Beispiel #1
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    def __init__(self, extract_from_bags=True):
        self.setup_openrave()
        self.use_bags = extract_from_bags

        self.traj_proc = TrajectoryProcessor(self.env)
        self.analyzer = TrajectoryAnalyzer(self.env)
        self.num_samples = 100  # number of points to resample the trajectories

        # TODO IMPORT FILENAMES AS PARAMETERS
        self.bag_name = "UnhangHangWithoutHandArtem1"  # filename of a bag with demonstration
        self.action_seg_name = "action_segmentation.txt"  # filename with segmentation points between actions
        self.hold_seg_name_postfix = "_segmentation_holding.txt"  # part of a filename (postfix) for each action holding/not holding segmentation points
Beispiel #2
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    def __init__(self, extract_from_bags = True):
        self.setup_openrave()
        self.use_bags = extract_from_bags

        self.traj_proc = TrajectoryProcessor(self.env)
        self.analyzer = TrajectoryAnalyzer(self.env)
        self.num_samples = 100 # number of points to resample the trajectories

        # TODO IMPORT FILENAMES AS PARAMETERS
        self.bag_name  = "UnhangHangWithoutHandArtem1" # filename of a bag with demonstration
        self.action_seg_name = "action_segmentation.txt" # filename with segmentation points between actions
        self.hold_seg_name_postfix = "_segmentation_holding.txt" # part of a filename (postfix) for each action holding/not holding segmentation points
Beispiel #3
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class TSRExtractor():
    def __init__(self, extract_from_bags=True):
        self.setup_openrave()
        self.use_bags = extract_from_bags

        self.traj_proc = TrajectoryProcessor(self.env)
        self.analyzer = TrajectoryAnalyzer(self.env)
        self.num_samples = 100  # number of points to resample the trajectories

        # TODO IMPORT FILENAMES AS PARAMETERS
        self.bag_name = "UnhangHangWithoutHandArtem1"  # filename of a bag with demonstration
        self.action_seg_name = "action_segmentation.txt"  # filename with segmentation points between actions
        self.hold_seg_name_postfix = "_segmentation_holding.txt"  # part of a filename (postfix) for each action holding/not holding segmentation points

    def setup_openrave(self):
        print "Setting up the environment..."
        self.env = openravepy.Environment()
        self.env.SetViewer('qtcoin')
        self.env.Reset()
        self.env.Load('robots/pr2-beta-static.zae')
        self.robot = self.env.GetRobots()[0]
        self.robot.SetActiveManipulator("rightarm")
        T = self.robot.GetTransform()
        T[0, 3] -= 2
        self.robot.SetTransform(T)
        time.sleep(0.1)

    def extract_TSR(self, action):

        nut_points, nut_trans = self.traj_proc.get_positions_and_transforms_from_csv_bag(
            "bags_csv/" + self.bag_name + "/" + action + "_nut_" +
            self.bag_name + ".csv")
        hand_points, hand_trans = self.traj_proc.get_positions_and_transforms_from_csv_bag(
            "bags_csv/" + self.bag_name + "/" + action + "_hand_" +
            self.bag_name + ".csv")

        extractor.traj_proc.draw_points(nut_points, by_point=False)
        extractor.traj_proc.draw_points(hand_points, by_point=False)
        sys.stdin.readline()
        extractor.traj_proc.clear_drawing()

        if False:
            holding = self.traj_proc.get_holding_info(
                "bags_csv/" + self.bag_name + "/" + action +
                self.hold_seg_name_postfix)

            # resample trajectories
            nut_points_resampled, nut_matching = self.traj_proc.resampling_3D_curve(
                nut_points, self.num_samples)
            hand_points_resampled, hand_matching = self.traj_proc.resampling_3D_curve(
                hand_points, self.num_samples)

            # print nut_matching
            # print hand_matching
            # print len(holding)
            # sys.stdin.readline()

