Python group_to_dictの例

コード例 #1

  def setup(task, table_bounds):
    if Globals.pr2 is None: 
      Globals.pr2 = PR2.PR2.create(rave_only=True)
      load_table(table_bounds)

    if Globals.rviz is None:
      Globals.rviz = ros_utils.RvizWrapper.create()
      # Globals.rviz.start_publisher_thread(Globals.handles)

    #Globals.table_height = rospy.get_param("table_height")

    if Globals.demos is None:
      data_dir = osp.join(osp.dirname(lfd.__file__), "data")
      with open(osp.join(data_dir, "knot_demos.yaml"),"r") as fh: 
        task_info = yaml.load(fh)
      H5FILE = osp.join(data_dir, task_info[task]["db_file"])
      demos_file = h5py.File(H5FILE,"r")
      rospy.loginfo("loading demos into memory")
      Globals.demos = warping.group_to_dict(demos_file)    
      demos_file.close()
      rospy.loginfo("preprocessing demo point clouds...")
      for (_,demo) in Globals.demos.items():
        demo["cloud_xyz_ds"], ds_inds = downsample(demo["cloud_xyz"])
        #demo["cloud_xyz_ds"], ds_inds = demo["cloud_xyz"].reshape(-1, 3), np.arange(len(demo['cloud_xyz'])).reshape(-1, 1)
        demo["cloud_xyz"] = np.squeeze(demo["cloud_xyz"])
        demo["geodesic_dists"] = recognition.calc_geodesic_distances_downsampled_old(demo["cloud_xyz"], demo["cloud_xyz_ds"], ds_inds)
      rospy.loginfo("done")

コード例 #2

ファイル: live_warping.py プロジェクト: ankush-me/python

def load_demo(taskname='overhand_knot', demos_list_file='knot_demos.yaml', seg_name=None):
  data_dir = os.path.join(os.path.dirname(lfd.__file__), "data")
  with open(os.path.join(data_dir, demos_list_file),"r") as fh: 
    task_info = yaml.load(fh)
  H5FILE = os.path.join(data_dir, task_info[taskname]["db_file"])
  demos_file = h5py.File(H5FILE,"r")
  demos = warping.group_to_dict(demos_file)    
  demos_file.close()
  if seg_name is None:
    seg_name = select_from_list(sorted(demos.keys()))
  demo = demos[seg_name]
  demo["cloud_xyz_ds"], ds_inds = recognition.downsample(demo["cloud_xyz"])
  demo["cloud_xyz"] = np.squeeze(demo["cloud_xyz"])
  return demo

コード例 #3

ファイル: recognition.py プロジェクト: warriorarmentaix/lfd

  def LoadFromTaskDemos(taskname, demos_list_file='knot_demos.yaml'):
    # load demos
    import h5py, yaml, os
    import os.path as osp
    data_dir = osp.join(osp.dirname(lfd.__file__), "data")
    with open(osp.join(data_dir, demos_list_file),"r") as fh: 
      task_info = yaml.load(fh)
    H5FILE = osp.join(data_dir, task_info[taskname]["db_file"])
    demos_file = h5py.File(H5FILE,"r")
    demos = warping.group_to_dict(demos_file)    
    demos_file.close()

    ds = DataSet()
    for name, demo in demos.items():
      ds[name] = demo
    return ds

コード例 #4

ファイル: recognition.py プロジェクト: afcarl/python-joschu

  def LoadFromTaskDemos(taskname, demos_list_file='knot_demos.yaml'):
    # load demos
    import h5py, yaml, os
    import os.path as osp
    data_dir = osp.join(osp.dirname(lfd.__file__), "data")
    with open(osp.join(data_dir, demos_list_file),"r") as fh: 
      task_info = yaml.load(fh)
    H5FILE = osp.join(data_dir, task_info[taskname]["db_file"])
    demos_file = h5py.File(H5FILE,"r")
    demos = warping.group_to_dict(demos_file)    
    demos_file.close()

    ds = DataSet()
    for name, demo in demos.items():
      ds[name] = demo
    return ds

