def main(args):
NOISE = 0.00005
# get a bunch of random blocks
blocks = get_adversarial_blocks(num_blocks=args.num_blocks)
if args.agent == 'teleport':
agent = TeleportAgent(blocks, NOISE)
elif args.agent == 'panda':
agent = PandaAgent(blocks, NOISE, use_platform=True, teleport=False)
else:
raise NotImplementedError()
# construct a world containing those blocks
beliefs = [
ParticleBelief(block, N=200, plot=True, vis_sim=False, noise=NOISE)
for block in blocks
]
agent._add_text('Ready?')
input('Start?')
# Gain information about the CoM of each block.
for b_ix, (block, belief) in enumerate(zip(blocks, beliefs)):
print('Running filter for', block.name)
for interaction_num in range(5):
print("Interaction number: ", interaction_num)
agent._add_text('Planning action.')
action = plan_action(belief,
exp_type='reduce_var',
action_type='place')
observation = agent.simulate_action(action, b_ix, T=50)
agent._add_text('Updating particle belief.')
belief.update(observation)
block.com_filter = belief.particles
print(belief.estimated_coms[-1], block.com)
# Find the tallest tower
print('Finding tallest tower.')
# agent._add_text('Planning tallest tower')
tp = TowerPlanner(plan_mode='expectation')
tallest_tower = tp.plan(blocks)
# and execute the resulting plan.
agent.simulate_tower(tallest_tower,
vis=True,
T=2500,
save_tower=args.save_tower)
def test_tower_simulation(blocks):
agent = PandaAgent(blocks, NOISE)
for b_ix, block in enumerate(blocks):
belief = ParticleBelief(block,
N=200,
plot=False,
vis_sim=False,
noise=NOISE)
block.com_filter = belief.particles
tp = TowerPlanner()
tallest_tower = tp.plan(blocks, num_samples=10)
# and visualize the result
agent.simulate_tower(tallest_tower, vis=True, T=2500)