dockerfile

Dockerfile

@@ -0,0 +1,44 @@
+# A Dockerfile that sets up a full SenseNet install
+FROM ubuntu:14.04
+
+RUN apt-get update \
+    && apt-get install -y libav-tools \
+    python-numpy \
+    python-scipy \
+    python-pyglet \
+    python-setuptools \
+    libpq-dev \
+    libjpeg-dev \
+    curl \
+    cmake \
+    swig \
+    freeglut3 \
+    python-opengl \
+    libboost-all-dev \
+    libglu1-mesa \
+    libglu1-mesa-dev \
+    libsdl2-2.0-0\
+    libgles2-mesa-dev \
+    libsdl2-dev \
+    wget \
+    unzip \
+    git \
+    xserver-xorg-input-void \
+    xserver-xorg-video-dummy \
+    python-gtkglext1 \
+    xpra \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/* \
+    && easy_install pip
+
+WORKDIR /usr/local/sensenet
+RUN mkdir -p sensenet && touch sensenet/__init__.py
+COPY ./sensenet/version.py ./sensenet
+COPY ./requirements.txt .
+COPY ./setup.py .
+RUN pip install -e .[all]
+
+# Finally, upload our actual code!
+COPY . /usr/local/sensenet
+
+WORKDIR /root

scripts/touch_test.py

@@ -4,15 +4,15 @@
 import pybullet as pb
 obj_file = '../tests/data/cube.stl'
 action_plan = [{'moves':14,'action':3}] #full frontal of cube
-#action_plan = [{'moves':14,'action':3},{'moves':11,'action':4}] #top edge,vertical line
+action_plan = [{'moves':14,'action':3},{'moves':11,'action':4}] #top edge,vertical line
 
 obj_file = '../tests/data/sphere.stl'
 action_plan = [{'moves':20,'action':3}]  #sphere circular area
 
-obj_file = '../tests/data/pyramid.stl'
-action_plan = [{'moves':8,'action':3}]  #pyramid angle
-action_plan = [{'moves':8,'action':3},{'moves':10,'action':4},{'moves':5,'action':3}]  #mid pyramid
-action_plan = [{'moves':5,'action':1},{'moves':10,'action':3},{'moves':15,'action':4},{'moves':10,'action':3}]  #top of pyramid
+#obj_file = '../tests/data/pyramid.stl'
+#action_plan = [{'moves':8,'action':3}]  #pyramid angle
+#action_plan = [{'moves':8,'action':3},{'moves':10,'action':4},{'moves':5,'action':3}]  #mid pyramid
+#action_plan = [{'moves':5,'action':1},{'moves':10,'action':3},{'moves':15,'action':4},{'moves':10,'action':3}]  #top of pyramid
 if len(sys.argv) == 2:
   obj_file = sys.argv[1]
   print("loading",obj_file)

tests/envtest.py

@@ -0,0 +1,26 @@
+
+import gym
+from env import TouchEnv
+from torch.autograd import Variable
+import torch
+def select_action(state):
+  state = torch.from_numpy(state).float().unsqueeze(0)
+  return state
+
+tenv = SenseEnv()
+env = gym.make("CartPole-v0")
+input_dim = env.observation_space.shape[0]
+output_dim = env.action_space.n
+tinput_dim = tenv.observation_space()
+toutput_dim = len(tenv.action_space())
+print("gym observation space: ",input_dim)
+print("gym action space: ",output_dim)
+print("touch observation space: ",tinput_dim)
+print("touch action space: ",toutput_dim)
+state = env.reset()
+tstate = tenv.reset()
+print("gym state:",state)
+print("touch state:",tstate)
+print("new gym action:",select_action(state))
+print("new touch action:",select_action(tstate))
+#state, reward, done, _ = env.step(action[0,0])