diff --git a/app/handle_one_graph.py b/app/handle_one_graph.py
index bb58d1515b6e272f23a4dd8445c601b4063103cb..b2521a8a4c01567d89deffd0b3a813457a7790ec 100644
--- a/app/handle_one_graph.py
+++ b/app/handle_one_graph.py
@@ -13,7 +13,7 @@ from rostok.library.rule_sets.simple_designs import (
from rostok.simulation_chrono.basic_simulation import SimulationResult
# create blueprint for object to grasp
-grasp_object_blueprint = get_object_sphere(0.05)
+grasp_object_blueprint = get_object_sphere(0.014)
# grasp_object_blueprint = get_object_ellipsoid(0.14, 0.14, 0.22, 0, mass = 0.188)
# grasp_object_blueprint = get_object_box(0.155, 0.127, 0.088*2, 0, mass = 0.176)
# grasp_object_blueprint = get_object_box(0.146, 0.147,0.25, 0, mass=0.164)
@@ -42,15 +42,16 @@ graph = get_two_link_three_finger()
graph = get_three_same_link_one_finger()
# graph = get_two_link_three_finger_rotated()
# graph = get_three_link_three_finger()
-control = [15, 15, 15]
+control = [32, 15, 15]
data = control_optimizer.optim_parameters2data_control(control, graph)
control_optimizer.data.create_pulley_data_file = True
-vis = True
+vis = False
#simulation_output: SimulationResult = simulation_manager.run_simulation(graph, data, [[-45.0, 0.0],[-45,0],[-45,0]], vis, True)
simulation_output: SimulationResult = simulation_manager.run_simulation(
- graph, data, [[-25.0, 0, 0, 0], [-45, 0, 0], [-45, 0, 0]], vis, True)
+ graph, data, [[30.0, 55, 60, 0], [-45, 0, 0], [-45, 0, 0]], vis, True)
+ #graph, data, [[-25.0, 0, 0, 0], [-45, 0, 0], [-45, 0, 0]], vis, True)
if not vis:
fig = plt.figure(figsize=(12, 5))
time_vector = simulation_output.time_vector
@@ -62,7 +63,8 @@ if not vis:
force_data = simulation_output.environment_final_ds.get_data("forces")[0]
force_data = [np.linalg.norm(x[0][1]) for x in force_data if len(x)!=0]
- force_data = [x for x in force_data if x<20]
+ #force_data = [x for x in force_data if x<20]
+ force_data = force_data[200::]
print(np.mean(force_data))
#plt.plot(time_vector, velocity_data)
plt.plot(force_data)
diff --git a/app/hyperparameters.py b/app/hyperparameters.py
index f8a8f43e062322cea66e50e0d7633f87937424b2..56beae1f01fbd072d170867663ac8d2bd6bda5b6 100644
--- a/app/hyperparameters.py
+++ b/app/hyperparameters.py
@@ -25,7 +25,7 @@ TENDON_CONST = -5
TENDON_DISCRETE_FORCES = [10, 15, 20] #[10, 15, 20]
TIME_STEP_SIMULATION = 0.0005
-GRASP_TIME = 1.5
+GRASP_TIME = 0.7
FORCE_TEST_TIME = 3
TIME_SIMULATION = 4.5
diff --git a/rostok/library/rule_sets/simple_designs.py b/rostok/library/rule_sets/simple_designs.py
index 69e830cd4396cf3e2b63ccd25a5377576ccc419d..7ae8eeabd31aab672ea517bb4b651394060e0ba8 100644
--- a/rostok/library/rule_sets/simple_designs.py
+++ b/rostok/library/rule_sets/simple_designs.py
@@ -118,7 +118,7 @@ def get_three_link_one_finger(smc = False):
graph = GraphGrammar()
rules = ["Init",
"AddFinger", "Terminal_Radial_Translate3", "Phalanx", "Phalanx", "Remove_FG",
- "Terminal_Link3", "Terminal_Link2", "Terminal_Link1","Terminal_Base_Joint_2", "Terminal_Joint_1", "Terminal_Joint_2",
+ "Terminal_Link3", "Terminal_Link2", "Terminal_Link1","Terminal_Base_Joint_2", "Terminal_Joint_1", "Terminal_Joint_1",
"RemoveFinger_N",
"RemoveFinger_R",
"RemoveFinger_RN",
@@ -135,7 +135,7 @@ def get_three_same_link_one_finger(smc = False):
graph = GraphGrammar()
rules = ["Init",
"AddFinger", "Terminal_Radial_Translate1", "Phalanx", "Phalanx", "Remove_FG",
- "Terminal_Link1", "Terminal_Link1", "Terminal_Link1", "Terminal_Base_Joint_1", "Terminal_Joint_1", "Terminal_Joint_1",
+ "Terminal_Link1", "Terminal_Link1", "Terminal_Link1", "Terminal_Base_Joint_1", "Terminal_Joint_1", "Terminal_Joint_2",
"RemoveFinger_N",
"RemoveFinger_R",
"RemoveFinger_RN",
diff --git a/rostok/simulation_chrono/simulation_SMC.py b/rostok/simulation_chrono/simulation_SMC.py
index cf268e55e6d8b794087b9dfbf591754d3a32416c..a99d866bc6e62006bca6564f43aa810f2220a0c9 100644
--- a/rostok/simulation_chrono/simulation_SMC.py
+++ b/rostok/simulation_chrono/simulation_SMC.py
@@ -116,7 +116,7 @@ class ChronoVisManager():
self.vis.SetWindowTitle('Grab demo')
self.vis.Initialize()
self.vis.AddSkyBox()
- self.vis.AddCamera(chrono.ChVectorD(0.15, 0.30, -0.40))
+ self.vis.AddCamera(chrono.ChVectorD(-0.15, 0.30, 0.40))
self.vis.AddTypicalLights()
#self.vis.EnableCollisionShapeDrawing(True)
diff --git a/rostok/simulation_chrono/simulation_scenario.py b/rostok/simulation_chrono/simulation_scenario.py
index 2aa49307f6a8e432e956fb6f320e8d7105766791..dfc2af405ef194b5380b9bc5f58d8684664c720a 100644
--- a/rostok/simulation_chrono/simulation_scenario.py
+++ b/rostok/simulation_chrono/simulation_scenario.py
@@ -107,17 +107,21 @@ class SMCGrasp(ParametrizedSimulation):
# grasp_object = self.grasp_object_callback()
grasp_object = creator.create_environment_body(self.grasp_object_callback)
grasp_object.body.SetNameString("Grasp_object")
+
#grasp_object.body.GetVisualShape(0).SetTexture("./YOBA.png")
mass_object = grasp_object.body.GetMass()
gravity = simulation.chrono_system.Get_G_acc().y
# shake = YaxisShaker(1, 3, 0.5, float("inf"))
grav_n_shake = ShakeAndNullGravity(mass_object*gravity, 3, 5, 3, 2, start_time=float("inf"))
# the object positioning based on the AABB
- set_covering_ellipsoid_based_position(grasp_object,
- reference_point=chrono.ChVectorD(0, 0.1, 0))
+ # set_covering_ellipsoid_based_position(grasp_object,
+ # reference_point=chrono.ChVectorD(-0.0, 0.06, 0))
+ # set_covering_ellipsoid_based_position(grasp_object,
+ # reference_point=chrono.ChVectorD(-0.05, 0.06, 0.00))
simulation.env_creator.add_object(grasp_object,
read_data=True,
+ is_fixed = True,
force_torque_controller=grav_n_shake)
# add design and determine the outer force
if self.tendon: