def reset(self):
with torch.no_grad():
arcsim.init_physics('../200120_manipulation/conf.json',
'../200120_manipulation/out_ddpg', False)
self.step_ = 0
self.sim = arcsim.get_sim()
sigma = 0.4
x = np.random.random() * sigma - 0.5 * sigma + np.random.randint(
2) * 2 - 1
self.goal = torch.tensor([
0.0000, 0.0000, 0.0000, x, 0,
2 + np.random.random() * sigma - 0.5 * sigma
],
dtype=torch.float64)
observation = []
remain_time = torch.tensor([(self.steps) / 50],
dtype=torch.float64)
observation = torch.cat([
self.sim.obstacles[0].curr_state_mesh.dummy_node.x - self.goal,
self.sim.obstacles[0].curr_state_mesh.dummy_node.v, remain_time
])
return observation.numpy()
def reset_sim(sim):
arcsim.init_physics(sys.argv[1] + '/conf.json', '', False)
mat = sim.cloths[0].materials[0]
density = mat.densityori
stretch = mat.stretchingori
bend = mat.bendingori
return density, stretch, bend
def reset_sim(sim, epoch, goal): if epoch % 5==0: arcsim.init_physics(out_path+'/conf.json', out_path+'/out%d'%epoch,False) text_name = out_path+'/out%d'%epoch + "/goal.txt" np.savetxt(text_name, goal[3:6], delimiter=',') else: arcsim.init_physics(out_path+'/conf.json',out_path+'/out',False) print(sim.obstacles[0].curr_state_mesh.dummy_node.x)
def reset_sim(sim, epoch): arcsim.init_physics(out_path+'/conf.json',out_path+'/out%d'%epoch,False) goal = torch.tensor([0.0000, 0.0000, 0.0000, 0, 0, 0],dtype=torch.float64) text_name = out_path+'/out%d'%epoch + "/goal.txt" np.savetxt(text_name, goal[3:6], delimiter=',') print(sim.obstacles[0].curr_state_mesh.dummy_node.x)
def reset(self):
with torch.no_grad():
self.step_ = 0
sigma = 0.1
z = np.random.random() * sigma + 0.4
y = np.random.random() * sigma - sigma / 2
x = np.random.random() * sigma - sigma / 2
ini_co = torch.tensor(
[0.0000, 0.0000, 0.0000, 0.4744, 0.4751, 0.0064],
dtype=torch.float64)
goal = torch.tensor([0.0000, 0.0000, 0.0000, 0, 0, z],
dtype=torch.float64)
goal = goal + ini_co
self.goal = goal
if self.epoch % 4 == 0 and self.epoch <= 60:
arcsim.init_physics('../200121_drag/conf.json',
'../200121_drag/out_ddpg%d' % self.epoch,
False)
text_name = '../200121_drag/out_ddpg%d' % self.epoch + "/goal.txt"
np.savetxt(text_name, goal[3:6], delimiter=',')
else:
arcsim.init_physics('../200121_drag/conf.json',
'../200121_drag/out_ddpg', False)
self.sim = arcsim.get_sim()
handles = [0, 1, 2, 3]
observation = []
remain_time = torch.tensor([(self.steps) / 50],
dtype=torch.float64)
for i in range(len(handles)):
observation.append(self.sim.cloths[0].mesh.nodes[handles[i]].x)
observation.append(self.sim.cloths[0].mesh.nodes[handles[i]].v)
dis = self.sim.obstacles[0].curr_state_mesh.dummy_node.x - self.goal
observation.append(dis.narrow(0, 3, 3))
observation.append(remain_time)
observation = torch.cat(observation)
# observation = []
# remain_time = torch.tensor([(self.steps)/50],dtype=torch.float64)
# observation = torch.cat([self.sim.obstacles[0].curr_state_mesh.dummy_node.x - self.goal,
# self.sim.obstacles[0].curr_state_mesh.dummy_node.v,
# remain_time])
return observation.detach().numpy()
def reset_sim(sim, epoch, goal):
if epoch % 4 == 0:
arcsim.init_physics(sys.argv[1] + '/conf.json',
sys.argv[1] + '/out%d' % epoch, False)
text_name = sys.argv[1] + '/out%d' % epoch + "/goal.txt"
np.savetxt(text_name, goal[3:6], delimiter=',')
else:
arcsim.init_physics(sys.argv[1] + '/conf.json', sys.argv[1] + '/out',
False)
print(sim.obstacles[0].curr_state_mesh.dummy_node.x)
