def run_sim(steps, sim, param_g):
dx = []
dx.append(torch.zeros([3], dtype=torch.float64))
dx.append(param_g)
dx.append(torch.zeros([1], dtype=torch.float64))
dx = torch.cat(dx)
sim.obstacles[0].curr_state_mesh.dummy_node.x += dx
# sim.obstacles[2].curr_state_mesh.dummy_node.x = param_g[1]
for step in range(100):
print("step")
print(step)
arcsim.sim_step()
cnt = 0
ans = sim.obstacles[0].curr_state_mesh.dummy_node.x
ans = ans.narrow(0, 3, 2)
# ans = torch.tensor([0, 0, 0],dtype=torch.float64)
# for node in sim.cloths[0].mesh.nodes:
# cnt += 1
# ans = ans + node.x
# ans /= cnt
loss = get_loss(ans)
return loss, ans
def run_sim(steps,sim,param_g):
for node in sim.obstacles[1].curr_state_mesh.nodes:
node.m *= param_g
# sim.obstacles[2].curr_state_mesh.dummy_node.x = param_g[1]
#print("step")
for step in range(20):
#print(step)
arcsim.sim_step()
cnt = 0
ans = []
ans.append(sim.obstacles[0].curr_state_mesh.dummy_node.v[3])
ans.append(sim.obstacles[1].curr_state_mesh.dummy_node.v[3])
# ans = torch.tensor([0, 0, 0],dtype=torch.float64)
# for node in sim.cloths[0].mesh.nodes:
# cnt += 1
# ans = ans + node.x
# ans /= cnt
loss = get_loss(ans, param_g)
return loss, ans
def run_sim(steps, sim):
losses = []
for step in range(steps):
arcsim.sim_step()
if step % 2 == 1:
losses.append(get_loss_eval(step + 1, sim))
return torch.stack(losses).mean()
def run_sim(sim): for obstacle in sim.obstacles: for node in obstacle.curr_state_mesh.nodes: node.m *= 0.002 for step in range(200): target = np.array([0, 0, 0.5]) if (step> 50): target += np.array([0, 0, 0.3]) for i in range(len(handles)): this_x = sim.cloths[0].mesh.nodes[handles[i]].x.data this_x = np.array(this_x) print(this_x) vec = target - this_x vec = vec / np.linalg.norm(vec) print(vec) # sim.cloths[0].mesh.nodes[handles[i]].x += torch.tensor([0,0,0.04]) sim.cloths[0].mesh.nodes[handles[i]].v = torch.tensor(vec*2, dtype=torch.float64) # sim.cloths[0].mesh.nodes[handles[i]].v += torch.tensor([0,0,0.04]) # for i in range(len(sim.cloths[0].mesh.nodes)): # print(target) # this_x = sim.cloths[0].mesh.nodes[i].x.data # this_x = np.array(this_x) # print(this_x) # vec = target - this_x # vec = vec / np.linalg.norm(vec) # print(vec) # sim.cloths[0].mesh.nodes[i].v = torch.tensor(vec*3) # #sim.cloths[0].mesh.nodes[i].x = sim.cloths[0].mesh.nodes[i].x+torch.tensor(vec*0.03) arcsim.sim_step()
def run_sim(steps, sim, param_g):
for obstacle in sim.obstacles:
for node in obstacle.curr_state_mesh.nodes:
node.m *= 0.01
# sim.obstacles[2].curr_state_mesh.dummy_node.x = param_g[1]
print("step")
for step in range(20):
print(step)
dx = []
dx.append(param_g[step])
dx.append(torch.zeros([1], dtype=torch.float64))
dx = torch.cat(dx)
sim.obstacles[0].curr_state_mesh.dummy_node.v += dx
arcsim.sim_step()
cnt = 0
ans = sim.obstacles[0].curr_state_mesh.dummy_node.x
ans = ans
# ans = torch.tensor([0, 0, 0],dtype=torch.float64)
# for node in sim.cloths[0].mesh.nodes:
# cnt += 1
# ans = ans + node.x
# ans /= cnt
loss = get_loss(ans, param_g)
