resize the data to 1x3n
gripper = np.zeros((length_total,1))
gripper = np.resize(gripper, (1, gripper.shape[0]*1))[0]
# Controller code in joint space
pgains = np.asarray([2400.0, 1200.0, 1000.0, 700.0, 300.0, 300.0, 300.0])
dgains = np.asarray([18.0, 10.0, 6.0, 4.0, 6.0, 4.0, 4.0])
# Gains as Kps and Kvs for testing
Kps = []
Kvs = []
for i in range(length_total):
Kps.append(np.zeros((6,6)))
Kvs.append(np.zeros((6,6)))
toAddJkpJ = np.diag(np.asarray([-2400.0, -1200.0, -1000.0, -700.0, -300.0, -300.0, -300.0]))
toAddJkvJ = np.diag(np.asarray([-18.0, -10.0, -6.0, -4.0, -6.0, -4.0, -4.0]))
#toAddJkvJ = np.diag(np.asarray([0, 0, 0, 0, 0, 0, 0]))
#length = complete_force_traj.shape[0]
JKpJ = np.asarray([toAddJkpJ for i in range(length_total)])
JKpJ = np.resize(JKpJ, (1, 49*length_total))[0]
JKvJ = np.asarray([toAddJkvJ for i in range(length_total)])
JKvJ = np.resize(JKvJ, (1, 49*length_total))[0]
# [traj, Kp, Kv, F, use_force, seconds]
Kps = np.resize(Kps, (1, 36 * length_total))[0]
Kvs = np.resize(Kvs, (1, 36 * length_total))[0]
#JKpJ = np.resize(JKpJ, (1, 49 * num_steps))[0]
#JKvJ = np.resize(JKvJ, (1, 49 * num_steps))[0]
stamps = asarray(seg_info['stamps'])
data = np.zeros((1, length_total*(7+49+49+6+36+36+7+49+49+6+36+36+1)+2))
data[0][0:length_total*7] = qs_r
data[0][length_total*7:length_total*(7+49)] = JKpJ
data[0][length_total*(7+49):length_total*(7+49+49)] = JKvJ
data[0][length_total*(7+49+49):length_total*(7+49+49+6)] = F
data[0][length_total*(7+49+49+6):length_total*(7+49+49+6+36)] = Kps
data[0][length_total*(7+49+49+6+36):length_total*(7+49+49+6+36+36)] = Kvs
data[0][length_total*(7+49+49+6+36+36):length_total*(7+49+49+6+36+36+7)] = qs_l
data[0][length_total*(7+49+49+6+36+36+7):length_total*(7+49+49+6+36+36+7+49)] = JKpJ
data[0][length_total*(7+49+49+6+36+36+7+49):length_total*(7+49+49+6+36+36+7+49+49)] = JKvJ
data[0][length_total*(7+49+49+6+36+36+7+49+49):length_total*(7+49+49+6+36+36+7+49+49+6)] = F
data[0][length_total*(7+49+49+6+36+36+7+49+49+6):length_total*(7+49+49+6+36+36+7+49+49+6+36)] = Kps
data[0][length_total*(7+49+49+6+36+36+7+49+49+6+36):length_total*(7+49+49+6+36+36+7+49+49+6+36+36)] = Kvs
data[0][length_total*(7+49+49+6+36+36+7+49+49+6+36+36):length_total*(7+49+49+6+36+36+7+49+49+6+36+36+1)] = gripper
data[0][-2] = 0
data[0][-1] = stamps[i_end] - stamps[i_start]
msg = Float64MultiArray()
msg.data = data[0].tolist()
pub = rospy.Publisher("/controller_data", Float64MultiArray)
redprint("Press enter to start trajectory")
raw_input()
time.sleep(1)
pub.publish(msg)
time.sleep(1)
#===================end send to controller=======================
raw_input("CAME TO START POSITION")
time.sleep(1)
fht.write('\nstart:' + str(rospy.get_rostime().secs))
################################
redprint("Executing joint trajectory for segment %s, part %i using arms '%s'"%(seg_name, i_miniseg, bodypart2traj.keys()))
if not args.useHenry:
for lr in 'lr':
success &= set_gripper_maybesim(lr, binarize_gripper(seg_info["%s_gripper_joint"%lr][i_start]))
# Doesn't actually check if grab occurred, unfortunately
print('1')
