def __init__(self, options={}):
self.options = options
if environ.get('TOUCH_DATA') is not None:
self.options['data_path'] = os.environ['TOUCH_DATA']
else:
self.options['data_path'] = '/touch_data'
self.options['test_split_ratio'] = 0.2
self.steps = 0
#TODO check if options is a string, so we know which environment to load
if 'render' in self.options and self.options['render'] == True:
pb.connect(pb.GUI)
else:
pb.connect(pb.DIRECT)
pb.setGravity(0, 0, -0.001)
pb.setRealTimeSimulation(0)
self.move = 0.01 # 0.01
self.prev_distance = 10000000
self.max_steps = 1000
self.files = None
self.train_files = None
self.test_files = None
self.file_pointer = 0
self.done_training = False
self.wandLength = 0.5
self.wandSide = 0.005
self.timestep_limit = 400
self.cameraImageHeight = int((2 * 0.851 * self.wandSide) * 11800)
self.action_space = spaces.Discrete(6)
self.observation_space = spaces.Box(
0, 1, [self.cameraImageHeight, self.cameraImageHeight])
self.load_files()
def __init__(self,options={}):
self.options = options
if environ.get('TOUCH_DATA') is not None:
self.options['data_path'] = os.environ['TOUCH_DATA']
self.steps = 0
#TODO check if options is a string, so we know which environment to load
if 'render' in self.options and self.options['render'] == True:
pb.connect(pb.GUI)
else:
pb.connect(pb.DIRECT)
pb.setGravity(0,0,-0.001)
pb.setRealTimeSimulation(0)
self.move = 0.01 # 0.01
self.prev_distance = 10000000
self.max_steps = 1000
self.wandLength = 0.5
self.wandSide = 0.005
self.cameraImageHeight = int((2 * 0.851 * self.wandSide)*11800)
self.class_count = len([x[0] for x in os.walk(self.options['data_path'])]) #path must be a full path,TODO convert to full path
self.action_space = spaces.Discrete(6 + self.class_count)
self.timestep_limit = 400
#self.observation_space = spaces.Box(0, 1, [6, self.cameraImageHeight, self.cameraImageHeight])
self.observation_space = spaces.Box(-100, 100, self.cameraImageHeight**2+6)
self.touch_history = []
def __init__(self,options={}):
self.options = options
self.steps = 0
#TODO check if options is a string, so we know which environment to load
if 'render' in self.options and self.options['render'] == True:
pb.connect(pb.GUI)
else:
pb.connect(pb.DIRECT)
pb.setGravity(0,0,-0.001)
pb.setRealTimeSimulation(0)
self.move = 0.025 # 0.01
self.prev_distance = 10000000
self.wandLength = 0.5
self.wandSide = 0.005
self.max_steps = 1000
self.cameraImageHeight = int((2 * 0.851 * self.wandSide)*11800)
self.action_space = spaces.Discrete(6)
self.observation_space = spaces.Box(0, 1, [self.cameraImageHeight, self.cameraImageHeight])
def __init__(self, options={}):
self.options = options
#print("options",options)
self.steps = 0
currentdir = os.path.dirname(
os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0, parentdir)
if 'render' in self.options and self.options['render'] == True:
pb.connect(pb.GUI)
else:
pb.connect(pb.DIRECT)
if 'video' in self.options and self.options['video'] != True:
video_name = self.options[
'video'] #how to default to video.mp4 is empty
pb.startStateLogging(pb.STATE_LOGGING_VIDEO_MP4, video_name)
if 'debug' in self.options and self.options['debug'] == True:
pb.configureDebugVisualizer(pb.COV_ENABLE_GUI, 1)
pb.configureDebugVisualizer(pb.COV_ENABLE_TINY_RENDERER, 1)
else:
pb.configureDebugVisualizer(pb.COV_ENABLE_GUI, 0)
pb.configureDebugVisualizer(pb.COV_ENABLE_TINY_RENDERER, 0)
pb.setGravity(0, 0, -10)
pb.setRealTimeSimulation(0)
self.move = 0.05 # 0.01
self.load_object()
self.load_agent()
self.pi = 3.1415926535
self.pinkId = 0
self.middleId = 1
self.indexId = 2
self.thumbId = 3
self.ring_id = 4
self.indexEndID = 21 # Need get position and orientation from index finger parts
self.offset = 0.02 # Offset from basic position
self.downCameraOn = False
self.prev_distance = 10000000
self.action_space = spaces.Discrete(8)
self.touch_width = 200
self.touch_height = 200
self.observation_space = spaces.Box(
0, 1, [self.touch_width, self.touch_height])