return loss, ans
def run_sim(steps,sim,vext): losses=[] for step in range(steps): sec = int(sim.frame/25) if sec < vext.shape[0]: for i in range(4): sim.cloths[0].mesh.nodes[i].v = sim.cloths[0].mesh.nodes[i].v + vext[sec,i]*scalev/spf arcsim.sim_step() return get_loss(steps,sim)
def run_sim(steps, sim, net, goal):
for obstacle in sim.obstacles:
for node in obstacle.curr_state_mesh.nodes:
node.m *= 0.1
#sim.obstacles[0].curr_state_mesh.dummy_node.x = torch.tensor([0.0000, 0.0000, 0.0000,
#np.random.random(), np.random.random(), -np.random.random()],dtype=torch.float64)
print(sim.obstacles[0].curr_state_mesh.dummy_node.x)
for step in range(steps):
print(step)
remain_time = torch.tensor([(steps - step) / steps],
dtype=torch.float64)
net_input = []
for i in range(len(handles)):
net_input.append(sim.cloths[0].mesh.nodes[handles[i]].x)
net_input.append(sim.cloths[0].mesh.nodes[handles[i]].v)
dis = sim.obstacles[0].curr_state_mesh.dummy_node.x - goal
net_input.append(dis.narrow(0, 3, 3))
net_input.append(remain_time)
net_output = net(torch.cat(net_input))
# outputs = net_output.view([4, 3])
print("net_output")
print(net_output)
for i in range(len(handles)):
# sim_input = net_output
sim_input = torch.cat(
[torch.tensor([0, 0], dtype=torch.float64), net_output])
sim.cloths[0].mesh.nodes[handles[i]].v += sim_input + torch.tensor(
[0, 0, 0.6], dtype=torch.float64)
# sim.gravity = outputs[1]
arcsim.sim_step()
# cnt = 0
# ans1 = torch.tensor([0, 0, 0],dtype=torch.float64)
# for node in sim.cloths[0].mesh.nodes:
# cnt += 1
# ans1 = ans1 + node.x
# ans1 /= cnt
ans = sim.obstacles[0].curr_state_mesh.dummy_node.x
ans1 = sim.cloths[0].mesh.nodes[62].x
#print(ans)
ans = (ans +
torch.cat([torch.tensor([0, 0, 0], dtype=torch.float64), ans1])) / 2
# ans = sim.obstacles[0].curr_state_mesh.dummy_node.x
loss = get_loss(ans, goal)
return loss, ans
def run_sim(steps, sim, param_g):
sim.obstacles[0].curr_state_mesh.dummy_node.v = param_g
for step in range(50):
print(step)
arcsim.sim_step()
ans = sim.obstacles[0].curr_state_mesh.dummy_node.x
loss = get_loss(ans)
return loss, ans
def run_sim(steps, sim, param_g, goal):
for obstacle in sim.obstacles:
for node in obstacle.curr_state_mesh.nodes:
node.m *= 0.5
#sim.obstacles[0].curr_state_mesh.dummy_node.x = torch.tensor([0.0000, 0.0000, 0.0000,
#np.random.random(), np.random.random(), -np.random.random()],dtype=torch.float64)
print(sim.obstacles[0].curr_state_mesh.dummy_node.x)
for step in range(steps):
print(step)
# outputs = net_output.view([4, 3])
# print("net_output")
# print(net_output)
print("sim_input")
for i in range(len(handles)):
# sim_input = net_output
sim_input = param_g[step, i * 3:i * 3 + 3]
print(sim_input)
sim.cloths[0].mesh.nodes[handles[i]].v += sim_input
# sim.gravity = outputs[1]
arcsim.sim_step()
# cnt = 0
# ans1 = torch.tensor([0, 0, 0],dtype=torch.float64)
# # for node in sim.cloths[0].mesh.nodes:
# for i in range(len(handles)):
# node = sim.cloths[0].mesh.nodes[handles[i]]
# cnt += 1
# ans1 = ans1 + node.x
# ans1 /= cnt
cnt = 0
