for obj in args.objects:
#obj = 'hammer'
#idxes_train = [4,1,7,8]
#idxes_test = [0,2,3,5,6,9]
#idxes_train = [1]
#idxes_test = [1]
#idxes_train = range(10)
idxes_test = []
#idx_param = 9
idx_param = obj2paramntrain[obj][0]
idxes_train = idxes_set[obj2paramntrain[obj][1]-1][obj2sets['sims'][obj][0]][0]
from setups_sim import get_setups_tools_sim
setups = get_setups_tools_sim([obj],idxes_train,idxes_test,idx_param)
setups['target_infos'][0]['masses'] = gts[obj]['masses']
engine = DiffPhysics(is_dbg=False, fp_video='')
engine.setup(setups, n_group=-1)
engine.mass_minmax = [2.5 - (10-args.seed)*0.25, 2.5 + (10-args.seed)*0.25]
engine.fric_minmax = [0.5 - (args.seed-1 )*0.05, 0.5 + (args.seed-1 )*0.05]
print(engine.fric_minmax)
history = engine.infer(infer_type='cell_mass',nsimslimit=500, cellinfos_init=None, freq_update_fric=1)
print('[Test Result] cell err: %.3f (m) pose err: %.3f (m) %.3f (deg)' %
(history[-1]['test_error_cell'],
history[-1]['test_error_xy'],
history[-1]['test_error_yaw']) )
fp_save = '%s_seed%d.pkl' % (obj,args.seed)
with open(os.path.join(args.outdir,fp_save),'wb') as f:
for idx in args.sets:
print('param:%d obj:%s n_train:%d set:%d' % (idx_param,obj,n_trains,idx))
if args.skip:
fp_save = os.path.join(args.outdir,
'%s_%s_param%d_train%d_set%d_c%d.pkl'%\
(args.method,obj,idx_param,n_trains,idx,obj2ngroups[obj]))
if os.path.isfile(fp_save):
print('[SKIP] %s'%fp_save)
continue
idxes_train, idxes_test = idxes_sim[n_trains-1][idx]
engine = get_engine(args.method)
if args.method.endswith('_cell'):
if args.method.startswith('adiff') or args.method.startswith('asdiff'):
setups = get_setups_tools_sim([obj],None,None,idx_param)
engine.setup(setups)
history = engine.infer(n_trains, idxes_train[0])
else:
setups = get_setups_tools_sim([obj],idxes_train,None,idx_param)
engine.setup(setups, n_group=n_group)
history = engine.infer(infer_type='cell_mass',nsimslimit=500)
n_group = len(engine.meta_targets[obj]['cells']['cells'])
else:
engine.setup(setups, n_group=n_group)
history = engine.infer(infer_type='group_mass')
print('Test Result: %.3f (m) %.3f (deg) %.3f (cell)' %
(history[-1]['test_error_xy'],
history[-1]['test_error_yaw'],