def __init__(self,
bincam,
izzy,
turntable,
controller,
options=AMTOptions()):
self.bc = bincam
self.izzy = izzy
self.turntable = turntable
self.c = controller
self.options = options
self.r = reset_rollout.reset(izzy, turntable)
state_path = options.supervised_dir + 'supervised'+str(rollout_num) +'/states.txt'
deltas_path = options.supervised_dir + 'supervised'+str(rollout_num) +'/deltas.txt'
s_paths.append(state_path)
d_paths.append(deltas_path)
return s_paths, d_paths
def assign_path(image_path, rollout_num, options):
if image_path == options.supervised_dir:
return options.supervised_dir + 'supervised'+str(rollout_num) +'/supervised'+str(rollout_num) + '_frame_' + str(0) + '.jpg'
elif image_path == options.rollouts_dir:
return options.rollouts_dir + 'rollout'+str(rollout_num) +'/rollout'+str(rollout_num) + '_frame_' + str(0) + '.jpg'
return None
options = AMTOptions()
net = net6.NetSix()
options.tf_net = net
# options.tf_net = net6.NetSix()
options.tf_net_path = '/media/1tb/Izzy/nets/net6_07-01-2016_16h24m28s.ckpt'
sess = net.load(var_path=options.tf_net_path)
# rollout_num = 63
best_ang = [344, 357, 341, 322, 374, 319, 315, 349, 342, 373]
worst_ang = [323, 356, 331, 317, 351, 336, 367, 345, 324, 366]
best_fore = [317, 335, 329, 343, 337, 348, 322, 370, 323, 351]
worst_fore = [325, 369, 332, 326, 339, 346, 324, 364, 359, 353]
worst_test = [441, 439, 448, 440, 453]
trajectories = [250, 251] + list(range(253, 280)) + [252]
return s
@staticmethod
def roll(tuples, change):
frames, states = zip(*tuples)
frames = frames[change:]
states = states[:-change]
return zip(frames, states)
if __name__ == "__main__":
bincam = BinaryCamera('./meta.txt')
bincam.open()
options = AMTOptions()
izzy = DexRobotZeke()
izzy._zeke.steady(False)
t = DexRobotTurntable()
options.tf_net = net6.NetSix()
template_file = open(options.amt_dir + '/saved_template_paths.txt', 'r')
# FOR MULTINETS changed to a list
# options.tf_net_path = ['/media/1tb/Izzy/nets/net6_06-16-2016_10h43m14s.ckpt']
options.tf_net_path = '/media/1tb/Izzy/nets/net6_06-17-2016_10h20m50s.ckpt'
amt = AMT(bincam, izzy, t, options=options)
person = args.name
else:
person = None
if args.iteration:
iteration = args.iteration
else:
iteration = 0
limited = False
if args.experiment:
limited = True
skip = args.expedited
bincam = BinaryCamera('./meta.txt')
bincam.open()
options = AMTOptions()
izzy = DexRobotZeke()
izzy._zeke.steady(False)
options.tf_net = net6.NetSix()
print iteration == 1 and person is not None
if iteration == 1 and person is not None:
template_file = open(options.templates_dir + '/training_middle_20_paths.txt', 'r')
elif iteration == 2 and person is not None:
template_file = open(options.templates_dir + '/training_last_20_paths.txt', 'r')
else:
print "not running a set iteration"
template_file = open(options.templates_dir + '/saved_template_paths.txt', 'r')
test_file = open(options.templates_dir + '/human_study_test_set_paths.txt', 'r')
return s
@staticmethod
def roll(tuples, change):
frames, states = zip(*tuples)
frames = frames[change:]
states = states[:-change]
return zip(frames, states)
if __name__ == "__main__":
bincam = BinaryCamera('./meta.txt')
bincam.open()
options = AMTOptions()
#t = TurnTableControl() # the com number may need to be changed. Default of com7 is used
#izzy = PyControl(115200, .04, [0,0,0,0,0],[0,0,0]) # same with this
c = None
#c = XboxController([options.scales[0],155,options.scales[1],155,options.scales[2],options.scales[3]])