fht.write('\nstart:' + str(rospy.get_rostime().secs))
print('2')
if len(bodypart2traj) > 0:
success &= exec_traj_maybesim(bodypart2traj)
print('3')
fht.write('\nstop:' + str(rospy.get_rostime().secs))
print('4')
else:
for lr in 'lr':
redprint("Press enter to set gripper")
raw_input()
set_gripper_maybesim(lr, binarize_gripper(seg_info["%s_gripper_joint"%lr][i_start]))
# Doesn't actually check if grab occurred, unfortunately
if bodypart2traj!={}:
length = i_end - i_start + 1
length_total = length
traj_r = traj['r']
qs_r = np.resize(traj_r, (1, traj_r.shape[0]*7))[0] #resize the data to 1x7n (n being the number of steps)
traj_l = traj['l']
qs_l = np.resize(traj_l, (1, traj_l.shape[0]*7))[0] #resize the data to 1x7n (n being the number of steps)
#F = np.array(np.matrix(F).T) # 6 x n
F = np.zeros((length_total,6))
F = np.resize(F, (1, F.shape[0]*6))[0] #resize the data to 1x3n
gripper = np.zeros((length_total,1))
gripper = np.resize(gripper, (1, gripper.shape[0]*1))[0]
# Controller code in joint space
pgains = np.asarray([2400.0, 1200.0, 1000.0, 700.0, 300.0, 300.0, 300.0])
dgains = np.asarray([18.0, 10.0, 6.0, 4.0, 6.0, 4.0, 4.0])
# Gains as Kps and Kvs for testing
Kps = []
Kvs = []
for i in range(length_total):
Kps.append(np.zeros((6,6)))
Kvs.append(np.zeros((6,6)))
toAddJkpJ = np.diag(np.asarray([-2400.0, -1200.0, -1000.0, -700.0, -300.0, -300.0, -300.0]))
toAddJkvJ = np.diag(np.asarray([-18.0, -10.0, -6.0, -4.0, -6.0, -4.0, -4.0]))
#toAddJkvJ = np.diag(np.asarray([0, 0, 0, 0, 0, 0, 0]))
#length = complete_force_traj.shape[0]
JKpJ = np.asarray([toAddJkpJ for i in range(length_total)])
JKpJ = np.resize(JKpJ, (1, 49*length_total))[0]
JKvJ = np.asarray([toAddJkvJ for i in range(length_total)])
JKvJ = np.resize(JKvJ, (1, 49*length_total))[0]
# [traj, Kp, Kv, F, use_force, seconds]
Kps = np.resize(Kps, (1, 36 * length_total))[0]
Kvs = np.resize(Kvs, (1, 36 * length_total))[0]
#JKpJ = np.resize(JKpJ, (1, 49 * num_steps))[0]
#JKvJ = np.resize(JKvJ, (1, 49 * num_steps))[0]
stamps = asarray(seg_info['stamps'])
data = np.zeros((1, length_total*(7+49+49+6+36+36+7+49+49+6+36+36+1)+2))
data[0][0:length_total*7] = qs_r
data[0][length_total*7:length_total*(7+49)] = JKpJ
data[0][length_total*(7+49):length_total*(7+49+49)] = JKvJ
data[0][length_total*(7+49+49):length_total*(7+49+49+6)] = F
data[0][length_total*(7+49+49+6):length_total*(7+49+49+6+36)] = Kps
data[0][length_total*(7+49+49+6+36):length_total*(7+49+49+6+36+36)] = Kvs
data[0][length_total*(7+49+49+6+36+36):length_total*(7+49+49+6+36+36+7)] = qs_l
data[0][length_total*(7+49+49+6+36+36+7):length_total*(7+49+49+6+36+36+7+49)] = JKpJ
data[0][length_total*(7+49+49+6+36+36+7+49):length_total*(7+49+49+6+36+36+7+49+49)] = JKvJ
data[0][length_total*(7+49+49+6+36+36+7+49+49):length_total*(7+49+49+6+36+36+7+49+49+6)] = F
data[0][length_total*(7+49+49+6+36+36+7+49+49+6):length_total*(7+49+49+6+36+36+7+49+49+6+36)] = Kps
data[0][length_total*(7+49+49+6+36+36+7+49+49+6+36):length_total*(7+49+49+6+36+36+7+49+49+6+36+36)] = Kvs