ans1 = torch.tensor([0, 0, 0], dtype=torch.float64)
for node in sim.cloths[0].mesh.nodes:
cnt += 1
ans1 = ans1 + node.x
ans1 /= cnt
ans = sim.obstacles[0].curr_state_mesh.dummy_node.x
# ans1 = sim.cloths[0].mesh.nodes[62].x
#print(ans)
ans = (ans +
torch.cat([torch.tensor([0, 0, 0], dtype=torch.float64), ans1])) / 2
# ans = sim.obstacles[0].curr_state_mesh.dummy_node.x
loss = get_loss(ans, goal)
return loss, ans
def run_sim(steps,sim,param_g):
for obstacle in sim.obstacles:
for node in obstacle.curr_state_mesh.nodes:
node.m *= 0.1
# sim.obstacles[2].curr_state_mesh.dummy_node.x = param_g[1]
print("step")
sim.cloths[0].materials[0].stretching = sim.cloths[0].materials[0].stretching*0.3
dv = []
dv.append(torch.zeros([3],dtype=torch.float64))
dv.append(param_g)
dv.append(torch.zeros([1],dtype=torch.float64))
dv = torch.cat(dv)
for step in range(30):
#if (step%10==0):
# sim.obstacles[0].curr_state_mesh.dummy_node.v += dv*np.exp(-step/30)
if (step==13):
for obstacle in sim.obstacles:
for node in obstacle.curr_state_mesh.nodes:
node.m *= 0.04
sim.cloths[0].materials[0].stretching = sim.cloths[0].materials[0].stretching*10
print(step)
arcsim.sim_step()
cnt = 0
ans = sim.obstacles[0].curr_state_mesh.dummy_node.x
ans = ans
# ans = torch.tensor([0, 0, 0],dtype=torch.float64)
# for node in sim.cloths[0].mesh.nodes:
# cnt += 1
# ans = ans + node.x
# ans /= cnt
loss = get_loss(ans, param_g)
return loss, ans
def run_sim(steps, sim, net, goal): for obstacle in sim.obstacles: for node in obstacle.curr_state_mesh.nodes: node.m *= 0.2 #sim.obstacles[0].curr_state_mesh.dummy_node.x = torch.tensor([0.0000, 0.0000, 0.0000, #np.random.random(), np.random.random(), -np.random.random()],dtype=torch.float64) print(sim.obstacles[0].curr_state_mesh.dummy_node.x) for step in range(steps): print(step) remain_time = torch.tensor([(steps - step)/steps],dtype=torch.float64) net_input = [] for i in range(len(handles)): net_input.append(sim.cloths[0].mesh.nodes[handles[i]].x) net_input.append(sim.cloths[0].mesh.nodes[handles[i]].v) # dis = sim.obstacles[0].curr_state_mesh.dummy_node.x - goal # net_input.append(dis.narrow(0, 3, 3)) net_input.append(remain_time) net_output = net(torch.cat(net_input)) # outputs = net_output.view([4, 3]) for i in range(len(handles)): sim_input = torch.cat([torch.tensor([0, 0],dtype=torch.float64), net_output[i].view([1])]) sim.cloths[0].mesh.nodes[handles[i]].v += sim_input arcsim.sim_step() cnt = 0 ans1 = torch.tensor([0, 0, 0],dtype=torch.float64) for node in sim.cloths[0].mesh.nodes: cnt += 1 ans1 = ans1 + node.x ans1 /= cnt ans1 = torch.cat([torch.tensor([0, 0, 0],dtype=torch.float64), ans1]) # ans = ans1 ans = sim.obstacles[0].curr_state_mesh.dummy_node.x loss = get_loss(ans1, goal) return loss, ans
def step(self, action):
sim = arcsim.get_sim()
print("step!",sim.step)
print(action.reshape([4,3]))
for _ in range(spf*25):
sec = int(sim.frame/25)
if sec < 3:
for i in range(4):
for k in range(3):
