Conv arch

added conv architecture similiar to the paper of Chen,Unsupervised AD of Industrial Robots Using Sliding-Window Conv VAE, training runs but probably somethin with the batches is wrong, need to check

Closes #60 (closed)

dataclass_creator/utils_dataclass/real_data_gen.py

@@ -16,7 +16,7 @@ from typing import Any, Iterable
 from opt_tools  import SysVarSet, Traj, Batch, tree_map_relaxed
 from ros_datahandler import get_bags_iter
 from ros_datahandler import JointPosData, ForceData, JointState, WrenchStamped
-from dataclass_creator.franka_dataclass import FrankaData
+from dataclass_creator.franka_dataclass import FrankaData, URData
 
 
 def min_max_normalize_data(data: jnp.ndarray):
@@ -115,15 +115,20 @@ def load_dataset(root='experiments/example_data/train', name: str = 'SUCCESS') -
     Returns:
         FormattedDataclass: data containing the modalities corresponding to the attributes initialized for RosDatahandler
     """
-
-    bags = glob.glob(join(root, f'*{name}*.bag'))
+    if 'SUCCESS' in name or 'FAILURE' in name:
+        bags = glob.glob(join(root, f'*{name}*')) # should give the folders which contain metadata.yaml and the .db3 files    
+    else:
+        bags = glob.glob(join(root, f'*{name}*.bag'))
     assert len(bags) > 0, f"I expected bags! No bags on {root}"
     bags = [Path(bag) for bag in bags]
 
     print(f'Containing # {len(bags)} rosbags, named {name}')
 
+    # init_urdata = URData(jt = JointPosData('/joint_states', JointState),
+    #                             force = ForceData('/force_torque_sensor_broadcaster/wrench', WrenchStamped))
+    
     init_frankadata = FrankaData(jt = JointPosData('/joint_states', JointState),
-                                 force = ForceData('/franka_state_controller/F_ext', WrenchStamped))
+                                force = ForceData('/franka_state_controller/F_ext', WrenchStamped))
 
     # @kevin 2.7.24: data is now a list of Trajs; leaves are np arrays for each bags
     data = get_bags_iter(bags, init_frankadata, sync_stream='force')
@@ -144,13 +149,18 @@ if __name__ == "__main__":
     logging.basicConfig(level=logging.INFO)
     #curr_dir = Path(os.path.dirname(os.path.abspath(__file__)))
     #root = os.fspath(Path(curr_dir.parent.parent, 'data/test').resolve())
-    root = 'experiments/01_faston_converging/data/with_search_strategy/test'
-    data_anom = load_dataset(root=root, name='FAILURE')
-    data_nom = load_dataset(root=root, name='110_SUCCESS')
-    visualize_anomaly_bags(data_anom[0], data_nom[0],  "040_FAILURE")
-    visualize_anomaly_bags(data_anom[1], data_nom[0], "050_FAILURE")
-    visualize_anomaly_bags(data_anom[2], data_nom[0],"214_FAILURE")
-    visualise_bags(data_anom[0], "040_FAILURE")
-    visualise_bags(data_anom[1], "050_FAILURE")
-    visualise_bags(data_anom[2], "214_FAILURE")
+    # root = 'experiments/01_faston_converging/data/with_search_strategy/test'
+    # root = 'experiments/03_kraftverlaeufe_klipsen'
+    # data = load_dataset(root=root, name='rosbag')
+
+
+    # data_anom = load_dataset(root=root, name='FAILURE')
+    # data_nom = load_dataset(root=root, name='110_SUCCESS')
+
+    # visualize_anomaly_bags(data_anom[0], data_nom[0],  "040_FAILURE")
+    # visualize_anomaly_bags(data_anom[1], data_nom[0], "050_FAILURE")
+    # visualize_anomaly_bags(data_anom[2], data_nom[0],"214_FAILURE")
+    # visualise_bags(data_anom[0], "040_FAILURE")
+    # visualise_bags(data_anom[1], "050_FAILURE")
+    # visualise_bags(data_anom[2], "214_FAILURE")
     plt.show()