cfg0.execute.hard.powerswitch = True cfg0.execute.simu.headless = False cfg0.execute.simu.vglrun = False cfg0.execute.simu.physic_engine = 'ode' cfg0.execute.simu.ppf = 200 cfg0.execute.simu.load = True cfg0.execute.simu.mac_folder = '/Applications/VRep/vrep.app/Contents/MacOS/' # only for mac cfg0.execute.scene.name = 'vanilla' cfg0.execute.scene.arena.name = 'arena20x20x10' # cfg0.execute.scene.objects.ball45 = objdesc._deepcopy() # cfg0.execute.scene.objects.ball45.mass = 0.050 # cfg0.execute.scene.objects.ball45.pos = (-60.0, 0.0, None) # cfg0.execute.scene.objects.ball45.tracked = True cfg0.execute.scene.objects.cube45 = objdesc._deepcopy() cfg0.execute.scene.objects.cube45.mass = 0.050 cfg0.execute.scene.objects.cube45.pos = (-60.0, 0.0, None) cfg0.execute.scene.objects.cube45.tracked = True cfg0.sprims.names = ['push'] cfg0.sprims.tip = False cfg0.sprims.uniformize = False cfg0.sprims.max_force = 3000 cfg0.mprims.name = 'dmp_sharedwidth' cfg0.mprims.dt = 0.020 cfg0.mprims.target_end = 250 cfg0.mprims.traj_end = 500 cfg0.mprims.sim_end = 1000 cfg0.mprims.uniformize = False
kin_cfg.classname = 'dovecot.KinEnvironment'
kin_cfg.execute.is_simulation = True
catalog['dov_' + name + '.k'] = kin_cfg
catalog[name + '.k'] = kin_cfg
kb_cfg = cfg._deepcopy()
kb_cfg.classname = 'dovecot.KinEnvironment'
kb_cfg.sprims.names = ['push_collision']
kb_cfg.execute.is_simulation = True
catalog['dov_' + name + '.kb'] = kb_cfg
push_cfg = def_cfg._deepcopy()
push_cfg.sprims.names = ['push']
obj0 = objdesc._deepcopy()
obj0.pos = (-60.0, 0.0, None)
obj0.mass = 0.050
obj0.tracked = True
obj1 = obj0._deepcopy()
obj1.pos = (-180.0, -60.0, None)
obj2 = obj0._deepcopy()
obj2.pos = (-120.0, -90.0, None)
obj4 = obj0._deepcopy()
obj4.pos = (-180.0, -120.0, None)
obj3 = obj0._deepcopy()
obj3.pos = (-120.0, +90.0, None)
catalog['dov_'+name+'.k'] = kin_cfg
catalog[name+'.k'] = kin_cfg
kb_cfg = cfg._deepcopy()
kb_cfg.classname = 'dovecot.KinEnvironment'
kb_cfg.sprims.names = ['push_collision']
kb_cfg.execute.is_simulation = True
catalog['dov_'+name+'.kb'] = kb_cfg
## Adding environments in the catalog ##
push_cfg = def_cfg._deepcopy()
push_cfg.sprims.names = ['push']
obj0 = objdesc._deepcopy()
obj0.pos = (-60.0, 0.0, None)
obj0.mass = 0.050
obj0.tracked = True
obj1 = obj0._deepcopy()
obj1.pos = (-180.0, -60.0, None)
obj2 = obj0._deepcopy()
obj2.pos = (-120.0, -90.0, None)
obj4 = obj0._deepcopy()
obj4.pos = (-180.0, -120.0, None)
obj3 = obj0._deepcopy()
obj3.pos = (-120.0, +90.0, None)
cfg0.execute.hard.powerswitch = True cfg0.execute.simu.headless = False cfg0.execute.simu.vglrun = False cfg0.execute.simu.physic_engine = "ode" cfg0.execute.simu.ppf = 200 cfg0.execute.simu.load = True cfg0.execute.simu.mac_folder = "/Applications/VRep/vrep.app/Contents/MacOS/" # only for mac cfg0.execute.scene.name = "vanilla" cfg0.execute.scene.arena.name = "arena20x20x10" # cfg0.execute.scene.objects.ball45 = objdesc._deepcopy() # cfg0.execute.scene.objects.ball45.mass = 0.050 # cfg0.execute.scene.objects.ball45.pos = (-60.0, 0.0, None) # cfg0.execute.scene.objects.ball45.tracked = True cfg0.execute.scene.objects.cube45 = objdesc._deepcopy() cfg0.execute.scene.objects.cube45.mass = 0.050 cfg0.execute.scene.objects.cube45.pos = (-60.0, 0.0, None) cfg0.execute.scene.objects.cube45.tracked = True cfg0.sprims.names = ["push"] cfg0.sprims.tip = False cfg0.sprims.uniformize = False cfg0.sprims.max_force = 3000 cfg0.mprims.name = "dmp_sharedwidth" cfg0.mprims.dt = 0.020 cfg0.mprims.target_end = 250 cfg0.mprims.traj_end = 500 cfg0.mprims.sim_end = 1000 cfg0.mprims.uniformize = False
cfg0.sprims.names = ['push']
cfg0.execute.simu.ppf = 5
cfg0.execute.simu.headless = False
cfg0.execute.simu.calibr_check = False
cfg0.execute.prefilter = True
cfg0.execute.check_self_collisions = False
cfg0.mprims.n_basis = 3
cfg0.sprims.max_force = 10000
cfg0.execute.scene.name = 'vanilla'
cfg0.execute.scene.objects.cube45.mass = 0.050
cfg0.execute.scene.objects.cube45.pos = (-60.0, 0.0, None)
cfg0.execute.scene.objects.ball45 = objdesc._deepcopy()
cfg0.execute.scene.objects.ball45.pos = (+60.0, 180.0, None)
cfg0.execute.scene.objects.ball45.mass = 0.500
cfg0.execute.scene.objects.ball45.tracked = False
# cfg0.execute.scene.objects.y_objwall = objdesc._deepcopy()
# cfg0.execute.scene.objects.y_objwall.pos = (0.0, -30.0, None)
# cfg0.execute.scene.objects.y_objwall.mass = 0.500
# cfg0.execute.scene.objects.y_objwall.tracked = False
total = 1
if len(sys.argv) >= 2:
total = int(sys.argv[1])
def memory_usage():