コード例 #5

ファイル: live_warping.py プロジェクト: warriorarmentaix/lfd

def load_demo(taskname='overhand_knot',
              demos_list_file='knot_demos.yaml',
              seg_name=None):
    data_dir = os.path.join(os.path.dirname(lfd.__file__), "data")
    with open(os.path.join(data_dir, demos_list_file), "r") as fh:
        task_info = yaml.load(fh)
    H5FILE = os.path.join(data_dir, task_info[taskname]["db_file"])
    demos_file = h5py.File(H5FILE, "r")
    demos = warping.group_to_dict(demos_file)
    demos_file.close()
    if seg_name is None:
        seg_name = select_from_list(sorted(demos.keys()))
    demo = demos[seg_name]
    demo["cloud_xyz_ds"], ds_inds = recognition.downsample(demo["cloud_xyz"])
    demo["cloud_xyz"] = np.squeeze(demo["cloud_xyz"])
    return demo

コード例 #6

ファイル: execute_task.py プロジェクト: ankush-me/python

    
data_dir = osp.join(osp.dirname(lfd.__file__), "data")
with open(osp.join(data_dir, "knot_demos.yaml"),"r") as fh: 
    task_info = yaml.load(fh)
    
DS_LENGTH = .025
DS_METHOD = "voxel"
if args.task.startswith("fold"):
    DS_METHOD="hull"
#else:
    #DS_METHOD = "voxel"
    
H5FILE = osp.join(data_dir, task_info[args.task]["db_file"])
demos_file = h5py.File(H5FILE,"r")
rospy.loginfo("loading demos into memory")
demos = warping.group_to_dict(demos_file)    
    
if args.test:
    lfd_traj.ALWAYS_FAKE_SUCCESS = True
    
def draw_table():
    aabb = Globals.pr2.robot.GetEnv().GetKinBody("table").GetLinks()[0].ComputeAABB()
    ps =gm.PoseStamped()
    ps.header.frame_id = "base_footprint"
    ps.pose.position = gm.Point(*aabb.pos())
    ps.pose.orientation = gm.Quaternion(0,0,0,1)
    Globals.handles.append(Globals.rviz.draw_marker(ps, type=Marker.CUBE, scale = aabb.extents()*2, id = 24019,rgba = (1,0,0,.25)))
                          
def load_table():
    table_bounds = map(float, rospy.get_param("table_bounds").split())
    kinbodies.create_box_from_bounds(Globals.pr2.env,table_bounds, name="table")

コード例 #7

ファイル: execute_task.py プロジェクト: warriorarmentaix/lfd

data_dir = osp.join(osp.dirname(lfd.__file__), "data")
with open(osp.join(data_dir, "knot_demos.yaml"), "r") as fh:
    task_info = yaml.load(fh)

DS_LENGTH = .025
DS_METHOD = "voxel"
if args.task.startswith("fold"):
    DS_METHOD = "hull"
#else:
#DS_METHOD = "voxel"

H5FILE = osp.join(data_dir, task_info[args.task]["db_file"])
demos_file = h5py.File(H5FILE, "r")
rospy.loginfo("loading demos into memory")
demos = warping.group_to_dict(demos_file)

if args.test:
    lfd_traj.ALWAYS_FAKE_SUCCESS = True


def draw_table():
    aabb = Globals.pr2.robot.GetEnv().GetKinBody(
        "table").GetLinks()[0].ComputeAABB()
    ps = gm.PoseStamped()
    ps.header.frame_id = "base_footprint"
    ps.pose.position = gm.Point(*aabb.pos())
    ps.pose.orientation = gm.Quaternion(0, 0, 0, 1)
    Globals.handles.append(
        Globals.rviz.draw_marker(ps,
                                 type=Marker.CUBE,