학습 환경 구성 코드 추가

sinyeong10 · Sep 24, 2024 · 7902f05 · 7902f05
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Showing 34 changed files with 23,090 additions and 75 deletions.
diff --git a/.gitignore b/.gitignore
@@ -147,4 +147,5 @@ ckpts/
 *.npy
 play.ipynb
 
-scr/
+scr/
+mycobot320_script/all_data/
diff --git a/aloha_scripts/real_env.py b/aloha_scripts/real_env.py
@@ -49,11 +49,10 @@ def __init__(self, init_node, setup_robots=True, setup_base=False):
             if key == ord("q"):
                 break
 
-
         self.cap1 = cv2.VideoCapture(1)        
         while True:
             _, frame = self.cap1.read()
-
+                
             cv2.imshow("top", frame)
             key = cv2.waitKey(10)
             if key == ord("q"):

diff --git a/model_run24000.txt b/model_run24000.txt
diff --git a/model_run24000_frame1.txt b/model_run24000_frame1.txt
diff --git a/model_run_1.txt b/model_run_1.txt
@@ -0,0 +1,26 @@
+wandb: Currently logged in as: cbrnt1210. Use `wandb login --relogin` to force relogin
+wandb: wandb version 0.17.9 is available!  To upgrade, please run:
+wandb:  $ pip install wandb --upgrade
+wandb: Tracking run with wandb version 0.17.5
+wandb: Run data is saved locally in /mnt/c/Users/cbrnt/OneDrive/문서/act-plus-plus/wandb/run-20240911_115447-o1r1nfyb
+wandb: Run `wandb offline` to turn off syncing.
+wandb: Syncing run twocam_mycobot320
+wandb: ⭐️ View project at https://wandb.ai/cbrnt1210/mobile-aloha2
+wandb: 🚀 View run at https://wandb.ai/cbrnt1210/mobile-aloha2/runs/o1r1nfyb
+['/mnt/c/Users/cbrnt/OneDrive/문서/act-plus-plus', '/mnt/c/Users/cbrnt/OneDrive/문서/act-plus-plus', '/mnt/c/Users/cbrnt/OneDrive/문서/act-plus-plus/detr', '/usr/lib/python310.zip', '/usr/lib/python3.10', '/usr/lib/python3.10/lib-dynload', '/home/imitation/.local/lib/python3.10/site-packages', '/usr/local/lib/python3.10/dist-packages', '/usr/lib/python3/dist-packages', 'C:\\Users\\cbrnt\\OneDrive\\문서\\act-plus-plus\\detr', 'C:\\Users\\cbrnt\\OneDrive\\문서\\act-plus-plus\\detr\\models']
+twocam_mycobot320
+Found 10 hdf5 files
+
+
+Data from: ['/mnt/c/Users/cbrnt/OneDrive/문서/act-plus-plus/scr/tonyzhao/datasets/sim_mycobot_320']
+- Train on [9] episodes
+- Test on [1] episodes
+
+
+Error loading /mnt/c/Users/cbrnt/OneDrive/문서/act-plus-plus/scr/tonyzhao/datasets/sim_mycobot_320/two_cam_episode_0.hdf5 in get_norm_stats
+"Unable to synchronously open object (object 'qvel' doesn't exist)"
+wandb: - 0.003 MB of 0.003 MB uploadedwandb: \ 0.003 MB of 0.008 MB uploadedwandb: | 0.005 MB of 0.008 MB uploadedwandb: 🚀 View run twocam_mycobot320 at: https://wandb.ai/cbrnt1210/mobile-aloha2/runs/o1r1nfyb
+wandb: ⭐️ View project at: https://wandb.ai/cbrnt1210/mobile-aloha2
+wandb: Synced 5 W&B file(s), 0 media file(s), 0 artifact file(s) and 0 other file(s)
+wandb: Find logs at: ./wandb/run-20240911_115447-o1r1nfyb/logs
+wandb: WARNING The new W&B backend becomes opt-out in version 0.18.0; try it out with `wandb.require("core")`! See https://wandb.me/wandb-core for more information.