izzy = DexRobotZeke()
izzy._zeke.steady(False)
t = DexRobotTurntable()
#options.tf_net = net5.NetFive()
#options.tf_net_path = '/home/annal/Izzy/vision_amt/Net/tensor/net5/net5_02-15-2016_11h58m56s.ckpt'
options.tf_net = net6.NetSix()
#options.tf_net_path = '/media/1tb/Izzy/nets/net6_02-26-2016_17h58m15s.ckpt'
#options.tf_net_path = '/media/1tb/Izzy/nets/net6_02-27-2016_15h30m01s.ckpt'
return s
@staticmethod
def roll(tuples, change):
frames, states = zip(*tuples)
frames = frames[change:]
states = states[:-change]
return zip(frames, states)
if __name__ == "__main__":
bincam = BinaryCamera('./meta.txt')
bincam.open()
options = AMTOptions()
izzy = DexRobotZeke()
izzy._zeke.steady(False)
# t = DexRobotTurntable()
# options.tf_net = net6_c.NetSix_C()
options.tf_net = net6.NetSix()
template_file = open(options.amt_dir + '/saved_template_paths.txt', 'r')
# FOR MULTINETS changed to a list
# options.tf_net_path = ['/media/1tb/Izzy/nets/net6_06-16-2016_10h43m14s.ckpt']
options.tf_net_path = '/media/1tb/Izzy/nets/net6_06-22-2016_11h32m47s.ckpt'
if args.name:
person = args.name
else:
person = None
if args.iteration:
iteration = args.iteration
else:
iteration = 0
limited = False
if args.experiment:
limited = True
bincam = BinaryCamera('./meta.txt')
bincam.open()
options = AMTOptions()
izzy = DexRobotZeke()
izzy._zeke.steady(False)
options.tf_net = net6.NetSix()
print iteration == 1 and person is not None
if iteration == 1 and person is not None:
template_file = open(options.templates_dir + '/training_middle_20_paths.txt', 'r')
elif iteration == 2 and person is not None:
template_file = open(options.templates_dir + '/training_last_20_paths.txt', 'r')
else:
print "not running a set iteration"
template_file = open(options.templates_dir + '/saved_template_paths.txt', 'r')
return s
@staticmethod
def roll(tuples, change):
frames, states = zip(*tuples)
frames = frames[change:]
states = states[:-change]
return zip(frames, states)
if __name__ == "__main__":
bincam = BinaryCamera('./meta.txt')
bincam.open()
options = AMTOptions()
izzy = DexRobotZeke()
izzy._zeke.steady(False)
t = DexRobotTurntable()
options.tf_net = net6.NetSix()
options.tf_net_path = '/media/1tb/Izzy/nets/net6_03-28-2016_14h51m12s.ckpt'
amt = AMT(bincam, izzy, t, options=options)
while True:
print "Waiting for keypress ('q' -> quit, 'r' -> rollout, 'u' -> update weights, 't' -> test, 'd' -> demonstrate, 'c' -> compile train/test sets): "
char = getch()
if char == 'q':
print "Quitting..."
return s
@staticmethod
def roll(tuples, change):
frames, states = zip(*tuples)
frames = frames[change:]
states = states[:-change]
return zip(frames, states)
if __name__ == "__main__":
bincam = BinaryCamera('./meta.txt')
bincam.open()
options = AMTOptions()
#t = TurnTableControl() # the com number may need to be changed. Default of com7 is used
#izzy = PyControl(115200, .04, [0,0,0,0,0],[0,0,0]) # same with this
c = None
#c = XboxController([options.scales[0],155,options.scales[1],155,options.scales[2],options.scales[3]])
izzy = DexRobotZeke()
izzy._zeke.steady(False)
t = DexRobotTurntable()
#options.tf_net = net5.NetFive()
#options.tf_net_path = '/home/annal/Izzy/vision_amt/Net/tensor/net5/net5_02-15-2016_11h58m56s.ckpt'
options.tf_net = net6.NetSix()
#options.tf_net_path = '/media/1tb/Izzy/nets/net6_02-26-2016_17h58m15s.ckpt'
#options.tf_net_path = '/media/1tb/Izzy/nets/net6_02-27-2016_15h30m01s.ckpt'