def callback(msg): s = msg.data print "message:", colorize(s, "blue", bold=True) action_arg = s.split() assert len(action_arg) == 2 action, arg = action_arg if action == "relax": assert action_arg[0] == "relax" pr2 = PR2.create() pr2.rgrip.open() pr2.lgrip.open() pr2.rarm.goto_posture('side') pr2.larm.goto_posture('side') elif action == "tie": assert arg == "figure8_knot" or arg == "overhand_knot" call_and_print("execute_task.py --task=%s --count_steps" % arg) elif action == "teach": print colorize("which arms will be used?", "red", bold=True) arms_used = raw_input() call_and_print("teach_verb.py %s %s %s" % (arg, "object", arms_used)) elif action == "execute": call_and_print("exec_one_demo_traj.py --verb=%s" % arg)
def callback(msg): s = msg.data print "message:",colorize(s, "blue", bold=True) action_arg = s.split() assert len(action_arg) == 2 action, arg = action_arg if action == "relax": assert action_arg[0] == "relax" pr2 = PR2.create() pr2.rgrip.open() pr2.lgrip.open() pr2.rarm.goto_posture('side') pr2.larm.goto_posture('side') elif action == "tie": assert arg == "figure8_knot" or arg == "overhand_knot" call_and_print("execute_task.py --task=%s --count_steps"%arg) elif action == "teach": print colorize("which arms will be used?", "red", bold=True) arms_used = raw_input() call_and_print("teach_verb.py %s %s %s"%(arg, "object", arms_used)) elif action == "execute": call_and_print("exec_one_demo_traj.py --verb=%s"%arg)
import argparse parser = argparse.ArgumentParser() parser.add_argument("scene") args = parser.parse_args() from jds_utils import shell #OMPL_PLANNERS = ["RRTkConfigDefault", "RRTConnectkConfigDefault", "SBLkConfigDefault", "LBKPIECEkConfigDefault"] OMPL_PLANNERS = ["RRTConnectkConfigDefault", "LBKPIECEkConfigDefault"] if "counter" in args.scene: extraargs = "--right" else: extraargs = "" for planner in OMPL_PLANNERS: shell.call_and_print( "python move_group_battery.py ~/ros/moveit/scenes/%s.scene --planner=%s --max_planning_time=100 --planner_id=%s %s" % (args.scene, planner[:6], planner, extraargs))
import argparse parser = argparse.ArgumentParser() parser.add_argument("scene") args = parser.parse_args() from jds_utils import shell # OMPL_PLANNERS = ["RRTkConfigDefault", "RRTConnectkConfigDefault", "SBLkConfigDefault", "LBKPIECEkConfigDefault"] OMPL_PLANNERS = ["RRTConnectkConfigDefault", "LBKPIECEkConfigDefault"] if "counter" in args.scene: extraargs = "--right" else: extraargs = "" for planner in OMPL_PLANNERS: shell.call_and_print( "python move_group_battery.py ~/ros/moveit/scenes/%s.scene --planner=%s --max_planning_time=100 --planner_id=%s %s" % (args.scene, planner[:6], planner, extraargs) )
#dir1 = "/home/joschu/Data/tracking_results/tracker" #bagfiles.extend(glob(join(dir1,"*.bag"))) dir = "/home/joschu/Data/Experiments" def bag_cmp(bag1, bag2): task1,meth1 = bag1.split("2012")[0:2] task2,meth2 = bag2.split("2012")[0:2] if task1 == task2: if "color_1camera" in task1: return -1 if "color_1camera" in task2: return 1 if "nocolor_2camera" in task1: return -1 if "nocolor_2camera" in task2: return 1 return -1 else: return cmp(task1, task2) bags = sorted(glob(join(dir,"*.bag")),cmp=bag_cmp) for bag in bags: if "tie" in bag or "knot" in bag: if "robot" in bag: call_and_print("python test_eval_bag_error2.py --redo_bag --reset_cache --robot --item=rope %s"%bag) else: continue call_and_print("python test_eval_bag_error2.py --item=rope %s"%bag) else: continue call_and_print("python test_eval_bag_error2.py --item=cloth %s"%bag)
def bag_cmp(bag1, bag2): task1, meth1 = bag1.split("2012")[0:2] task2, meth2 = bag2.split("2012")[0:2] if task1 == task2: if "color_1camera" in task1: return -1 if "color_1camera" in task2: return 1 if "nocolor_2camera" in task1: return -1 if "nocolor_2camera" in task2: return 1 return -1 else: return cmp(task1, task2) bags = sorted(glob(join(dir, "*.bag")), cmp=bag_cmp) for bag in bags: if "tie" in bag or "knot" in bag: if "robot" in bag: call_and_print( "python test_eval_bag_error2.py --redo_bag --reset_cache --robot --item=rope %s" % bag) else: continue call_and_print("python test_eval_bag_error2.py --item=rope %s" % bag) else: continue call_and_print("python test_eval_bag_error2.py --item=cloth %s" % bag)