inference_img_dp.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "import argparse\n",
    "import json\n",
    "import os\n",
    "import pprint\n",
    "import sys\n",
    "from pathlib import Path\n",
    "\n",
    "import cv2\n",
    "import h5py\n",
    "# import hydra\n",
    "import numpy as np\n",
    "import torch\n",
    "import torchvision\n",
    "import yaml\n",
    "from easydict import EasyDict\n",
    "# from hydra.experimental import compose, initialize\n",
    "# from omegaconf import DictConfig, OmegaConf\n",
    "from PIL import Image\n",
    "from torch.utils.data import DataLoader, Dataset\n",
    "from torch.utils.tensorboard import SummaryWriter\n",
    "from torchvision import transforms\n",
    "\n",
    "from deoxys import config_root\n",
    "# Control import\n",
    "from deoxys.franka_interface import FrankaInterface\n",
    "# from deoxys.utils import RobotStateRawObsDictGenerator, YamlConfig\n",
    "from deoxys.utils import  YamlConfig\n",
    "from deoxys.utils.config_utils import robot_config_parse_args\n",
    "from deoxys.utils.input_utils import input2action\n",
    "from deoxys.utils.io_devices import SpaceMouse\n",
    "from deoxys.utils.log_utils import get_deoxys_example_logger\n",
    "from deoxys.experimental.motion_utils import follow_joint_traj, reset_joints_to\n",
    "\n",
    "\n",
    "import argparse\n",
    "import json\n",
    "import numpy as np\n",
    "import time\n",
    "import os\n",
    "import shutil\n",
    "import psutil\n",
    "import sys\n",
    "import socket\n",
    "import traceback\n",
    "\n",
    "from threading import Thread\n",
    "import time\n",
    "\n",
    "from collections import OrderedDict\n",
    "\n",
    "import torch\n",
    "from torch.utils.data import DataLoader\n",
    "\n",
    "import robomimic\n",
    "import robomimic.utils.train_utils as TrainUtils\n",
    "import robomimic.utils.torch_utils as TorchUtils\n",
    "import robomimic.utils.obs_utils as ObsUtils\n",
    "import robomimic.utils.env_utils as EnvUtils\n",
    "import robomimic.utils.file_utils as FileUtils\n",
    "from robomimic.config import config_factory\n",
    "from robomimic.algo import algo_factory, RolloutPolicy\n",
    "from robomimic.utils.log_utils import PrintLogger, DataLogger, flush_warnings\n",
    "\n",
    "\n",
    "import robomimic.utils.train_utils as TrainUtils\n",
    "import robomimic.utils.torch_utils as TorchUtils\n",
    "import robomimic.utils.tensor_utils as TensorUtils\n",
    "import robomimic.utils.obs_utils as ObsUtils\n",
    "import robomimic.utils.env_utils as EnvUtils\n",
    "import robomimic.utils.file_utils as FileUtils\n",
    "\n",
    "import imageio \n",
    "\n",
    "import matplotlib.pyplot as plt\n",
    "\n",
    "from robomimic.envs.wrappers import EnvWrapper\n",
    "from copy import deepcopy\n",
    "import textwrap\n",
    "import numpy as np\n",
    "from collections import deque\n",
    "\n",
    "from camera_utils import MyRealSense, CVCamera\n",
    "\n",
    "np.set_printoptions(precision=3, suppress=True)\n",
    "\n",
    "logger = get_deoxys_example_logger()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "device = TorchUtils.get_torch_device(try_to_use_cuda=True)\n",
    "device "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "language_info": {
   "name": "python"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}