Timo Korthals tik0

## .bashrc
########################### ASE CONFIG START ###########################

# Setup for pool PC (optional if you work on your own PC)
# Tested with Xubuntu 16.04 and ROS Kinetic

# Global ROS environment
source /opt/ros/kinetic/setup.bash

# Workspace realted ROS environment
source /media/localdisk/data/$(whoami)/catkin_ws/devel/setup.bash

## build_ase.sh
#!/bin/bash

# example: /usr/bin/parallel-ssh -i -h ~/.pssh_hosts_files -l tkorthals -A "wget -O - .../build_ase.sh > /tmp/build_ase.sh; bash /tmp/build_ase.sh"

set -e
source /opt/ros/kinetic/setup.bash
F="/media/localdisk/data/$(whoami)"
C="${F}/catkin_ws"
S="${C}/src"
A="${S}/ase_exercises"

## evaluate_ppo.sh
#!/bin/bash

touch ppo_evaluate.txt

echo 'Flat: ' >> ppo_evaluate.txt
cp /root/ros2learn/environments/gym-gazebo2/gym_gazebo2/worlds/empty_bullet.world /root/ros2learn/environments/gym-gazebo2/gym_gazebo2/worlds/parcour.world
python3 run_evaluation_ppo2.py
cat ppoTestRun.txt >> ppo_evaluate.txt
pkill gzserver

## build-instructions
Prerequisties install:
- sudo apt-get install build-essential checkinstall

These are the dependancies required by python:
- sudo apt-get install libbz2-dev libc6-dev libgdbm-dev libncursesw5-dev libreadline-gplv2-dev libssl-dev libsqlite3-dev tk-dev

Download the tar source file from python.org (at the time of writing 3.6.1 is the latest release):
- wget -O ~/Downloads/python3.6.1.tgz https://www.python.org/ftp/python/3.6.1/Python-3.6.1.tgz

Via command line navigate to the downloaded file directory:

## variational_autoencoder.py
'''Example of VAE on MNIST dataset using MLP

tf-2.0 adaptation of the keras implementation [1]
with additional output of the reconstruction
and KL losses as discussed in [2]

# Reference

[1] https://github.com/keras-team/keras/blob/master/examples/variational_autoencoder.py
[2] https://stackoverflow.com/q/54069363/2084944

## quaternionen_projection.py
from scipy.spatial.transform import Rotation as R
import numpy as np


#Example of having to rotations in different coordinate systems (r&q), where we want to reporesent r inside q:
#r0, r1, r2, r3, r4, ..., rX (i.e. BRIX quaternionen)
#q0, q1, q2, q3, q4, ..., qX  (i.e. Vive quaternionen)
#
#delta = q0.inv() * r0
#delta1 = r0.inv() * r1

## VAE_classify_mean_vs_var.ipynb

      
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                tik0
                / VAE_classify_mean_vs_var.ipynb
            
            
              Created
              July 30, 2019 14:32
            
              
                Classification of VAE features on MNIST
              
          
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## collide_without_contact.world
<sdf version='1.4'>
  <world name='default'>
    <!-- include sun and ground plane -->
    <include><uri>model://sun</uri></include>
    <include><uri>model://ground_plane</uri></include>

    <model name="sensor_box">
      <static>true</static>
      <link name="link">
        <pose>0 0 0.251  0 0 0</pose>

## touchsensors_multisensory_data.ipynb

      
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                tik0
                / touchsensors_multisensory_data.ipynb
            
            
              Created
              May 3, 2019 11:40
            
          
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## so_visit.sh
#!/bin/bash
# Based on chromium, add the following 2 lines to `sudo crontab -e`
# 1 1     * * *        rm /tmp/.org.chromium.Chromium.*
# 1 1     * * *        rm -r /tmp/scoped_dir*
# Start a display (https://en.wikipedia.org/wiki/Xvfb)
export DISPLAY=:1
Xvfb :1 -screen 0 1024x768x16 &
PIDD=$!
# Get links
wget -O - https://www.stackoverflow.com | grep -oe "\"\/questions\/[[:digit:]]*\/[[:alnum:]-]*\"" | tr -d '"' | sed '1~2d' | sed "s#^#www\.stackoverflow.com#g" | head -n5 > so_questions.txt
	########################### ASE CONFIG START ###########################

