input.yaml

val1: 100
val2: 200
## ibm config
image_vae: False
image_channel: 3
image_width: 128
image_height: 128
image_units: [256, 6]
image_model_file: "/project_data/sample_rcup_reach/models/image_model.npz"

sensor_topic_list: ['image_latent', 'joint_angle']
mf_slop: 0.15
mf_queue_size: 30

dim_list: [6, 7]
n_pb: 3
n_init: 2
units: [100, 30, 10]
hz: 5

model_dir: "informatized_pr2_imitation"
model_file: "/project_data/sample_rcup_reach/models/model.npz"
mask_file: "/project_data/sample_rcup_reach/models/mask.yaml"
class_file: "/project_data/sample_rcup_reach/models/class.yaml"

## imitation pr2 config
control_joints: [{name: r_shoulder_pan_joint, type: revolute},
                 {name: r_shoulder_lift_joint, type: revolute},
                 {name: r_upper_arm_roll_joint, type: revolute},
                 {name: r_elbow_flex_joint, type: revolute},
                 {name: r_forearm_roll_joint, type: continuous, clamp: True},
                 {name: r_wrist_flex_joint, type: revolute},
                 {name: r_wrist_roll_joint, type: continuous, clamp: True}]
image_crop_offset_x: 180
image_crop_offset_y: 150
image_crop_width: 280
image_crop_height: 250
initial_joints:
- {type: prismatic, name: torso_lift_joint, value: 0.2996728157795441}
- {type: revolute, name: l_shoulder_pan_joint, value: 1.30900678614617}
- {type: revolute, name: l_shoulder_lift_joint, value: 0.8726545105347083}
- {type: revolute, name: l_upper_arm_roll_joint, value: 1.919906620100257}
- {type: revolute, name: l_elbow_flex_joint, value: -1.919922381206603}
- {clamp: false, type: continuous, name: l_forearm_roll_joint, value: -0.3490166792434409}
- {type: revolute, name: l_wrist_flex_joint, value: -0.17456043008819355}
- {clamp: false, type: continuous, name: l_wrist_roll_joint, value: -0.17454814354716675}
- {type: revolute, name: r_shoulder_pan_joint, value: -0.4254842182379171}
- {type: revolute, name: r_shoulder_lift_joint, value: 0.8127206786440845}
- {type: revolute, name: r_upper_arm_roll_joint, value: -0.7709587606608473}
- {type: revolute, name: r_elbow_flex_joint, value: -2.0623767612079944}
- {clamp: false, type: continuous, name: r_forearm_roll_joint, value: 2.9372135598601146}
- {type: revolute, name: r_wrist_flex_joint, value: -1.185171718252486}
- {clamp: false, type: continuous, name: r_wrist_roll_joint, value: -4.215295715239812}
- {type: revolute, name: head_pan_joint, value: 1.2229570343530536e-05}
- {type: revolute, name: head_tilt_joint, value: 1.1124379586361457}
- {type: prismatic, name: l_gripper_joint, value: 0.08510372837233254}
- {type: prismatic, name: r_gripper_joint, value: 0.08758035067941015}

output.yaml

class_file: /project_data/sample_rcup_reach/models/class.yaml
control_joints:
- name: r_shoulder_pan_joint
  type: revolute
- name: r_shoulder_lift_joint
  type: revolute
- name: r_upper_arm_roll_joint
  type: revolute
- name: r_elbow_flex_joint
  type: revolute
- clamp: true
  name: r_forearm_roll_joint
  type: continuous
- name: r_wrist_flex_joint
  type: revolute
- clamp: true
  name: r_wrist_roll_joint
  type: continuous
dim_list:
- 6
- 7
hz: 5
image_channel: 3
image_crop_height: 250
image_crop_offset_x: 180
image_crop_offset_y: 150
image_crop_width: 280
image_height: 128
image_model_file: /project_data/sample_rcup_reach/models/image_model.npz
image_units:
- 256
- 6
image_vae: false
image_width: 128
initial_joints:
- name: torso_lift_joint
  type: prismatic
  value: 0.2996728157795441
- name: l_shoulder_pan_joint
  type: revolute
  value: 1.3090067861461696
- name: l_shoulder_lift_joint
  type: revolute
  value: 0.8726545105347081
- name: l_upper_arm_roll_joint
  type: revolute
  value: 1.9199066201002566
- name: l_elbow_flex_joint
  type: revolute
  value: -1.9199223812066029
- clamp: false
  name: l_forearm_roll_joint
  type: continuous
  value: -0.3490166792434408
- name: l_wrist_flex_joint
  type: revolute
  value: -0.17456043008819355
- clamp: false
  name: l_wrist_roll_joint
  type: continuous
  value: -0.17454814354716675
- name: r_shoulder_pan_joint
  type: revolute
  value: -0.42548421823791704
- name: r_shoulder_lift_joint
  type: revolute
  value: 0.8127206786440841
- name: r_upper_arm_roll_joint
  type: revolute
  value: -0.770958760660847
- name: r_elbow_flex_joint
  type: revolute
  value: -2.062376761207993
- clamp: false
  name: r_forearm_roll_joint
  type: continuous
  value: 2.9372135598601137
- name: r_wrist_flex_joint
  type: revolute
  value: -1.1851717182524855
- clamp: false
  name: r_wrist_roll_joint
  type: continuous
  value: -4.215295715239812
- name: head_pan_joint
  type: revolute
  value: 1.2229570343530536e-05
- name: head_tilt_joint
  type: revolute
  value: 1.1124379586361455
- name: l_gripper_joint
  type: prismatic
  value: 0.08510372837233254
- name: r_gripper_joint
  type: prismatic
  value: 0.08758035067941011
mask_file: /project_data/sample_rcup_reach/models/mask.yaml
mf_queue_size: 30
mf_slop: 0.1499999999999999
model_dir: informatized_pr2_imitation
model_file: /project_data/sample_rcup_reach/models/model.npz
n_init: 2
n_pb: 3
sensor_topic_list:
- image_latent
- joint_angle
units:
- 100
- 30
- 10
val1: 100
val2: 200

roseus-yaml-test.l

#!/usr/bin/env roseus

(ros::roseus "yaml_test")

(setq *params* nil)

(defun yaml-load (input-file)
  (unix:system "rosparam delete /eus_yaml_load")
  (unix:system (format nil "rosparam load ~A eus_yaml_load" input-file))
  (setq *params* (ros::get-param "/eus_yaml_load"))
  (unix:system "rosparam delete /eus_yaml_load")
  (format t "~%load params from ~A~%" input-file)
  (format t " now param is ~A ~%" *params*)
  )

(defun yaml-dump (output-file)
  (unix:system "rosparam delete /eus_yaml_dump")
  (ros::set-param "/eus_yaml_dump" *params*)
  (unix:system (format nil "rosparam dump ~A eus_yaml_dump" output-file))
  (unix:system "rosparam delete /eus_yaml_dump")
  (format t "~%dump params to ~A~%" output-file)
  )

(yaml-load "input.yaml")
(yaml-dump "output.yaml")