from vrepsim import VrepSim import time from evaluate import evaluate_policy from td3.td3 import TD3 if __name__ == '__main__': agent = TD3() sim = VrepSim() sim.reset_sim() agent.load() evaluate_policy(agent, sim, eval_episodes=10, episode_length=50) sim.reset_sim()
if cons.write_to_file: file_episode = open(cons.file_name + "_episode.csv", "w") file_episode.write( "Episode,Reward,Avg_Reward_Last_" + str(cons.report_interval) + ",Avg_Reward_Last_100,Avg_Reward_All,Frames_total,Time_Elapsed,Solved," "Epsilon,Distance,Memory_Usage") file_frame = open(cons.file_name + "_frame.csv", "w") file_frame.write( "Frame,Reward,Avg_Reward_Last_1000,Avg_Reward_Last_10000,Avg_Reward_All," "Time_Elapsed,Solved,Done,Epsilon,Distance,Memory_Usage") memory = ExperienceReplay(cons.replay_mem_size) q_agent = QNetAgent(memory) sim = VrepSim() rewards_total_episode = [] rewards_total_frame = [] frames_total = 0 solved_after_episode = 0 solved_after_frame = 0 solved = False boltzmann = True stacked_frames = 0 episode = 0
import keyboard # using module keyboard from vrepsim import VrepSim if __name__ == '__main__': sim = VrepSim() sim.reset_sim() # right, left = sim.calc_distance() # sim.step_right([.8, 0, 0, 0, 0, 0, 0]) # sim.step_left([-1, .3, .1, 0, 0, 0, -.1]) # yields a collision sim.step_right([.1, 0, 0, 0, 0, 0, 0]) sim.step_right([-.1, 0, 0, 0, 0, 0, 0]) sim.step_right([0, .1, 0, 0, 0, 0, 0]) sim.step_right([0, -.1, 0, 0, 0, 0, 0]) sim.step_right([0, 0, .1, 0, 0, 0, 0]) sim.step_right([0, 0, -.1, 0, 0, 0, 0]) sim.step_right([0, 0, 0, .1, 0, 0, 0]) sim.step_right([0, 0, 0, -.1, 0, 0, 0]) sim.step_right([0, 0, 0, 0, .1, 0, 0]) sim.step_right([0, 0, 0, 0, -.1, 0, 0]) sim.step_right([0, 0, 0, 0, 0, .1, 0]) sim.step_right([0, 0, 0, 0, 0, -.1, 0]) sim.step_right([0, 0, 0, 0, 0, 0, .1]) sim.step_right([0, 0, 0, 0, 0, 0, -.1]) # move left joints sim.step_left([.1, 0, 0, 0, 0, 0, 0])
from vrepsim import VrepSim import time if __name__ == '__main__': sim = VrepSim() sim.reset_sim() time.sleep(3) dist = sim.check_suction_distance() print(dist)
from vrepsim import VrepSim import time if __name__ == '__main__': # [0.231, 0.105, 1.261] sim = VrepSim() # sim.check_suction_prox() # time.sleep(5) sim.reset_sim() # time.sleep(1) print(sim.get_target_position()) # demo both arms lifting # sim.step_arms([0, .45, 0, 0, -1.6, -1.5, 0], [0, .45, 0, 0, 1.6, -1.5, 0]) # sim.check_suction_prox() # sim.step_arms([1., 0, 0, 0, 0, 0, 0], [-1.0, 0, 0, 0, 0, 0, 0]) # time.sleep(1) # sim.check_suction_prox() sim.step_arms([0, -.4, 0, 0, 0, 0, 0], [0, -.4, 0, 0, 0, 0, 0]) # sim.check_suction_prox() print(sim.get_target_position()) time.sleep(1) sim.step_arms([.45, 0, 0, 0, 0, -1, 0], [.4, 0, 0, 0, 0, -1, 0]) time.sleep(1) print(sim.get_target_position()) ''' # demo one arm lifting sim.reset_sim() time.sleep(1) print(sim.get_target_angles())