Neural network ball socket estimator

Install

• Pytorch conda install pytorch torchvision torchaudio cudatoolkit=10.2 -c pytorch

• pip install -r requirements.txt

Data collection

Switch to python folder as your working directory cd python

• Generate data using python particle_swarm.py --body_part BODY_PART

with BODY_PART = {head, shoulder_left, shoulder_right, hand_left, hand_right}

• Topics to record:

  • /roboy/pinky/sensing/external_joint_states
  • /roboy/pinky/middleware/MagneticSensor
  • /tracking_loss
  • /roboy/pinky/control/cardsflow_joint_states
  • /roboy/pinky/simulation/joint_targets

Training

• Convert bags to csv using write_dataset_from_bag.ipynb

• Run data_analysis.ipynb to make sure all the inputs and outputs are correct

• Train an LSTM network using training.ipynb

Prediction

cd python

• Run the trained network python predict_lstm.py