sim.cloths[0].mesh.nodes[i].v[k] = sim.cloths[0].mesh.nodes[i].v[k] + action[i*3+k]*scalev/spf
arcsim.sim_step()
sec = int(sim.frame/25)
if sec == 3:
for _ in range(spf*25):
arcsim.sim_step()
done = sim.step >= 4*25*spf
return self.get_obs(), -self.get_loss() if done else 0, done, {}
def step(self, action):
with torch.no_grad():
#sim.obstacles[0].curr_state_mesh.dummy_node.x = torch.tensor([0.0000, 0.0000, 0.0000,
#np.random.random(), np.random.random(), -np.random.random()],dtype=torch.float64)
action = torch.tensor(action, dtype=torch.float64)
handles = [0, 1, 2, 3]
for i in range(len(handles)):
self.sim.cloths[0].mesh.nodes[handles[i]].v = action
arcsim.sim_step()
observation = []
remain_time = torch.tensor([(self.steps - self.step_) / 50],
dtype=torch.float64)
for i in range(len(handles)):
observation.append(self.sim.cloths[0].mesh.nodes[handles[i]].x)
observation.append(self.sim.cloths[0].mesh.nodes[handles[i]].v)
dis = self.sim.obstacles[0].curr_state_mesh.dummy_node.x - self.goal
observation.append(dis.narrow(0, 3, 3))
observation.append(remain_time)
observation = torch.cat(observation)
ans = self.sim.obstacles[0].curr_state_mesh.dummy_node.x
reward = self.get_loss(ans)
self.step_ += 1
done = False
if self.step_ == self.steps:
self.f.write(
'epoch {}: loss={}\n ans = {}\n goal = {}\n'.format(
self.epoch, (-reward).data, ans.data, self.goal.data))
done = True
print("epoch %d----------------------------- " % self.epoch)
self.epoch += 1
if self.epoch > 200:
quit()
info = " "
# print(observation.numpy())
# print(reward.numpy())
return observation.detach().numpy(), reward.detach().numpy(
), done, info
def run_sim(steps,sim,param_g):
# sim.obstacles[2].curr_state_mesh.dummy_node.x = param_g[1]
#print("step")
#print(dir(mjsim.data))
#exit()
for step in range(steps):
#print(step)
for i in range(n_cubes):
dx = [torch.zeros([5],dtype=torch.float64)]
dx.append(param_g[step][i].unsqueeze(0))
dx = torch.cat(dx)
sim.obstacles[i].curr_state_mesh.dummy_node.v += dx
mjsim.data.qvel[6-3*i]+=param_g[step][i].data
sim_state = mjsim.get_state()
qvel = sim_state[2]
#print(qvel)
mjsim.step()
viewer.render()
'''
dx = [torch.zeros([5],dtype=torch.float64)]
dx.append(param_g[step])
dx = torch.cat(dx,axis=0)
sim.obstacles[2].curr_state_mesh.dummy_node.v += dx
'''
arcsim.sim_step()
cnt = 0
ans = []
for i in range(n_cubes):
ans.append(sim.obstacles[i].curr_state_mesh.dummy_node.x)
loss = get_loss(ans, param_g)
return loss, ans
def step(self, param_g):
with torch.no_grad():
param_g = torch.tensor(param_g, dtype=torch.float64)
param_g = param_g.view(20, 5)
# dx = []
# dx.append(torch.zeros([3],dtype=torch.float64))
# dx.append(param_g)
# dx.append(torch.zeros([1],dtype=torch.float64))
# dx = torch.cat(dx)
# self.sim.obstacles[0].curr_state_mesh.dummy_node.x += dx
# sim.obstacles[2].curr_state_mesh.dummy_node.x = param_g[1]
for step in range(20):
dx = []
# dx.append(torch.zeros([3],dtype=torch.float64))
dx.append(param_g[step])
dx.append(torch.zeros([1], dtype=torch.float64))