	# Setup for pool PC (optional if you work on your own PC)
	# Tested with Xubuntu 16.04 and ROS Kinetic

	# Global ROS environment
	source /opt/ros/kinetic/setup.bash

	# Workspace realted ROS environment
	source /media/localdisk/data/$(whoami)/catkin_ws/devel/setup.bash
	#!/bin/bash

	# example: /usr/bin/parallel-ssh -i -h ~/.pssh_hosts_files -l tkorthals -A "wget -O - .../build_ase.sh > /tmp/build_ase.sh; bash /tmp/build_ase.sh"

	set -e
	source /opt/ros/kinetic/setup.bash
	F="/media/localdisk/data/$(whoami)"
	C="${F}/catkin_ws"
	S="${C}/src"
	A="${S}/ase_exercises"
	#!/bin/bash

	touch ppo_evaluate.txt

	echo 'Flat: ' >> ppo_evaluate.txt
	cp /root/ros2learn/environments/gym-gazebo2/gym_gazebo2/worlds/empty_bullet.world /root/ros2learn/environments/gym-gazebo2/gym_gazebo2/worlds/parcour.world
	python3 run_evaluation_ppo2.py
	cat ppoTestRun.txt >> ppo_evaluate.txt
	pkill gzserver
	Prerequisties install:
	- sudo apt-get install build-essential checkinstall

	These are the dependancies required by python:
	- sudo apt-get install libbz2-dev libc6-dev libgdbm-dev libncursesw5-dev libreadline-gplv2-dev libssl-dev libsqlite3-dev tk-dev

	Download the tar source file from python.org (at the time of writing 3.6.1 is the latest release):
	- wget -O ~/Downloads/python3.6.1.tgz https://www.python.org/ftp/python/3.6.1/Python-3.6.1.tgz

	Via command line navigate to the downloaded file directory:
	'''Example of VAE on MNIST dataset using MLP

	tf-2.0 adaptation of the keras implementation [1]
	with additional output of the reconstruction
	and KL losses as discussed in [2]

	# Reference

	[1] https://github.com/keras-team/keras/blob/master/examples/variational_autoencoder.py
	[2] https://stackoverflow.com/q/54069363/2084944
	from scipy.spatial.transform import Rotation as R
	import numpy as np


	#Example of having to rotations in different coordinate systems (r&q), where we want to reporesent r inside q:
	#r0, r1, r2, r3, r4, ..., rX (i.e. BRIX quaternionen)
	#q0, q1, q2, q3, q4, ..., qX (i.e. Vive quaternionen)
	#
	#delta = q0.inv() * r0
	#delta1 = r0.inv() * r1
	<sdf version='1.4'>
	<world name='default'>
	<!-- include sun and ground plane -->
	<include><uri>model://sun</uri></include>
	<include><uri>model://ground_plane</uri></include>

	<model name="sensor_box">
	<static>true</static>
	<link name="link">
	<pose>0 0 0.251 0 0 0</pose>
	#!/bin/bash
	# Based on chromium, add the following 2 lines to `sudo crontab -e`
	# 1 1 * * * rm /tmp/.org.chromium.Chromium.*
	# 1 1 * * * rm -r /tmp/scoped_dir*
	# Start a display (https://en.wikipedia.org/wiki/Xvfb)
	export DISPLAY=:1
	Xvfb :1 -screen 0 1024x768x16 &
	PIDD=$!
	# Get links
	wget -O - https://www.stackoverflow.com \| grep -oe "\"\/questions\/[[:digit:]]\/[[:alnum:]-]\"" \| tr -d '"' \| sed '1~2d' \| sed "s#^#www\.stackoverflow.com#g" \| head -n5 > so_questions.txt