opa

article/golem_app.py

@@ -17,7 +17,7 @@ from golem.core.optimisers.genetic.operators.regularization import \
 from golem.core.optimisers.objective import Objective, ObjectiveEvaluate
 from golem.core.optimisers.optimization_parameters import GraphRequirements
 from golem.core.optimisers.optimizer import GraphGenerationParams
-from obj_grasp.objects import get_obj_hard_ellipsoid, get_object_to_grasp_sphere
+from obj_grasp.objects import get_obj_hard_ellipsoid, get_object_to_grasp_sphere, get_obj_hard_large_ellipsoid, get_obj_cyl_pos_parametrize, get_obj_hard_ellipsoid_move, get_obj_hard_mesh
 from optmizers_config import get_cfg_graph
 from rule_sets.ruleset_old_style_graph import create_rules
 from rule_sets.rule_extention_golem_edition import rule_vocab, torque_dict
@@ -58,7 +58,7 @@ for _ in range(15):
 init_population_gr = init_pop.get_population_zoo()
 initial = adapter_local.adapt(init_population_gr)
 cfg = get_cfg_graph(torque_dict)
-cfg.get_rgab_object_callback = get_object_to_grasp_sphere
+cfg.get_rgab_object_callback = get_obj_hard_ellipsoid_move
 optic = ControlOptimizer(cfg)
 
 build_wrapperd  = partial(custom_metriwith_build_mechs, optimizer = optic)
@@ -114,8 +114,8 @@ optimizer_parameters = GPAlgorithmParameters(
             custom_mutation_del
         ],
     crossover_types = [CrossoverTypesEnum.gg_subtree],
-    regularization_type = RegularizationTypesEnum.none,
-    mutation_strength = MutationStrengthEnum.strong,
+    regularization_type = RegularizationTypesEnum.decremental,
+    mutation_strength = MutationStrengthEnum.mean,
     )
 
 optimizer = EvoGraphOptimizer(
@@ -135,8 +135,6 @@ name = str(int(time.time()))
 name2 = str(optimizer.history.final_choices.data[0].fitness)
 name2 = name2.replace(".", "_")
 name2 = name2.replace("-", "_")
-
-with open(name2, 'wb') as handle:
+name = name + name_objective + name2
+with open(name, 'wb') as handle:
     pickle.dump(optimizer.history, handle)
-rew = optic.create_reward_function(optimized_mech)
-rew(optimized_mech, True)
\ No newline at end of file

article/init_pop.py

@@ -98,9 +98,27 @@ def get_population_zoo():
     for struct in STRUCTURE_ZOO:
         
         graphs_one_struct = []
-        for _ in range(3):
+        for _ in range(4):
             graph_zoo = struct()
             rule_vocab.make_graph_terminal(graph_zoo)
             graphs_one_struct.append(graph_zoo)
+        
+        # for _ in range(3):
+        #     skoka = random.choice([5, 8, 3, 5, 7])
+        #     gr = make_random_graph(skoka, rule_vocab)
+        #     graphs_one_struct.append(gr)
+
         zoo.extend(graphs_one_struct)
     return zoo
+
+def get_pop_simple():
+    finger = []
+    for _ in range(3):
+        nonterminal = get_non_terminal_one_finger()
+        rule_vocab.make_graph_terminal(nonterminal)
+        finger.append(nonterminal)
+    for _ in range(3):
+        nonterminal = get_non_terminal_two_finger_asym()
+        rule_vocab.make_graph_terminal(nonterminal)
+        finger.append(nonterminal)
+    return finger
\ No newline at end of file

article/optmizers_config.py

@@ -107,6 +107,30 @@ def get_cfg_standart_step():
                                  time_step=cfg.time_step,
                                  torque = CONST_TORQUE)
 
+    cfg.criterion_callback = criterion_callback
+    cfg.params_to_timesiries_callback = traj_generator_fun
+    return cfg
+
+
+
+def get_cfg_small_iter_standart():
+    WEIGHT = hp.CRITERION_WEIGHTS
+    # Init configuration of control optimizing
+    cfg = ConfigVectorJoints()
+    cfg.bound = (0, 15)
+    cfg.time_optimization = hp.TIME_OPTIMIZATION
+    cfg.iters = 10
+    cfg.time_step = hp.TIME_STEP_SIMULATION
+    cfg.time_sim = hp.TIME_SIMULATION
+    cfg.flags = [FlagMaxTime(cfg.time_sim), 
+                 FlagNotContact(hp.FLAG_TIME_NO_CONTACT), 
+                 FlagSlipout(hp.FLAG_TIME_NO_CONTACT, hp.FLAG_TIME_SLIPOUT)]
+    """Wraps function call"""
+    criterion_callback = partial(criterion_calc, weights=WEIGHT)
+    traj_generator_fun = partial(create_torque_traj_from_x,
+                                 stop_time=cfg.time_sim,
+                                 time_step=cfg.time_step)
+
     cfg.criterion_callback = criterion_callback
     cfg.params_to_timesiries_callback = traj_generator_fun
     return cfg
\ No newline at end of file

rostok/block_builder/node_render.py

@@ -557,7 +557,7 @@ class ChronoBodyEnv(ChronoBody):
                  pos: FrameTransform = FrameTransform([0, 0.0, 0], [1, 0, 0, 0])):
 
         # This parameter redefined by SetMass
-        MOCK_DENSITY: int = 1000  # pylint: disable=invalid-name
+        MOCK_DENSITY: int = 100  # pylint: disable=invalid-name
 
         # Create body
         material = struct_material2object_material(material)

rostok/trajectory_optimizer/control_optimizer.py

@@ -60,7 +60,7 @@ class ConfigVectorJoints(_ConfigRewardFunction):
     """
     bound: tuple[float, float] = (-1, 1)
     iters: int = 10
-    optimizer_scipy = partial(shgo)
+    optimizer_scipy = partial(direct)
 
 
 class ConfigGraphControl(_ConfigRewardFunction):
@@ -145,7 +145,7 @@ class ControlOptimizer():
             if len(multi_bound) == 0:
                 return (0, 0)
             time_stopper = TimeOptimizerStopper(self.cfg.time_optimization)
-            result = self.cfg.optimizer_scipy(reward_fun, multi_bound,  callback=time_stopper)#,maxiter=self.cfg.iters,)
+            result = self.cfg.optimizer_scipy(reward_fun, multi_bound, maxiter=self.cfg.iters)
             return (result.fun, result.x)
         elif isinstance(self.cfg, ConfigGraphControl):
             n_joint = num_joints(generated_graph)

rostok/utils/dataset_materials/material_dataclass_manipulating.py

@@ -19,7 +19,7 @@ class DefaultChronoMaterial(Material):
     name: str = "default"
     type_class: str = "ChMaterialSurfaceNSC"
     Friction = 0.5
-    DampingF = 0.8
+    DampingF = 0.3
 
 
 def struct_material2object_material(struct_material: Material, prefix_setter: str = "Set"):