Merge branch 'master' of [email protected]:DAInamite/programming-humanoid-robot-in-python.git

Author: xuyuan

joint_control/add_training_data.ipynb

@@ -85,7 +85,7 @@
     "\n",
     "pose_name = 'Back'\n",
     "data_file = path.join('robot_pose_data', pose_name)\n",
-    "data = pickle.load(open(data_file))"
+    "data = pickle.load(open(data_file, 'rb'))"
    ]
   },
   {
@@ -122,7 +122,7 @@
    "source": [
     "new_data = [0, 0, 0, 0, 0, 0, 0, 0, 0, -1.5707963267948966]\n",
     "data.append(new_data)\n",
-    "pickle.dump(data, open(data_file, 'w'))"
+    "pickle.dump(data, open(data_file, 'wb'))"
    ]
   },
   {

joint_control/learn_posture.ipynb

@@ -24,7 +24,7 @@
     "\n",
     "* the dateset are in *robot_pose_data* folder\n",
     "* each file contains the data belongs to this posture, e.g. the data in *Back* file are collected when robot was in \"Back\" posture\n",
-    "* the data file can be load by ```pickle```, e.g. ```pickle.load(open('Back'))```, the data is a list of feature data\n",
+    "* the data file can be load by ```pickle```, e.g. ```pickle.load(open('Back', 'rb'))```, the data is a list of feature data\n",
     "* the features (e.g. each row of the data) are ['LHipYawPitch', 'LHipRoll', 'LHipPitch', 'LKneePitch', 'RHipYawPitch', 'RHipRoll', 'RHipPitch', 'RKneePitch', 'AngleX', 'AngleY'], where 'AngleX' and 'AngleY' are body angle (e.g. ```Perception.imu```) and others are joint angles."
    ]
   },
@@ -103,7 +103,7 @@
     "    # YOUR CODE HERE\n",
     "    \n",
     "    filename = path.join(ROBOT_POSE_DATA_DIR, classes[i])\n",
-    "    data = pickle.load(open(filename))\n",
+    "    data = pickle.load(open(filename, 'rb'))\n",
     "    target = [i] * len(data)\n",
     "    return data, target"
    ]
@@ -370,7 +370,7 @@
    "source": [
     "import pickle\n",
     "ROBOT_POSE_CLF = 'robot_pose.pkl'\n",
-    "pickle.dump(clf, open(ROBOT_POSE_CLF, 'w'))"
+    "pickle.dump(clf, open(ROBOT_POSE_CLF, 'wb'))"
    ]
   },
   {