Public Member Functions
def	__init__
def	balance_positives_and_negatives
def	click_cb
def	did_end_effector_move
def	draw_dots_nstuff
def	execute
def	execute_task
	Execution phase.
def	init_task
	Learning Manipulation Behaviors.
def	practice
	Learning Manipulation Behaviors.
def	practice_task
	Practice phase.
def	profile_me
def	random_explore_init
	TODO: WE MIGHT NOT NEED THIS AFTER ALL, MIGHT BE ABLE TO JUST INITIALIZE RANDOMLY!
def	read_features_save
def	record_perceptual_data
	Perception Behaviors.
def	run
def	unreliable_locs
def	update_base
def	update_point
	Utility function.
Public Attributes
	driving_posture
	feature_ex
	get_behavior_by_task
	laser_listener
	location_approach_driving
	locations_man
	look_at
	manipulation_posture
	mode_click
	move_base_planner
	optical_frame
	prosilica
	prosilica_cal
	rec_params
	robot
	tf_listener

Detailed Description

Definition at line 55 of file trf_behavior.py.

Constructor & Destructor Documentation

def trf_learn.trf_behavior.TaskRelevantLearningBehaviors.__init__	(	self,
		app_behaviors,
		tf_listener,
		optical_frame
	)

Definition at line 57 of file trf_behavior.py.

def trf_learn.trf_behavior.TaskRelevantLearningBehaviors.balance_positives_and_negatives	(	self,
		dataset
	)

Definition at line 159 of file trf_behavior.py.

def trf_learn.trf_behavior.TaskRelevantLearningBehaviors.click_cb	(	self,
		point_bl
	)

Definition at line 86 of file trf_behavior.py.

def trf_learn.trf_behavior.TaskRelevantLearningBehaviors.did_end_effector_move	(	self,
		p_t0
	)

Definition at line 966 of file trf_behavior.py.

def trf_learn.trf_behavior.TaskRelevantLearningBehaviors.draw_dots_nstuff	(	self,
		img,
		points2d,
		labels,
		picked_loc
	)

Definition at line 182 of file trf_behavior.py.

def trf_learn.trf_behavior.TaskRelevantLearningBehaviors.execute	(	self,
		task_id,
		point3d_bl,
		save,
		max_retries = `15`,
		closeness_tolerance = `.01`,
		user_study = `False`
	)

Definition at line 519 of file trf_behavior.py.

def trf_learn.trf_behavior.TaskRelevantLearningBehaviors.execute_task	(	self,
		save,
		user_study,
		novision = `False`
	)

Execution phase.

Definition at line 1133 of file trf_behavior.py.

def trf_learn.trf_behavior.TaskRelevantLearningBehaviors.init_task	(	self,
		point_bl
	)

Learning Manipulation Behaviors.

Initialization phase

Parameters:

point_bl 3x1 in base_link

Definition at line 870 of file trf_behavior.py.

def trf_learn.trf_behavior.TaskRelevantLearningBehaviors.practice	(	self,
		task_id,
		ctask_id,
		point3d_bl,
		stop_fun = `None`,
		params = `None`,
		negative_cut_off = `.5`,
		resolution = `.01`,
		max_samples = `5`
	)

Learning Manipulation Behaviors.

The behavior can make service calls to a GUI asking users to label

Definition at line 274 of file trf_behavior.py.

def trf_learn.trf_behavior.TaskRelevantLearningBehaviors.practice_task ( self )

Practice phase.

Definition at line 980 of file trf_behavior.py.

def trf_learn.trf_behavior.TaskRelevantLearningBehaviors.profile_me	(	self,
		task_id,
		point_bl
	)

Definition at line 171 of file trf_behavior.py.

def trf_learn.trf_behavior.TaskRelevantLearningBehaviors.random_explore_init	(	self,
		task_id,
		ctask_id,
		point_bl,
		stop_fun,
		max_retries = `30`,
		closeness_tolerance = `.01`,
		positive_escape = `.08`,
		should_reset = `False`
	)

TODO: WE MIGHT NOT NEED THIS AFTER ALL, MIGHT BE ABLE TO JUST INITIALIZE RANDOMLY!

Definition at line 697 of file trf_behavior.py.

def trf_learn.trf_behavior.TaskRelevantLearningBehaviors.read_features_save	(	self,
		task_id,
		point3d_bl,
		params = `None`
	)

Definition at line 250 of file trf_behavior.py.

def trf_learn.trf_behavior.TaskRelevantLearningBehaviors.record_perceptual_data	(	self,
		point3d_bl,
		image_frame,
		rdict = `None`,
		folder_name = `None`
	)