| #!/usr/bin/env python | |
| # -*- coding: utf-8 -*- | |
| import time | |
| import pygame | |
| pygame.init() | |
| pygame.mixer.init() | |
| pygame.display.set_mode() |
PyTorch is a Python deep learning library that's currently gaining a lot of traction, because it's a lot easier to debug and prototype (compared to TensorFlow / Theano).
To install PyTorch on the Duckietbot you have to compile it from source, because there is no pro-compiled binary for ARMv7 / ARMhf available. This guid will walk you through the required steps.
First you need to install some additional packages. You might already have installed. If you do, that's not a problem.
Important I'd recommend you use at least a 16GB sd card. I tried it with an 8GB card and it baaaaarely fits. I had to uninstall a lot of packages and regularly clean up.
Go to https://www.raspberrypi.org/downloads/raspbian/ and download the Raspbian Stretch image (either one).
Use Etcher (from https://etcher.io/) to "burn" the image onto the SD card.
| import time | |
| import numpy as np | |
| import pyrealsense2 as rs | |
| pipeline = rs.pipeline() | |
| config = rs.config() | |
| config.enable_stream(rs.stream.color, 640, 480, rs.format.rgb8, 60) | |
| pipeline.start(config) | |
| tests = 100 |
| ### Keybase proof | |
| I hereby claim: | |
| * I am fgolemo on github. | |
| * I am flogo (https://keybase.io/flogo) on keybase. | |
| * I have a public key ASAS3pgaMErl34blInTy1Sr_EL5vEv2ZIJZedtf7WAfsMAo | |
| To claim this, I am signing this object: |
| """ | |
| sudo apt-get install libhidapi-hidraw0 libhidapi-libusb0 | |
| pip3 install --user hid | |
| Notes: | |
| - servos_off will power off the servos | |
| - sending a movement command wakes up unpowered servos | |
| - position readouts are sadly pretty slow, they can take up to 450ms | |
| """ |
| import numpy as np | |
| import math | |
| import torch | |
| from torchvision import datasets | |
| import cv2 # OpenCV, this is only used for visualization, see bottom of file | |
| def rotation_matrix(axis, theta): | |
| """ | |
| Generalized 3d rotation via Euler-Rodriguez formula, https://www.wikiwand.com/en/Euler%E2%80%93Rodrigues_formula |
| import time | |
| import numpy as np | |
| import pybullet_utils.bullet_client as bc | |
| import pybullet | |
| import pybullet_data | |
| import matplotlib.pyplot as plt | |
| from tqdm import trange | |
| # simulator 0 | |
| p = bc.BulletClient(connection_mode=pybullet.DIRECT) |