diff --git a/model_run_chunk20_1.txt b/model_run_chunk20_1.txt
diff --git a/model_run_chunk20_30000.txt b/model_run_chunk20_30000.txt
diff --git a/model_run_chunk20_4.txt b/model_run_chunk20_4.txt
diff --git a/model_run_chunk20_5.txt b/model_run_chunk20_5.txt
diff --git a/model_run_chunk20_best_27000.txt b/model_run_chunk20_best_27000.txt
diff --git a/mycobot320_script/action_cal.py b/mycobot320_script/action_cal.py
@@ -0,0 +1,57 @@
+
+#수정
+base = [[(-3.07), 33.39, 32.78, 6.94, (-88.33), (-1.58)], \
+        [(-3.95), 66.53, 8.17, 6.32, (-88.59), (-1.84)], [(-3.95), 66.53, 8.17, 6.32, (-88.59), (-1.84)],\
+        [(-4.65), 56.6, 16.17, -7.47, (-91.4), (-3.95)], [(-2.54),29.44,23.81,17.92,(-88.33),(-84.81)],\
+        [24.08, 47.89, 0.52, 21.89, -89.03, -50.18],\
+        [24.08, 61.52, (-15.73), 35.5, (-89.12), (-71.19)], [24.08, 61.52, (-15.73), 35.5, (-89.12), (-71.19)]]
+
+#초기
+# base = [[(-3.07), 33.39, 32.78, 6.94, (-88.33), (-1.58)], \
+#         [(-3.95), 66.53, 8.17, 6.32, (-88.59), (-1.84)], [(-3.95), 66.53, 8.17, 6.32, (-88.59), (-1.84)],\
+#             [(-4.65), 56.6, 16.17, -7.47, (-91.4), (-3.95)], [(-2.54),29.44,23.81,17.92,(-88.33),(-84.81)],\
+#                 [24.16,23.55,37.96,10.63,(-91.58),(-84.81)], [23.81,85.42,(-50.71),44.64,(-89.38),(-71.01)], [23.81,85.42,(-50.71),44.64,(-89.38),(-71.01)]]
+
+print(len(base))
+#10FPS기준
+timestep = [1, 1,  1.5, 3,  1.5, 2.5, 1]
+framestep = [10, 10, 15, 30, 15, 25, 10]
+print(sum(timestep))
+print(sum(framestep))
+
+import numpy as np
+def cal(a,b,framestep, FPS = 10):
+    a = np.array(a)
+    b = np.array(b)
+
+    step_time = 1 / FPS
+    # 나눌 갯수
+    # num_steps = int(total_time / step_time)
+
+    # 각도 간격을 나누는 함수 (등간격)
+    angles_over_time = np.linspace(a, b, framestep)
+    return angles_over_time[1:]
+    # print(len(angles_over_time), angles_over_time)
+
+pre_base = np.array(base[0])
+frame = [pre_base[np.newaxis, :]]
+# print(frame)
+# print(frame[0].shape)
+for cur_base, cur_time in zip(base[1:], framestep):
+    cur_value = cal(pre_base, cur_base, cur_time+1)
+    # print(cur_value)
+    frame.append(cur_value)
+    pre_base = cur_base
+angles_data = list(np.concatenate(frame, axis=0))
+
+gripper_data = [70]*10+list(np.linspace(70, 20, 10))+[20]*85+list(np.linspace(20,70,10))
+print(len(gripper_data), len(angles_data)) #그리퍼가 한개 작음, qpos에서 끝난 값이 다음 값과 연동되어 겹치는 값을 삭제하고 처음에 값을 추가시켰기 때문
+
+cnt = 0
+filename = "frame_base_action.txt"
+with open(filename, 'w') as f:
+    for a, b in zip(gripper_data, angles_data):
+        print(cnt, a,b)
+        # 각 행의 데이터를 문자열로 변환하고 저장
+        f.write(str(cnt)+" : "+str(a)+" : "+str(list(b))+'\n')
+        cnt += 1
diff --git a/mycobot320_script/best_gripper.txt b/mycobot320_script/best_gripper.txt
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diff --git a/mycobot320_script/cheak_data.py b/mycobot320_script/cheak_data.py
@@ -0,0 +1,58 @@
+import threading
+import time
+from pymycobot.mycobot import MyCobot
+import cv2
+
+def print_motor_angles(mc):
+    try:
+        while True:
+            # 현재 모터 각도 출력
+            angles = mc.get_angles()
+            print(f"현재 모터 각도: {angles}")
+
+            # 1초간 대기
+            time.sleep(1)
+
+    except KeyboardInterrupt:
+        print("\n스레드가 사용자에 의해 종료됨")
+
+# MyCobot 객체 초기화
+mc = MyCobot('COM7', 115200)  # 포트와 속도에 맞게 수정
+
+# MyCobot 초기 설정
+# mc.init_eletric_gripper()
+# mc.set_eletric_gripper(0)
+# mc.set_gripper_value(100, 20, 1)
+mc.set_gripper_mode(0)
+mc.send_angles([0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 20)
+
+# 모터 각도 출력을 담당할 스레드 생성 및 실행
+thread = threading.Thread(target=print_motor_angles, args=(mc,))
+thread.start()
+
+
+#벌리고 초기 이동
+mc.init_eletric_gripper()
+mc.set_eletric_gripper(0)
+mc.set_gripper_value(100, 20, 1)
+time.sleep(1)
+mc.send_angles([0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 20)
+time.sleep(5)
+
+cv2.waitKey(0)
+print(1)
+
+try:
+    # 5초간 기다림
+    time.sleep(5)
+
+except KeyboardInterrupt:
+    print("\n메인 프로그램이 사용자에 의해 종료됨")
+
+finally:
+    # 스레드 종료
+    thread.join()
+
+    # 리소스 정리
+    mc.release_all_servos()
+    mc.disconnect()