akihikoy / ay_py

Python libraries for robot learning, including optimization, Graph-DDP, locally weighted regression, neural networks for regression and classification, geometry and kinematics calculation, robot control interface of Baxter, PR2, Robotiq, Dynamixel and Mikata arm, ROS utility, etc.

ay_py

Python libraries for robot learning, including optimization, Graph-DDP, locally weighted regression, neural networks for regression and classification, geometry and kinematics calculation, robot control interface of Baxter, PR2, Robotiq, ROS utility, etc.

Author

Akihiko Yamaguchi, http://akihikoy.net/

Acknowledgment

CMA-ES (src/ay_py/thirdp/cma.py) is implemented by Nikolaus Hansen. Read src/ay_py/thirdp/CMA1.0.09-README.txt for more information.

Requirements

ay_py.core

• Python: core, numpy, scipy

ay_py.ros

Binaries are available (you can use apt-get):

• ROS core system, rospy, roscpp, std_msgs, std_srvs, geometry_msgs, tf, ...
• ros-ROS_DISTR-moveit-full (ROS_DISTR: groovy, hydro, indigo, etc.)
• ros-ROS_DISTR-moveit-resources

Working with Baxter/PR2 (OPTIONAL):

• Need SDK packages for Baxter/PR2
• Information would be found in: http://akihikoy.net/notes/?text

Usage

Add src/ay_py/ to Python package path. Under ay_py, there are sub modules:

import sys
sys.path.append('YOUR_DIRECTORY/ay_py/src')

ay_py.core

ROS-independent module, including optimization, Graph-DDP, locally weighted regression, neural networks for regression and classification, geometry and kinematics calculation, etc. You can use this module WITHOUT ROS. Just import the package:

from ay_py.core import *

ay_py.thirdp

Packages from third party are stored. They are internally used in ay_py.*.

ay_py.ros

ROS-dependent module, including utility, robot control interface of Baxter, PR2, Robotiq, etc. ROS environment should be setup before using this module.

from ay_py.ros import *

ay_py.tools

Useful tools, such as GUI with Python.

Requirements: for tool/py_gui.py: tmux rxvt-unicode-256color

For example, run:

python src/ay_py/tool/py_gui.py

demo

In demo directory, many demonstration scripts using ay_py.core are contained. Directly run them.

demo_ros

In demo_ros directory, some demonstration scripts using ay_py.ros are contained. Directly run them.

Troubles

Send e-mails to the author.

ay_py's Issues

Saving selections in TTerminalTab and loading them next launch

It's better to save selections in TTerminalTab (radio-buttons, combo-boxes) and loading them next launch.

https://github.com/akihikoy/ay_py/blob/master/src/ay_py/tool/py_gui.py

In Mikata arms, we cannot operate the gripper and the arm simultaneously

As mentioned in the title.

PolygonArea

ay_py/src/ay_py/core/geom_ex.py

Lines 97 to 103 in f55ac87

	#Calculate area of a polygon in 2D.
	# http://mathworld.wolfram.com/PolygonArea.html
	# http://stackoverflow.com/questions/451426/how-do-i-calculate-the-area-of-a-2d-polygon
	def PolygonArea(points):
	if len(points)<3: return 0.0
	return 0.5*abs(sum(x0*y1-x1*y0
	for ((x0,y0), (x1,y1)) in zip(points, points[1:]+[points[0]])))

The correctness of the PolygonArea calculation should be double-checked.

cf. https://stackoverflow.com/questions/24467972/calculate-area-of-polygon-given-x-y-coordinates

return 0.5*np.abs(np.dot(points_x,np.roll(points_y,1))-np.dot(points_y,np.roll(points_x,1)))

B3プレトレーニングに関して2

オブジェクトをグラブするプログラムのサンプルをお願いします

鈴木

Modify for the new driver for Dnamixel gripper

ay_py/src/ay_py/ros/rbt_mikata2.py

Line 23 in e459f86

super(TMikataGripper2,self).__init__(dev=None)

Change (dev=None) to ().

B3プレトレーニングに関して１

グリッパに当たり判定がない件についてよろしくお願いします

鈴木

Error of setting up Mikata6_SIM on Ubuntu 18.04 - ROS melodic

Perhaps this error reported in ay_trick
akihikoy/ay_trick#1
will be due to ay_py.