            # TODO use matching to find these vars
            nut_trans_resampled = [
                nut_trans[nut_matching[i]] for i in range(self.num_samples)
            ]
            hand_trans_resampled = [
                hand_trans[hand_matching[i]] for i in range(self.num_samples)
            ]
            holding_resampled_1 = [
                holding[nut_matching[i]] for i in range(self.num_samples)
            ]
            holding_resamled_2 = [
                holding[hand_matching[i]] for i in range(self.num_samples)
            ]

            extractor.traj_proc.draw_points(nut_points_resampled)
            extractor.traj_proc.draw_points(hand_points_resampled)
            #extractor.traj_proc.clear_drawing()

            # run PCA to find segmentation points
            #self.analyzer.find_segmentation_points(nut_points_resampled, to_plot = True)
            self.analyzer.find_segmentation_points(hand_points_resampled,
                                                   to_plot=True)

            print "segmentation graphs plotted"
            sys.stdin.readline()
Beispiel #4
0
class TSRExtractor():

    def __init__(self, extract_from_bags = True):
        self.setup_openrave()
        self.use_bags = extract_from_bags

        self.traj_proc = TrajectoryProcessor(self.env)
        self.analyzer = TrajectoryAnalyzer(self.env)
        self.num_samples = 100 # number of points to resample the trajectories

        # TODO IMPORT FILENAMES AS PARAMETERS
        self.bag_name  = "UnhangHangWithoutHandArtem1" # filename of a bag with demonstration
        self.action_seg_name = "action_segmentation.txt" # filename with segmentation points between actions
        self.hold_seg_name_postfix = "_segmentation_holding.txt" # part of a filename (postfix) for each action holding/not holding segmentation points


    def setup_openrave(self):
        print "Setting up the environment..."
        self.env = openravepy.Environment()
        self.env.SetViewer('qtcoin')
        self.env.Reset()
        self.env.Load('robots/pr2-beta-static.zae')
        self.robot = self.env.GetRobots()[0]
        self.robot.SetActiveManipulator("rightarm")
        T = self.robot.GetTransform()
        T[0, 3] -= 2
        self.robot.SetTransform(T)
        time.sleep(0.1)


    def extract_TSR(self, action):

        nut_points, nut_trans = self.traj_proc.get_positions_and_transforms_from_csv_bag("bags_csv/" + self.bag_name + "/" + action + "_nut_" + self.bag_name + ".csv")
        hand_points, hand_trans = self.traj_proc.get_positions_and_transforms_from_csv_bag("bags_csv/" + self.bag_name + "/" + action + "_hand_" + self.bag_name + ".csv")

        extractor.traj_proc.draw_points(nut_points, by_point=False)
        extractor.traj_proc.draw_points(hand_points, by_point=False)
        sys.stdin.readline()
        extractor.traj_proc.clear_drawing()

        if False:
            holding = self.traj_proc.get_holding_info("bags_csv/" + self.bag_name + "/" + action + self.hold_seg_name_postfix)


            # resample trajectories
            nut_points_resampled, nut_matching = self.traj_proc.resampling_3D_curve(nut_points, self.num_samples)
            hand_points_resampled, hand_matching = self.traj_proc.resampling_3D_curve(hand_points, self.num_samples)

            # print nut_matching
            # print hand_matching
            # print len(holding)
            # sys.stdin.readline()

            # TODO use matching to find these vars
            nut_trans_resampled = [nut_trans[nut_matching[i]] for i in range(self.num_samples)]
            hand_trans_resampled = [hand_trans[hand_matching[i]] for i in range(self.num_samples)]
            holding_resampled_1 = [holding[nut_matching[i]] for i in range(self.num_samples)]
            holding_resamled_2 = [holding[hand_matching[i]] for i in range(self.num_samples)]

            extractor.traj_proc.draw_points(nut_points_resampled)
            extractor.traj_proc.draw_points(hand_points_resampled)
            #extractor.traj_proc.clear_drawing()

            # run PCA to find segmentation points
            #self.analyzer.find_segmentation_points(nut_points_resampled, to_plot = True)
            self.analyzer.find_segmentation_points(hand_points_resampled, to_plot = True)

            print "segmentation graphs plotted"
            sys.stdin.readline()