data[0][length_total*(7+49+49+6+36+36+7+49+49+6+36+36):length_total*(7+49+49+6+36+36+7+49+49+6+36+36+1)] = gripper
data[0][-2] = 0
data[0][-1] = stamps[i_end] - stamps[i_start]
msg = Float64MultiArray()
msg.data = data[0].tolist()
pub = rospy.Publisher("/controller_data", Float64MultiArray)
redprint("Press enter to start trajectory")
raw_input()
time.sleep(1)
pub.publish(msg)
time.sleep(1)
#if not success: break
print("Segment %s result: %s"%(seg_name, success))
print("exit loop")
for i in range(100):
time.sleep(1)
except KeyboardInterrupt:
redprint("=================================DONE================================")
raw_input()
raw_input()
raw_input()
fht.write('\nstop:' + str(rospy.get_rostime().secs))
fht.write('\ndone:' + str(rospy.get_rostime().secs))
fht.close()
time.sleep(3)
if started_bag:
print "stopping bag"
bag_handle.send_signal(signal.SIGINT)
#bag_handle.wait()
started_bag = False
if started_video:
print "stopping video"
video_handle.send_signal(signal.SIGINT)
#video_handle.wait()
started_video = False
bagfilename = demo_name+".bag"
annfilename = demo_name+".ann.yaml"
call_and_print("generate_ann.py %s %s %s"%(bagfilename, annfilename, timestampfile),check=False)
with open(args.new_demo,"a") as fh1:
fh1.write("\n"
"- bag_file: %(bagfilename)s\n"
" annotation_file: %(annfilename)s\n"
" video_dir: %(videodir)s\n"
" demo_name: %(demoname)s"%dict(bagfilename=bagfilename, annfilename=annfilename, videodir=demo_name, demoname=demo_name))
return
#!/usr/bin/env python
import argparse
parser = argparse.ArgumentParser()
parser.add_argument(
"path", help="script will create a sampledata directory in this location")
parser.add_argument("--use_rsync", action="store_true")
args = parser.parse_args()
import os, urllib2, shutil
from rapprentice.yes_or_no import yes_or_no
from rapprentice.call_and_print import call_and_print
if args.use_rsync:
call_and_print(
"rsync -azvu --delete [email protected]:/var/www/rapprentice/sampledata %s"
% args.path)
else:
os.chdir(args.path)
if os.path.exists("sampledata"):
yn = yes_or_no("delete old directory")
if yn: shutil.rmtree("sampledata")
else: raise IOError
os.mkdir("sampledata")
print "downloading archive file"
urlinfo = urllib2.urlopen(
"http://rll.berkeley.edu/rapprentice/sampledata.tar")
with open("sampledata.tar", "w") as fh:
fh.write(urlinfo.read())
print "unpacking file"
finally:
if started_bag:
print "stopping bag"
bag_handle.send_signal(signal.SIGINT)
bag_handle.wait()
if started_video:
print "stopping video"
video_handle.send_signal(signal.SIGINT)
video_handle.wait()
bagfilename = demo_name + ".bag"
if yes_or_no("save demo?"):
annfilename = demo_name + ".ann.yaml"
call_and_print("generate_annotations.py %s %s" %
(bagfilename, annfilename),
check=False)
with open(args.master_file, "a") as fh:
fh.write("\n"
"- bag_file: %(bagfilename)s\n"
" annotation_file: %(annfilename)s\n"
" video_dir: %(videodir)s\n"
" demo_name: %(demoname)s" % dict(bagfilename=bagfilename,
annfilename=annfilename,
videodir=demo_name,
demoname=demo_name))
else:
if osp.exists(demo_name): shutil.rmtree(demo_name) #video dir
