def define_program_options(self, params):
params.add_flag('verbose', help='Instances all configuration')
config = get_rs2b_config()
classes = config.get_classes()
examples = ', '.join(classes)
helps = 'Only print one type of objects (%s)' % examples,
params.add_string('type', help=helps, default=None)
def go(self):
options = self.get_options()
rate = options.rate
boot_config = get_boot_config()
rs2b_config = get_rs2b_config()
for c in options.config:
boot_config.load(c)
rs2b_config.load(c)
id_robot = options.robot
robot = boot_config.robots.instance(id_robot)
rest = robot.get_spec().get_commands().get_default_value()
robot.set_commands(rest, 'rest')
try:
for key in getKeys(timeout=0):
if key == 'q':
break
if key in moveBindings.keys():
u = np.array(moveBindings[key])
else:
u = rest
robot.set_commands(u, 'teleop')
time.sleep(rate)
# except Exception as e:
# # print str(e)
finally:
robot.set_commands(rest, 'rest')
def go(self):
options = self.get_options()
rate = options.rate
boot_config = get_boot_config()
rs2b_config = get_rs2b_config()
for c in options.config:
boot_config.load(c)
rs2b_config.load(c)
id_robot = options.robot
robot = boot_config.robots.instance(id_robot)
rest = robot.get_spec().get_commands().get_default_value()
robot.set_commands(rest, 'rest')
try:
for key in getKeys(timeout=0):
if key == 'q':
break
if key in moveBindings.keys():
u = np.array(moveBindings[key])
else:
u = rest
robot.set_commands(u, 'teleop')
time.sleep(rate)
# except Exception as e:
# # print str(e)
finally:
robot.set_commands(rest, 'rest')
def do_convert_job2(id_robot,
id_robot_res,
id_explog, id_stream, id_episode,
filename):
rs2b_config = get_rs2b_config()
boot_config = get_boot_config()
"""
id_robot: original robot must be a ROSRobot
"""
if os.path.exists(filename):
msg = 'Output file exists: %s\n' % friendly_path(filename)
msg += 'Delete to force recreating the log.'
logger.info(msg)
return
explog = rs2b_config.explogs.instance(id_explog)
robot = boot_config.robots.instance(id_robot)
orig_robot = robot.get_inner_components()[-1]
if not isinstance(orig_robot, ROSRobot):
msg = 'Expected ROSRobot, got %s' % describe_type(robot)
raise ValueError(msg)
orig_robot.read_from_log(explog)
id_environment = explog.get_id_environment()
write_robot_observations(id_stream, filename, id_robot_res,
robot, id_episode, id_environment)
def define_jobs_context(self, context):
options = self.get_options()
boot_root = options.boot_root
rs2b_config = get_rs2b_config()
boot_config = get_boot_config()
data_central = DataCentral(boot_root)
id_robot = options.id_robot
id_robot_res = options.id_robot_res
id_explog = options.id_explog
id_stream = '%s%s' % (options.id_episode_prefix, id_explog)
id_episode = id_stream
id_agent = None
# make sure we have them
boot_config.robots[id_robot]
rs2b_config.explogs[id_explog]
ds = data_central.get_dir_structure()
filename = ds.get_explog_filename(id_robot=id_robot_res,
id_agent=id_agent,
id_stream=id_stream)
return context.comp_config(do_convert_job2,
id_robot=id_robot,
id_robot_res=id_robot_res,
id_explog=id_explog, id_stream=id_stream,
id_episode=id_episode,
filename=filename)
def define_jobs_context(self, context):
id_explog = self.get_options().id_explog
rs2b_config = get_rs2b_config()
log = rs2b_config.explogs.instance(id_explog)
if not isinstance(log, ExpLogFromYaml):
self.info('Skipping log %r because not raw log.' % id_explog)
return
jobs_video_servo_multi(context, id_explog)
def define_jobs_context(self, context):
options = self.get_options()
rs2b_config = get_rs2b_config()
self.info('explogs: %s' % options.explogs)
self.info('robots: %s' % options.robots)
explogs = rs2b_config.explogs.expand_names(options.explogs)
robots = rs2b_config.explogs.expand_names(options.robots)
s = iterate_context_explogs_and_robots(context, explogs, robots)
for c, id_explog, id_robot in s:
c.subtask(MakeVideosBootData, id_robot=id_robot, id_explog=id_explog,
add_job_prefix='', add_outdir='')
def initial_setup(self):
rs2b_config = get_rs2b_config()
rs2b_config.load(rs2b_config.get_default_dir())
if self.options.config != '':
GlobalConfig.global_load_dir(self.options.config)
def from_yaml(obs_adapters):
config = get_rs2b_config()
adapters = [config.obs_adapters.instance_smarter(x)[1]
for x in obs_adapters]
return SensorJoin(adapters)
def go(self):
options = self.get_options()
config = get_rs2b_config()
config.print_summary(sys.stdout, instance=options.verbose,
only_type=options.type)
def from_yaml(obs_adapter, cmd_adapter, **other):
config = get_rs2b_config()
_, obs_adapter = config.obs_adapters.instance_smarter(obs_adapter)
_, cmd_adapter = config.cmd_adapters.instance_smarter(cmd_adapter)
return ROSRobotAdapter(obs_adapter, cmd_adapter, **other)