dx = torch.cat(dx)
self.sim.obstacles[0].curr_state_mesh.dummy_node.v += dx
arcsim.sim_step()
cnt = 0
ans = self.sim.obstacles[0].curr_state_mesh.dummy_node.x
ans = ans
# ans = torch.tensor([0, 0, 0],dtype=torch.float64)
# for node in sim.cloths[0].mesh.nodes:
# cnt += 1
# ans = ans + node.x
# ans /= cnt
loss = self.get_loss(ans, param_g)
self.f.write('epoch {}: loss={}\n \n '.format(
self.epoch, loss.data))
print("epoch %d----------------------------- " % self.epoch)
self.epoch += 1
return loss.detach().numpy()
def run_sim(steps, sim, model):
losses = []
vext = []
for step in range(steps):
sec = int(sim.frame / 25)
if sec < 3:
if sim.frame % 25 == 0 and step % spf == 0:
inp = []
for n in sim.cloths[0].mesh.nodes:
inp += [n.x, n.v]
v = model(torch.stack(inp) / 100).reshape([4, 3]) * 30
vext.append(v)
print(v)
for i in range(4):
sim.cloths[0].mesh.nodes[
i].v = sim.cloths[0].mesh.nodes[i].v + v[i] * scalev / spf
arcsim.sim_step()
a, b = get_loss(steps, sim)
return a, b, torch.stack(vext)
def run_sim(sim): with torch.no_grad(): for step in range(700): if step == 0: for obstacle in sim.obstacles: for node in obstacle.curr_state_mesh.nodes: node.m *=1 if step < 30: for node in sim.cloths[0].mesh.nodes: node.v += torch.tensor([2, 0, 0],dtype=torch.float64) else: node.v += np.exp(-(step-30)/50)*np.cos((step-30)/40) *torch.tensor([2, 0, 0],dtype=torch.float64) if step == 70: for obstacle in sim.obstacles: for node in obstacle.curr_state_mesh.nodes: node.m *= 200 arcsim.sim_step() print(step)
def run_sim(sim):
with torch.no_grad():
for step in range(400):
if step == 70:
for obstacle in sim.obstacles:
for node in obstacle.curr_state_mesh.nodes:
node.m *= 80
for obstacle in sim.obstacles:
x = obstacle.curr_state_mesh.dummy_node.x.data
x = np.abs(x)
print(x)
# if x[0]>threshold or x[1]>threshold:
if x[5]<0.4:
print("--------")
print(obstacle.curr_state_mesh.dummy_node.v)
obstacle.curr_state_mesh.dummy_node.v = torch.cat(
[ obstacle.curr_state_mesh.dummy_node.v.narrow(0, 0, 1),
obstacle.curr_state_mesh.dummy_node.v.narrow(0, 1, 1)*0.5,
obstacle.curr_state_mesh.dummy_node.v.narrow(0, 2, 1),
obstacle.curr_state_mesh.dummy_node.v.narrow(0, 3, 1)*0.5,
obstacle.curr_state_mesh.dummy_node.v.narrow(0, 4, 1)*0.5,
obstacle.curr_state_mesh.dummy_node.v.narrow(0, 5, 1)
]
)
if step < 30:
for node in sim.cloths[0].mesh.nodes:
node.v += torch.tensor([2, 0, 0],dtype=torch.float64)
# else:
# inc = np.maximum(np.exp(-(step-30.0)/50.0),0.2)
# inc = inc * np.cos((step-30)/40) *torch.tensor([2, 0, 0],dtype=torch.float64)
# for node in sim.cloths[0].mesh.nodes:
# node.v += inc
# print(inc)
arcsim.sim_step()
print("step:")
print(step)
def run_sim(steps, sim):
losses = []
vext = torch.zeros([4, 3], dtype=torch.float64)
for step in range(steps):
sec = int(sim.frame / 25)
if sec < 3:
if sim.frame % 25 == 0 and step % spf == 0:
x, v = get_xv(sim)
target = torch.tensor([0, 0, -0.7], dtype=torch.float64)
target -= x + v * (4 - sec)
