def parse_config_files_and_bindings(args):
"""Parse the config files and the bindings.
Args:
args: The arguments.
Returns:
env_config: Environment configuration.
policy_config: Policy configuration.
"""
if args.env_config is None:
env_config = dict()
else:
env_config = YamlConfig(args.env_config).as_easydict()
if args.policy_config is None:
policy_config = dict()
else:
policy_config = YamlConfig(args.policy_config).as_easydict()
if args.config_bindings is not None:
parsed_bindings = ast.literal_eval(args.config_bindings)
logger.info('Config Bindings: %r', parsed_bindings)
env_config.update(parsed_bindings)
policy_config.update(parsed_bindings)
logger.info('Environment Config:')
pprint.pprint(env_config)
logger.info('Policy Config:')
pprint.pprint(policy_config)
return env_config, policy_config
def default_config(self):
"""Load the default configuration file."""
config_path = os.path.join('configs', 'policies',
'antipodal_grasp_4dof_policy.yaml')
assert os.path.exists(config_path), (
'Default configuration file %s does not exist' % (config_path))
return YamlConfig(config_path).as_easydict()
def default_config(self):
"""Load the default configuration file."""
env_name = camelcase_to_snakecase(type(self).__name__)
config_path = os.path.join('configs', 'envs', '%s.yaml' % (env_name))
assert os.path.exists(config_path), (
'Default configuration file %s does not exist' % (config_path))
return YamlConfig(config_path).as_easydict()
def __init__(self, config=None):
"""Initialize.
config: The configuartion as a dictionary.
"""
self.config = config or self.default_config
if isinstance(self.config, str):
self.config = YamlConfig(self.config).as_easydict()
def parse_config_files_and_bindings(args):
if args.env_config is None:
env_config = None
else:
env_config = YamlConfig(args.env_config).as_easydict()
if args.policy_config is None:
policy_config = None
else:
policy_config = YamlConfig(args.policy_config).as_easydict()
if args.config_bindings is not None:
parsed_bindings = ast.literal_eval(args.config_bindings)
logger.info('Config Bindings: %r', parsed_bindings)
env_config.update(parsed_bindings)
policy_config.update(parsed_bindings)
return env_config, policy_config
def __init__(self, mode, config, debug, assets_dir):
"""Initialize.
Args:
mode: 'sim' or 'real'.
config: The configuration file for the environment.
debug: True if it is debugging mode, False otherwise.
assets_dir: The assets directory.
"""
self.mode = mode
self.config = YamlConfig(config).as_easydict()
self.debug = debug
self.assets_dir = assets_dir
# Command line client input history.
readline.parse_and_bind('tab: complete')
history_file = os.path.join('.python_history')
try:
readline.read_history_file(history_file)
except IOError:
pass
atexit.register(readline.write_history_file, history_file)
# Set up the scene.
if self.mode == 'sim':
print('Setting up the environment in simulation...')
self.simulator = Simulator(use_visualizer=self.debug,
assets_dir=self.assets_dir)
self.simulator.reset()
self.simulator.start()
self.ground = self.simulator.add_body(self.config.SIM.GROUND.PATH,
self.config.SIM.GROUND.POSE,
is_static=True,
name='ground')
self.table_pose = Pose(self.config.SIM.TABLE.POSE)
self.table_pose.position.z += np.random.uniform(
*self.config.SIM.TABLE.HEIGHT_RANGE)
self.simulator.add_body(self.config.SIM.TABLE.PATH,
self.table_pose,
is_static=True,
name='table')
# Camera.
self.camera = BulletCamera(simulator=self.simulator, distance=1.0)
elif self.mode == 'real':
print('Setting up the environment in the real world...')
self.table_pose = Pose(self.config.SIM.TABLE.POSE)
self.table_pose.position.z += np.random.uniform(
*self.config.SIM.TABLE.HEIGHT_RANGE)
self.camera = Kinect2(packet_pipeline_mode=0,
device_num=0,
skip_regirobovation=False,
use_inpaint=True)
self.simulator = None
else:
raise ValueError
# Set up the robot.
self.robot = franka_panda.factory(simulator=self.simulator,
config=self.config.SIM.ARM.CONFIG)
# Start the camera camera.
self.camera.set_calibration(
intrinsics=self.config.KINECT2.DEPTH.INTRINSICS,
translation=self.config.KINECT2.DEPTH.TRANSLATION,
rotation=self.config.KINECT2.DEPTH.ROTATION)
self.camera.start()
if self.simulator:
camera_pose = [
self.config.KINECT2.DEPTH.TRANSLATION,
self.config.KINECT2.DEPTH.ROTATION
]
camera_pose = Pose(camera_pose).inverse()
self.simulator.plot_pose(camera_pose, axis_length=0.05)