def __init__(self,features,user_name = None):
self.com = COM()
self.robot = hsrb_interface.Robot()
self.noise = 0.1
self.features = features#self.com.binary_image
self.count = 0
if(not user_name == None):
self.com.Options.setup(self.com.Options.root_dir,user_name)
self.omni_base = self.robot.get('omni_base')
self.whole_body = self.robot.get('whole_body')
self.gripper = self.robot.get('gripper')
self.com.go_to_initial_state(self.whole_body,self.gripper)
self.joystick = JoyStick_X(self.com)
self.policy = Policy(self.com,self.features)
self.com.change_grip(self.gripper)
def __init__(self, user_name=None, inject_noise=False, noise_scale=1.0):
self.robot = hsrb_interface.Robot()
self.noise = 0.1
self.omni_base = self.robot.get('omni_base')
self.whole_body = self.robot.get('whole_body')
self.gripper = self.robot.get('gripper')
self.tl = TransformListener()
self.cam = RGBD()
time.sleep(5)
self.b_d = Bottle_Detect(self.cam.read_info_data())
self.start_recording = False
self.stop_recording = False
self.com = COM()
if (not user_name == None):
self.com.Options.setup(self.com.Options.root_dir, user_name)
#self.com.go_to_initial_state(self.whole_body,self.gripper)
#self.whole_body.move_to_joint_positions({'head_tilt_joint':-0.3})
self.joystick = JoyStick_X(self.com,
inject_noise=inject_noise,
noise_scale=noise_scale)
self.torque = Gripper_Torque()
self.joints = Joint_Positions()
def __init__(self, user_name=None):
self.noise = 0.1
self.start_recording = False
self.stop_recording = False
self.com = COM(load_net=True)
if (not user_name == None):
self.com.Options.setup(self.com.Options.root_dir, user_name)
self.com.load_net()
self.options = self.com.Options
self.features = Features()
def __init__(self):
self.robot = hsrb_interface.Robot()
self.noise = 0.1
self.omni_base = self.robot.get('omni_base')
self.whole_body = self.robot.get('whole_body')
self.gripper = self.robot.get('gripper')
self.tl = TransformListener()
self.start_recording = False
self.stop_recording = False
self.com = COM()
self.com.go_to_initial_state(self.whole_body, self.gripper)
#self.whole_body.move_to_joint_positions({'head_tilt_joint':-0.3})
self.cam = RGBD()
self.joystick = JoyStick()
self.torque = Gripper_Torque()
self.joints = Joint_Positions()
if args.last is not None:
last = args.last
else:
print "please enter a last value with -l (not inclusive)"
sys.exit()
f = []
for (dirpath, dirnames, filenames) in os.walk(
Options.rollouts_dir): #specific: sup_dir from specific options
print dirpath
print filenames
f.extend(dirnames)
train_data = []
test_data = []
com = COM()
image_data = []
count = 0
for filename in f:
rollout_data = pickle.load(
open(Options.rollouts_dir + filename + '/rollout.p', 'r'))
state = rollout_data[0]
img = state['color_img']
com.depth_state(state)
height, width, layers = img.shape
c_img = self.cam.read_color_data()
pos = self.com.eval_policy(c_img,self.features)
print pos
twist = self.com.format_twist(pos)
self.pubTwist.publish(twist)
if __name__ == "__main__":
yumi = YuMiRobot()
options = Options()
com = COM(train=False)
bincam = BinaryCamera(options)
yumi.set_z('fine')
bincam.open(threshTolerance= options.THRESH_TOLERANCE)
frame = bincam.display_frame()
yumi.set_v(1500)
debug_overlay(bincam,options.binaries_dir+'rollout0_frame_0.jpg')
pi = Policy(yumi,com,bincam=bincam)
from skvideo.io import vwrite
os.environ["CUDA_DEVICE_ORDER"] = "PCI_BUS_ID" # see issue #152
os.environ["CUDA_VISIBLE_DEVICES"] = "0"
from il_ros_hsr.p_pi.safe_corl.features import Features
#######NETWORK FILES TO BE CHANGED#####################
#specific: imports options from specific options file
from il_ros_hsr.p_pi.safe_corl.options import Corl_Options as options
from il_ros_hsr.p_pi.safe_corl.com import Safe_COM as COM
#specific: fetches specific net file
#from deep_lfd.tensor.nets.net_grasp import Net_Grasp as Net
########################################################
Options = options()
com = COM(load_net=True)
features = Features()
def caculate_error(data):
errors = np.zeros([len(data), 3])
count = 0
for state in data:
img = state['color_img']
action = state['action']
action_ = com.eval_policy(img, features.vgg_features, cropped=True)
dif = np.abs(action - action_)