def main():
r = _create_r()
q = np.array([0.19084715098142624, 0.41685351729393005, 0.23655708134174347, 0.9332677282828477, -0.18945885280431052, 0.20543615363339196, -0.2256383770996524])
tup = r.intersecting_segments(q)
print(tup[2])
fposs,fdirs = r.force_direction_from_intersecting_segments(tup[0], tup[1], tup[3])
print(fposs)
print(fdirs)
env_normals = r.scene_face_normals_from_index_pairs(tup[3])
wrong_direction = False
for fdir,en in zip(fdirs, env_normals):
if np.dot(fdir, en) < 0.0:
print("San check 1: force direction w.r.t. face normal failed.")
wrong_direction = True
break
if not wrong_direction:
print("San check 1: force direction w.r.t. face normal passed.")
def imager(q):
QS = []
for q in phyutil.collision_resolve(r, q):
QS.append(q)
r.state = q
r.render_mvrgbd()
rgb = np.copy(r.mvrgb.reshape((r.pbufferWidth, r.pbufferHeight, 3)))
yield rgb # First view
print('state {}'.format(q))
QS.append(q)
print("Total: {} steps".format(len(QS)))
np.savez('saforce_process.npz', QS=QS)
rlreanimator.reanimate(imager(q), fps=20)
def main():
pyosr.init()
dpy = pyosr.create_display()
glctx = pyosr.create_gl_context(dpy)
args = rlargs.parse()
assert args.samplein, "--samplein <input dir>"
puzzle = curiosity.RigidPuzzle(args, 0)
def filer():
index = 0
while True:
fn = '{}/{}.npz'.format(args.samplein, index)
print(fn)
if not os.path.exists(fn):
break
d = np.load(fn)
for q in d['Qs']:
yield q
index += 1
return
def imager():
for q in filer():
puzzle.qstate = q
rgb, _ = puzzle.vstate
yield rgb[0] # First view
rlreanimator.reanimate(imager(), fps=20)
def main():
pyosr.init()
args = rlargs.parse()
print(args)
player = create_player(args)
reanimate(player)
def play(self):
reanimate(self)
def play(self):
reanimate(self, fps=30)
def play(self):
if self.sancheck:
self.sanity_check()
else:
reanimate(self, fps=30)