def set_params(self, params_path):
loaded = self.loaded_params_path
if loaded is None:
self.load_params(WorkspaceParams.load_from_file(params_path),
params_path)
return True
else:
if loaded != params_path:
self.remove_objects()
self.load_params(WorkspaceParams.load_from_file(params_path),
params_path)
return True
return False
def get_manager_for_workspace(workspace_id, config):
directory = os.path.abspath(
os.path.expanduser(config['data']['directory']))
workspace_dir = os.path.join(directory, workspace_id)
potential_points = PotentialPoint.from_config(config)
openrave_manager = OpenraveManager(
config['data']['joint_segment_validity_step'], potential_points)
workspace_params = WorkspaceParams.load_from_file(
data_filepaths.get_workspace_params_path(workspace_dir))
openrave_manager.load_params(workspace_params)
return openrave_manager, workspace_dir
def __init__(self, params_directory, create_images=True):
self.items = {}
self._create_images = create_images
source_dir = os.path.expanduser(params_directory)
for dirpath, dirnames, filenames in os.walk(source_dir):
for filename in filenames:
if not filename.endswith('.pkl'):
continue
full_file_path = os.path.join(source_dir, filename)
params = WorkspaceParams.load_from_file(full_file_path)
np_array = None
if create_images:
image_filename = filename.replace('.pkl', '.image_pkl')
full_image_file_path = os.path.join(
source_dir, image_filename)
if os.path.isfile(full_image_file_path):
np_array = pickle.load(open(full_image_file_path, 'r'))
else:
np_array = self._get_image_as_numpy(params)
pickle.dump(np_array, open(full_image_file_path, 'w'))
self.items[filename] = ImageCacheItem(filename, full_file_path,
params, np_array)
show_goal_end_effector_pose = True
# load configuration
config_path = os.path.join(os.getcwd(), 'config/config.yml')
with open(config_path, 'r') as yml_file:
config = yaml.load(yml_file)
# load the workspace
openrave_manager = OpenraveManager(
config['openrave_rl']['segment_validity_step'],
PotentialPoint.from_config(config))
params_file = os.path.abspath(
os.path.expanduser(
os.path.join('~/ModelBasedDDPG/scenario_params', scenario,
'params.pkl')))
openrave_manager.load_params(WorkspaceParams.load_from_file(params_file))
openrave_manager.robot.SetDOFValues([0.0] + goal_joints, [0, 1, 2, 3, 4])
openrave_manager.get_initialized_viewer()
red_color = np.array([1.0, 0.0, 0.0])
yellow_color = np.array([1.0, 1.0, 0.0])
green_color = np.array([0.0, 1.0, 0.0])
def create_sphere(id, radius, openrave_manager):
body = RaveCreateKinBody(openrave_manager.env, '')
body.SetName('sphere{}'.format(id))
body.InitFromSpheres(np.array([[0.0] * 3 + [radius]]), True)
openrave_manager.env.Add(body, True)
return body