def sample_rope_state(demofile,
sim,
animation,
human_check=False,
perturb_points=7,
min_rad=0.1,
max_rad=0.1):
success = False
while not success:
# TODO: pick a random rope initialization
new_xyz, demo_id = load_random_start_segment(demofile)
perturb_radius = random.uniform(min_rad, max_rad)
rope_nodes = rope_initialization.find_path_through_point_cloud(
new_xyz,
perturb_peak_dist=perturb_radius,
num_perturb_points=perturb_points)
replace_rope(sim, rope_nodes, animation)
sim.settle()
if animation:
sim.viewer.Step()
if human_check:
resp = raw_input("Use this simulation?[Y/n]")
success = resp not in ('N', 'n')
else:
success = True
return (rope_nodes, demo_id)
def sample_rope_state(demofile, sim, animation, human_check=False,
perturb_points=7, min_rad=0.1, max_rad=0.1):
success = False
while not success:
# TODO: pick a random rope initialization
new_xyz, demo_id = load_random_start_segment(demofile)
perturb_radius = random.uniform(min_rad, max_rad)
rope_nodes = rope_initialization.find_path_through_point_cloud( new_xyz,
perturb_peak_dist=perturb_radius,
num_perturb_points=perturb_points)
replace_rope(sim, rope_nodes, animation)
sim.settle()
if animation:
sim.viewer.Step()
if human_check:
resp = raw_input("Use this simulation?[Y/n]")
success = resp not in ('N', 'n')
else:
success = True
return (rope_nodes, demo_id)
def sample_rope_state(rope_args, sim, animation=False, human_check=True):
print 'Sampling rope state'
success = False
while not success:
new_xyz, demo_id = load_random_start_segment(GlobalVars.actions)
print demo_id
perturb_radius = random.uniform(rope_args.min_rad, rope_args.max_rad)
rope_nodes = rope_initialization.find_path_through_point_cloud(
new_xyz,
perturb_peak_dist=perturb_radius,
num_perturb_points=rope_args.n_perturb_pts)
replace_rope(sim, rope_nodes, animation)
sim.settle()
if human_check:
resp = raw_input("Use this simulation?[Y/n]")
success = resp not in ('N', 'n')
else:
success = True
return sim.get_state()
def sample_rope_state(rope_args, sim, animation=False, human_check=True):
print 'Sampling rope state'
success = False
while not success:
new_xyz, demo_id = load_random_start_segment(GlobalVars.actions)
print demo_id
perturb_radius = random.uniform(rope_args.min_rad, rope_args.max_rad)
rope_nodes = rope_initialization.find_path_through_point_cloud(
new_xyz,
perturb_peak_dist=perturb_radius,
num_perturb_points=rope_args.n_perturb_pts)
replace_rope(sim, rope_nodes, animation)
sim.settle()
if human_check:
resp = raw_input("Use this simulation?[Y/n]")
success = resp not in ('N', 'n')
else:
success = True
return sim.get_state()
