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update middleware: add reset_joint_states and switch_mode (+test on real robot)

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Brian Delhaisse
2019-10-23 09:31:13 +02:00
parent 6f82faf0dd
commit 8061905add
14 changed files with 653 additions and 73 deletions
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examples/imitation/demo.py
+13 -7
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@@ -10,13 +10,15 @@ import pyrobolearn as prl
joint_ids = None # None for all the actuated joints, or you can select which joint you want to move; e.g. [0, 1, 2]
num_basis = 20
rate = 30
use_real_robot = True
# create middleware
# ros = prl.middlewares.ROS()
ros = prl.middlewares.ROS(subscribe=True, teleoperate=True)
# create simulator
sim = prl.simulators.Bullet() # middleware=ros)
# sim.disable_middleware() # disable the middleware (get/set info only from/to simulation)
sim = prl.simulators.Bullet(middleware=ros)
if not use_real_robot:
sim.disable_middleware() # disable the middleware (get/set info only from/to simulation)
# create basic world (with gravity and floor)
world = prl.worlds.BasicWorld(sim)
@@ -55,6 +57,7 @@ task = prl.tasks.ILTask(env, policy, interface=bridge, recorders=recorder)
print("\nRecording phase: press `ctrl+r` to start/stop the recording. Once finished, press `shift+r`.")
task.record(signal_from_interface=True)
print("Recording phase: finished the recording!")
sim.disable_middleware() # disable the middleware (get/set info only from/to simulation)
# train policy
print("Training phase: training the policy...")
@@ -71,7 +74,10 @@ task.test(num_steps=rate*100, signal_from_interface=False)
print("Reproduction phase: Policy tested!")
# test policy on real robot
print("Reproduction phase: test policy in reality...")
# sim.enable_middleware() # enable the real robot
# task.test(num_steps=rate*100, signal_from_interface=False)
print("Reproduction phase: Policy tested!")
if use_real_robot:
input("Press Enter to move to the real robot experiment...")
sim.enable_middleware() # enable the real robot
ros.switch_mode(subscribe=False, publish=True, teleoperate=True)
print("Reproduction phase: test policy in reality...")
task.test(num_steps=rate*100, signal_from_interface=False)
print("Reproduction phase: Policy tested!")