def main():
rclpy.init(args=sys.argv)
node = rclpy.create_node("iknet_inference")
set_joint_position = node.create_client(SetJointPosition,
"/goal_joint_space_path")
parser = argparse.ArgumentParser()
parser.add_argument(
"--model",
type=str,
default="./iknet.pth",
)
parser.add_argument("--trt", action="store_true", default=False)
parser.add_argument("--x", type=float, default=0.1)
parser.add_argument("--y", type=float, default=0.0)
parser.add_argument("--z", type=float, default=0.1)
parser.add_argument("--qx", type=float, default=0.0)
parser.add_argument("--qy", type=float, default=0.0)
parser.add_argument("--qz", type=float, default=0.0)
parser.add_argument("--qw", type=float, default=1.0)
args = parser.parse_args()
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
if not args.trt:
model = IKNet()
else:
from torch2trt import TRTModule
model = TRTModule()
model.to(device)
model.load_state_dict(torch.load(args.model))
model.eval()
pose = [args.x, args.y, args.z, args.qx, args.qy, args.qz, args.qw]
if not args.trt:
input_ = torch.FloatTensor(pose)
else:
input_ = torch.FloatTensor([pose])
input_ = input_.to(device)
print(f"input: {input_}")
output = model(input_)
print(f"output: {output}")
joint_position = JointPosition()
joint_position.joint_name = [f"joint{i+1}" for i in range(4)]
if not args.trt:
joint_position.position = [output[i].item() for i in range(4)]
else:
joint_position.position = [output[0][i].item() for i in range(4)]
request = SetJointPosition.Request()
request.joint_position = joint_position
request.path_time = 4.0
future = set_joint_position.call_async(request)
rclpy.spin_until_future_complete(node, future)
if future.result() is not None:
print(f"result: {future.result().is_planned}")
else:
print(f"exception: {future.exception()}")
node.destroy_node()
rclpy.shutdown()
def main():
parser = argparse.ArgumentParser()
parser.add_argument("--kinematics-pose-csv",
type=str,
default="./dataset/test/kinematics_pose.csv")
parser.add_argument("--joint-states-csv",
type=str,
default="./dataset/test/joint_states.csv")
parser.add_argument("--batch-size", type=int, default=10000)
args = parser.parse_args()
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
model = IKNet()
model.load_state_dict(torch.load("iknet.pth"))
model.to(device)
model.eval()
dataset = IKDataset(args.kinematics_pose_csv, args.joint_states_csv)
test_loader = DataLoader(dataset,
batch_size=args.batch_size,
shuffle=False)
total_loss = 0.0
for data, target in test_loader:
data, target = data.to(device), target.to(device)
output = model(data)
total_loss += (output - target).norm().item() / args.batch_size
print(f"Total loss = {total_loss}")
def objective(trial):
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
model = IKNet(trial)
model.to(device)
train_loader, val_loader = get_data_loaders(args)
optimizer = optim.Adam(model.parameters(), lr=args.lr)
trigger = ppe.training.triggers.EarlyStoppingTrigger(
check_trigger=(3, "epoch"), monitor="val/loss")
my_extensions = [
extensions.LogReport(),
extensions.ProgressBar(),
extensions.observe_lr(optimizer=optimizer),
extensions.ParameterStatistics(model, prefix="model"),
extensions.VariableStatisticsPlot(model),
extensions.Evaluator(
val_loader,
model,
eval_func=lambda data, target: validate(args, model, device, data,
target),
progress_bar=True,
),
extensions.PlotReport(["train/loss", "val/loss"],
"epoch",
filename="loss.png"),
extensions.PrintReport([
"epoch",
"iteration",
"train/loss",
"lr",
"val/loss",
]),
]
manager = ppe.training.ExtensionsManager(
model,
optimizer,
args.epochs,
extensions=my_extensions,
iters_per_epoch=len(train_loader),
stop_trigger=trigger,
)
return train(manager, args, model, device, train_loader)
def main():
parser = argparse.ArgumentParser()
parser.add_argument(
"--input-model",
type=str,
default="./iknet.pt",
)
parser.add_argument(
"--output-model",
type=str,
default="./iknet.onnx",
)
args = parser.parse_args()
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
model = IKNet().to(device)
model.load_state_dict(torch.load(args.input_model))
model.eval()
print(model)
input_ = torch.ones(7).to(device)
torch.onnx.export(
model,
input_,
args.output_model,
verbose=True,
input_names=["pose"],
output_names=["joints"],
)
def main():
parser = argparse.ArgumentParser()
parser.add_argument(
"--kinematics-pose-csv",
type=str,
default="./dataset/train/kinematics_pose.csv",
)
parser.add_argument("--joint-states-csv",
type=str,
default="./dataset/train/joint_states.csv")
parser.add_argument("--train-val-ratio", type=float, default=0.8)
parser.add_argument("--batch-size", type=int, default=10000)
parser.add_argument("--epochs", type=int, default=100)
parser.add_argument("--lr", type=float, default=0.01)
parser.add_argument("--save-model", action="store_true", default=False)
args = parser.parse_args()
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
model = IKNet()
model.to(device)
train_loader, val_loader = get_data_loaders(args)
optimizer = optim.Adam(model.parameters(), lr=args.lr)
trigger = ppe.training.triggers.EarlyStoppingTrigger(
check_trigger=(3, "epoch"), monitor="val/loss")
my_extensions = [
extensions.LogReport(),
extensions.ProgressBar(),
extensions.observe_lr(optimizer=optimizer),
extensions.ParameterStatistics(model, prefix="model"),
extensions.VariableStatisticsPlot(model),
extensions.Evaluator(
val_loader,
model,
eval_func=lambda data, target: validate(args, model, device, data,
target),
progress_bar=True,
),
extensions.PlotReport(["train/loss", "val/loss"],
"epoch",
filename="loss.png"),
extensions.PrintReport([
"epoch",
"iteration",
"train/loss",
"lr",
"val/loss",
]),
]
manager = ppe.training.ExtensionsManager(
model,
optimizer,
args.epochs,
extensions=my_extensions,
iters_per_epoch=len(train_loader),
stop_trigger=trigger,
)
train(manager, args, model, device, train_loader)
if args.save_model:
torch.save(model.state_dict(), "iknet.pt")
def main():
parser = argparse.ArgumentParser()
parser.add_argument(
"--input-model",
type=str,
default="./iknet.pth",
)
parser.add_argument(
"--output-model",
type=str,
default="./iknet-trt.pth",
)
args = parser.parse_args()
device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
model = IKNet().to(device)
model.load_state_dict(torch.load(args.input_model))
model.eval()
print(model)
input_ = torch.ones(1, 7).to(device)
model_trt = torch2trt(model, [input_], fp16_mode=True)
print(model_trt)
torch.save(model_trt.state_dict(), args.output_model)