for i in range(10, len(sim.obstacles[0].curr_state_mesh.nodes)):
this_node = sim.obstacles[0].curr_state_mesh.nodes[i]
this_node.m = this_node.m * 0.00001
def reset(self):
with torch.no_grad():
if self.epoch <= 20:
arcsim.init_physics(
'../200216_bounce/conf.json',
'../200216_bounce/out_cmaes%d' % self.epoch, False)
text_name = '../200216_bounce/out_cmaes%d' % self.epoch + "/goal.txt"
goal = torch.tensor([0.0000, 0.0000, 0.0000, 0, 0, 0],
dtype=torch.float64)
np.savetxt(text_name, goal[3:6], delimiter=',')
else:
arcsim.init_physics('../200216_bounce/conf.json',
'../200216_bounce/out_cmaes', False)
self.step_ = 0
self.sim = arcsim.get_sim()
def reset(self):
with torch.no_grad():
self.step_ = 0
sigma = 0.4
x = np.random.random()*sigma - 0.5*sigma + np.random.randint(2)*2-1
ini_co = torch.tensor([0, 0, 0, 4.5549e-04, -2.6878e-01, 0.23], dtype=torch.float64)
goal = ini_co + torch.tensor([0.0000, 0.0000, 0.0000,
x,
0,
2+np.random.random()*sigma - 0.5*sigma],dtype=torch.float64)
self.goal = goal
# torch.tensor([0.0000, 0.0000, 0.0000,
# x,
# 0,
# 2+np.random.random()*sigma - 0.5*sigma],dtype=torch.float64)
if self.epoch % 4==0 and self.epoch <= 100:
arcsim.init_physics('../200216_man_vid/conf.json','../200216_man_vid/out_ddpg%d'%self.epoch,False)
text_name = '../200216_man_vid/out_ddpg%d'%self.epoch+ "/goal.txt"
np.savetxt(text_name, self.goal[3:6], delimiter=',')
else:
arcsim.init_physics('../200216_man_vid/conf.json', '../200216_man_vid/out_ddpg',False)
self.sim = arcsim.get_sim()
observation = []
remain_time = torch.tensor([(self.steps)/50],dtype=torch.float64)
observation = torch.cat([self.sim.obstacles[0].curr_state_mesh.dummy_node.x - self.goal,
self.sim.obstacles[0].curr_state_mesh.dummy_node.v,
remain_time])
return observation.numpy()
def reset_sim(sim):
arcsim.init_physics('conf/rigidcloth/absparse/abqr_make.json',
'200204_qr/out', False)
def reset_sim():
arcsim.init_physics(argv1+'/conf.json',argv1+'/out',False)
def reset_sim():
arcsim.init_physics('conf/rigidcloth/scale/scale_make.json', '', False)
def reset_sim():
with torch.no_grad():
arcsim.init_physics('conf/rigidcloth/circular_domino/circular_domino_make.json','200205_circulat_dominod/out_damping9',False)
def reset_sim(sim):
arcsim.init_physics('conf/rigidcloth/absparse/multibody_make.json',
'200204_sparse/out', False)
def reset_sim(sim):
arcsim.init_physics(sys.argv[1] + '/conf.json', sys.argv[1] + '/out',
False)
def reset_sim():
arcsim.init_physics('conf/rigidcloth/multibody/multibody_make.json', '',
False)
def reset_sim():
arcsim.init_physics('curconf.json', '', False)
g = sim.gravity
g.requires_grad = True
return g
def reset_sim():
arcsim.init_physics('conf/rigidcloth/q_rigid_gravity.json','',False)
g = sim.gravity
g.requires_grad = True
return g
def reset_sim(sim): arcsim.init_physics(sys.argv[1]+'/conf.json',sys.argv[1]+'/out2',False) print(sim.obstacles[0].curr_state_mesh.dummy_node.x)
def reset_sim():
arcsim.init_physics('conf/rigidcloth/circular_domino/circular_domino_make.json','',False)
def reset(self):
with torch.no_grad():
arcsim.init_physics('../200121_bounce/conf.json', '../200121_bounce/out_cmaes',False)
self.step_ = 0
self.sim = arcsim.get_sim()
def reset_sim(sim): arcsim.init_physics(out_path+'/conf.json', out_path+'/out',False) print(sim.obstacles[0].curr_state_mesh.dummy_node.x)
def reset_sim():
with torch.no_grad():
arcsim.init_physics('conf/rigidcloth/circular_domino/circular_domino_make.json', out_path+'/out',False)