if osp.exists(bagfilename): os.unlink(bagfilename)
#!/usr/bin/env python
import argparse
parser = argparse.ArgumentParser()
parser.add_argument("path", help="script will create a sampledata directory in this location")
parser.add_argument("--use_rsync", action="store_true")
args = parser.parse_args()
import os, urllib2, subprocess, shutil
import os.path as osp
import rapprentice
from rapprentice.yes_or_no import yes_or_no
from rapprentice.call_and_print import call_and_print
if args.use_rsync:
call_and_print("rsync -azvu --delete --exclude='*.tar' [email protected]:/var/www/rapprentice/sampledata %s"%args.path)
else:
os.chdir(args.path)
if os.path.exists("sampledata"):
yn = yes_or_no("delete old directory")
if yn: shutil.rmtree("sampledata")
else: raise IOError
os.mkdir("sampledata")
os.chdir("sampledata")
print "downloading zip file"
urlinfo = urllib2.urlopen("http://rll.berkeley.edu/rapprentice/sampledata/all.tar")
with open("all.tar","w") as fh:
fh.write(urlinfo.read())
print "unpacking file"
call_and_print("tar xvf all.tar")
import rapprentice, os, os.path as osp
from rapprentice.call_and_print import call_and_print
assert osp.basename(os.getcwd()) == "test"
call_and_print("python tps_unit_tests.py")
call_and_print("python ../scripts/download_sampledata.py ~/Data --use_rsync")
call_and_print(
"python ../scripts/generate_h5.py ~/Data/sampledata/overhand/overhand.yaml"
)
call_and_print("python test_registration_synthetic.py --plotting=0")
time.sleep(9999)
except KeyboardInterrupt:
print colorize("got control-c", "green")
finally:
if started_bag:
print "stopping bag"
bag_handle.send_signal(signal.SIGINT)
bag_handle.wait()
if started_video:
print "stopping video"
video_handle.send_signal(signal.SIGINT)
video_handle.wait()
bagfilename = demo_name+".bag"
if yes_or_no("save demo?"):
annfilename = demo_name+".ann.yaml"
call_and_print("generate_annotations.py %s %s"%(bagfilename, annfilename),check=False)
with open(args.master_file,"a") as fh:
fh.write("\n"
"- bag_file: %(bagfilename)s\n"
" annotation_file: %(annfilename)s\n"
" video_dir: %(videodir)s\n"
" demo_name: %(demoname)s"%dict(bagfilename=bagfilename, annfilename=annfilename, videodir=demo_name, demoname=demo_name))
else:
if osp.exists(demo_name): shutil.rmtree(demo_name) #video dir
if osp.exists(bagfilename): os.unlink(bagfilename)
import rapprentice, os, os.path as osp
from rapprentice.call_and_print import call_and_print
assert osp.basename(os.getcwd()) == "test"
call_and_print("python tps_unit_tests.py")
call_and_print("python ../scripts/download_sampledata.py /tmp --use_rsync")
call_and_print("python ../scripts/generate_h5.py /tmp/sampledata/overhand/overhand.yaml")
import rapprentice, os, os.path as osp
from rapprentice.call_and_print import call_and_print
assert osp.basename(os.getcwd()) == "test"
call_and_print("python tps_unit_tests.py")
call_and_print("python ../scripts/download_sampledata.py ~/Data --use_rsync")
call_and_print("python ../scripts/generate_h5.py ~/Data/sampledata/overhand/overhand.yaml")
call_and_print("python test_registration_synthetic.py --plotting=0")