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 __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
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()
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()