### Papers-related pages
If you came there reading one of the following works, please directly go to the related page.
- [Bayesian Gaussian mixture model for robotic policy imitation](https://gitlab.idiap.ch/rli/pbdlib-python/blob/master/pop/readme.md)
# pbdlib
Pbdlib is a python library for robot programming by demonstration. The goal is to provide users with an easy to use library of algorithms that can be used to learn movement primitives using probabilistic tools.
This Python version of Pbdlib is maintained by the Idiap Research Institute. Pbdlib is a collection of codes available in different languages and developed as a joint effort between the Idiap Research Institute and the Italian Institute of Technology (IIT).
For more information see http://www.idiap.ch/software/pbdlib/.
### License
Copyright (c) 2023 Idiap Research Institute, https://idiap.ch/
Pbdlib-python is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License version 3 as published by the Free Software Foundation. You should have received a copy of the GNU General Public License along with RCFS. If not, see <https://www.gnu.org/licenses/>.
## References
If you find these codes useful for your research, please acknowledge the authors by citing:
Pignat, E. and Calinon, S. (2017). [Learning adaptive dressing assistance from human demonstration](http://doi.org/10.1016/j.robot.2017.03.017). Robotics and Autonomous Systems 93, 61-75.
# Installation
This requires v3.X of Python.
Following these instructions install the library without copying the files, allowing to edit the sources files without reinstalling.
cd pbdlib-python
pip install -e .
If pip is not install, you can get it that way:
sudo apt-get install python-pip
## Launching the notebooks tutorial
Launch jupyter server with:
jupyter notebook notebooks/
Then navigate through folders and click on desired notebook.
| Filename | Description |
|----------|-------------|
| pbdlib - basics.ipynb| Overview of the main functionalities of pbdlib.|
| pbdlib - lqr.ipynb| Linear quadratic regulator to regerate trajectories.|
| pbdlib - Multiple coordinate systems.ipynb| This example shows how motions can adapt to various positions and orientations of objects by projecting the demonstrations in several coordinate systems.|
### MEMMO related examples
Launch jupyter server with:
jupyter notebook notebooks/MEMMO/
## User interface for recording data with the mouse
### Installation
sudo apt-get intall python-tk
### Use
cd notebooks
python record_demo.py -p /path/to/folder -f filename
You can click on move the mouse on the left panel to record demonstrations. Press "h" for help. Save with "q".
To record demos with additional moving objects, run
python record_demo.py -p /path/to/folder -f filename -m -c number_of_object
By pressing, the number corresponding to the desired object on your keyboard, you will make it appear and be able to move it.
Rotate them by holding the key of the number and turning the scrollwheel of your mouse.
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pbdlib-python-master.zip (233个子文件)
.gitignore 2KB
Test Bayesian GMM - Position - Velocity Product.ipynb 1.77MB
BGMM_LQR.ipynb 1.17MB
Test Bayesian GMM - Policy - Time dependent LQR.ipynb 955KB
pbdlib - GMR-HMM-HSMM for regression between time series.ipynb 537KB
pbdlib - LQR - Via Points.ipynb 493KB
pbdlib - HSMM.ipynb 410KB
pbdlib - Multiple coordinate systems.ipynb 406KB
pbdlib - Bayesian GMM aleatoric and epistemic uncertainties.ipynb 374KB
pbdlib - LQR.ipynb 363KB
pbdlib - GMR time-dependent.ipynb 217KB
pbdlib - basics.ipynb 75KB
LQR-simple.ipynb 31KB
pbdlib - Bayesian GMM.ipynb 3KB
LICENSE 34KB
O.mat 146KB
E.mat 137KB
S.mat 136KB
L.mat 135KB
F.mat 128KB
Q.mat 128KB
J.mat 127KB
V.mat 127KB
D.mat 127KB
C.mat 125KB
W.mat 119KB
X.mat 119KB
Y.mat 119KB
H.mat 118KB
G.mat 118KB
N.mat 118KB
P.mat 118KB
T.mat 117KB
I.mat 116KB
M.mat 109KB
B.mat 109KB
K.mat 101KB
R.mat 100KB
Z.mat 100KB
U.mat 99KB
A.mat 92KB
README.md 3KB
readme.md 2KB
policy_001_dp_gmm_lqr.mp4 210KB
policy_008_dp_gmm_lqr_local.mp4 85KB
reach_target.npy 107KB
policy_011.npy 29KB
policy_010.npy 19KB
policy_010.npy 19KB
policy_005.npy 18KB
policy_005.npy 18KB
policy_012.npy 17KB
policy_009.npy 16KB
policy_009.npy 16KB
policy_007.npy 15KB
policy_007.npy 15KB
test_005.npy 15KB
test_005.npy 15KB
policy_002.npy 12KB
policy_002.npy 12KB
policy_003.npy 12KB
policy_003.npy 12KB
test_001.npy 11KB
policy_006.npy 11KB
policy_006.npy 11KB
policy_008.npy 11KB
policy_008.npy 11KB
policy_001.npy 11KB
policy_001.npy 11KB
hmmr_plot_2.npy 11KB
test_004.npy 11KB
test_004.npy 11KB
tp_hmm_reg1.npy 10KB
tp_hmm_reg2.npy 10KB
tp_hmm_reg3.npy 10KB
tp_hmm_reg4.npy 10KB
hmmr_plot_1.npy 10KB
hmmr_plot_0.npy 10KB
tp_hmm_reg0.npy 10KB
tp_hmm_reg5.npy 9KB
tp_hmm_reg6.npy 9KB
test_options1.npy 9KB
test_002.npy 9KB
test_wait1.npy 9KB
test_conditioning_001.npy 9KB
test_options3.npy 8KB
test_001.npy 8KB
test_001.npy 8KB
test_options7.npy 8KB
policy_004.npy 8KB
policy_004.npy 8KB
tp_hmm_reg7.npy 8KB
hmmr_plot_3.npy 8KB
test_options0.npy 8KB
test_003.npy 8KB
test_003.npy 8KB
test_options4.npy 8KB
test_wait3.npy 7KB
test_options6.npy 7KB
test_wait7.npy 7KB
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