target[2] += 0.5 * 9.8 * (4 - sec) * (4 - sec)
target /= 4 - sec - 0.5
vext = target
vext = vext.unsqueeze(0).repeat([4, 1])
print("vext={}\n".format(vext))
f.write("vext={}\n".format(vext))
for i in range(4):
sim.cloths[0].mesh.nodes[i].v = sim.cloths[0].mesh.nodes[
i].v + vext[i] * scalev / spf
arcsim.sim_step()
return get_loss(steps, sim)
def step(self, action):
with torch.no_grad():
#sim.obstacles[0].curr_state_mesh.dummy_node.x = torch.tensor([0.0000, 0.0000, 0.0000,
#np.random.random(), np.random.random(), -np.random.random()],dtype=torch.float64)
action = torch.tensor(action, dtype=torch.float64)
sim_input = torch.cat(
[torch.zeros([3], dtype=torch.float64), action])
self.sim.obstacles[1].curr_state_mesh.dummy_node.v = sim_input
arcsim.sim_step()
observation = []
remain_time = torch.tensor([(self.steps - self.step_) / 50],
dtype=torch.float64)
observation = torch.cat([
self.sim.obstacles[0].curr_state_mesh.dummy_node.x - self.goal,
self.sim.obstacles[0].curr_state_mesh.dummy_node.v, remain_time
])
ans = self.sim.obstacles[0].curr_state_mesh.dummy_node.x
reward = self.get_loss(ans)
self.step_ += 1
done = False
if self.step_ == self.steps:
self.f.write(
'epoch {}: loss={}\n ans = {}\n goal = {}\n'.format(
self.epoch, (-reward).data, ans.data, self.goal.data))
done = True
print("epoch %d----------------------------- " % self.epoch)
self.epoch += 1
if self.epoch == 200:
quit()
info = " "
# print(observation.numpy())
# print(reward.numpy())
return observation.numpy(), reward.numpy(), done, info
def run_sim(steps, sim, net, goal): #sim.obstacles[0].curr_state_mesh.dummy_node.x = torch.tensor([0.0000, 0.0000, 0.0000, #np.random.random(), np.random.random(), -np.random.random()],dtype=torch.float64) for step in range(steps): remain_time = torch.tensor([(steps - step)/steps],dtype=torch.float64) net_output = net(torch.cat([sim.obstacles[0].curr_state_mesh.dummy_node.x - goal, sim.obstacles[0].curr_state_mesh.dummy_node.v, remain_time])) sim_input = torch.cat([torch.zeros([3], dtype=torch.float64), net_output]) sim.obstacles[1].curr_state_mesh.dummy_node.v += sim_input arcsim.sim_step() ans = sim.obstacles[0].curr_state_mesh.dummy_node.x loss = get_loss(ans, goal) return loss, ans
def run_sim(steps, sim, param_g):
for step in range(15):
print("step")
print(step)
for i in range(len(handles)):
print(param_g)
sim.cloths[0].mesh.nodes[handles[i]].v = param_g
arcsim.sim_step()
cnt = 0
ans = sim.obstacles[0].curr_state_mesh.dummy_node.x
ans = ans.narrow(0, 3, 3)
# ans = torch.tensor([0, 0, 0],dtype=torch.float64)
# for node in sim.cloths[0].mesh.nodes:
# cnt += 1
# ans = ans + node.x
# ans /= cnt
loss = get_loss(ans)
return loss, ans
def run_sim():
for step in range(49):
arcsim.sim_step()
def run_sim(steps, sim):
losses = []
for step in range(steps):
arcsim.sim_step()
losses.append(get_loss(1, sim))
return torch.stack(losses).mean()
def run_sim():
for step in range(20):
arcsim.sim_step()
print(step)
def run_sim(sim):
for step in range(1):
arcsim.sim_step()
print(step)