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())