.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "examples/learning_ml/example_tpgmr.py"
.. LINE NUMBERS ARE GIVEN BELOW.

.. only:: html

    .. note::
        :class: sphx-glr-download-link-note

        :ref:`Go to the end <sphx_glr_download_examples_learning_ml_example_tpgmr.py>`
        to download the full example code

.. rst-class:: sphx-glr-example-title

.. _sphx_glr_examples_learning_ml_example_tpgmr.py:


TP-GMR for Tai Chi
=================

This example shows how to use the TP-GMR to learn a Tai Chi movement.

.. GENERATED FROM PYTHON SOURCE LINES 7-53

.. code-block:: default

    import numpy as np

    import rofunc as rf

    raw_demo = np.load('../data/LFD_ML/LeftHand.npy')
    demos_x = [raw_demo[500:635, :], raw_demo[635:770, :], raw_demo[770:905, :]]

    # --- TP-GMR ---
    # Define the task parameters
    start_xdx = [demos_x[i][0] for i in range(len(demos_x))]  # TODO: change to xdx
    end_xdx = [demos_x[i][-1] for i in range(len(demos_x))]
    task_params = {'frame_origins': [start_xdx, end_xdx], 'frame_names': ['start', 'end']}
    # Fit the model
    Repr = rf.ml.TPGMR(demos_x, task_params, plot=True)
    model = Repr.fit()

    # Reproductions for the same situations
    traj, _ = Repr.reproduce(model, show_demo_idx=2)

    # Reproductions for new situations
    ref_demo_idx = 2
    start_xdx = [Repr.demos_xdx[ref_demo_idx][0]]
    end_xdx = [Repr.demos_xdx[ref_demo_idx][0]]
    Repr.task_params = {'frame_origins': [start_xdx, end_xdx], 'frame_names': ['start', 'end']}
    traj, _ = Repr.generate(model, ref_demo_idx, task_params)

    # raw_demo = np.load(os.path.join(rf.utils.get_rofunc_path(), 'data/LFD_ML/LeftHand.npy'))
    # demos_left_x = [raw_demo[500:635, :], raw_demo[635:770, :], raw_demo[770:905, :]]
    # raw_demo = np.load(os.path.join(rf.utils.get_rofunc_path(), 'data/LFD_ML/RightHand.npy'))
    # demos_right_x = [raw_demo[500:635, :], raw_demo[635:770, :], raw_demo[770:905, :]]
    #
    # Repr = rf.ml.TPGMRBi(demos_left_x, demos_right_x, horizon=300, plot=True)
    # model_l, model_r = Repr.fit()
    #
    # # Reproductions for the same situations
    # traj_l, traj_r = Repr.reproduce(model_l, model_r, show_demo_idx=2)
    #
    # # Reproductions for new situations
    # ref_demo_idx = 2
    # start_xdx_l = Repr.repr_l.demos_xdx[ref_demo_idx][0]
    # end_xdx_l = Repr.repr_l.demos_xdx[ref_demo_idx][0]
    # start_xdx_r = Repr.repr_r.demos_xdx[ref_demo_idx][0]
    # end_xdx_r = Repr.repr_r.demos_xdx[ref_demo_idx][0]
    # task_params = {'Left': {'start_xdx': start_xdx_l, 'end_xdx': end_xdx_l},
    #                'Right': {'start_xdx': start_xdx_r, 'end_xdx': end_xdx_r}}
    # traj_l, traj_r = Repr.generate(model_l, model_r, ref_demo_idx, task_params)


.. rst-class:: sphx-glr-timing

   **Total running time of the script:** (0 minutes 0.000 seconds)


.. _sphx_glr_download_examples_learning_ml_example_tpgmr.py:

.. only:: html

  .. container:: sphx-glr-footer sphx-glr-footer-example




    .. container:: sphx-glr-download sphx-glr-download-python

      :download:`Download Python source code: example_tpgmr.py <example_tpgmr.py>`

    .. container:: sphx-glr-download sphx-glr-download-jupyter

      :download:`Download Jupyter notebook: example_tpgmr.ipynb <example_tpgmr.ipynb>`


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 .. rst-class:: sphx-glr-signature

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