diff --git a/app/app_tendon.py b/app/app_tendon.py deleted file mode 100644 index 448c1efd..00000000 --- a/app/app_tendon.py +++ /dev/null @@ -1,35 +0,0 @@ -import numpy as np -import hyperparameters as hp -from rostok.graph_generators.environments.design_environment import DesignEnvironment, SubDesignEnvironment, SubStringDesignEnvironment -from rostok.graph_generators.search_algorithms.mcts import MCTS -from rostok.graph_generators.mcts_manager import MCTSManager -from rostok.graph_generators.search_algorithms.random_search import RandomSearch - -from rostok.library.rule_sets.ruleset_simple_fingers import create_rules -from rostok.graph_grammar.node import GraphGrammar -from rostok.library.obj_grasp.objects import (get_object_cylinder, get_object_box, - get_object_ellipsoid, get_object_parametrized_trapezohedron) -import sys - -from mcts_run_setup import config_combination_force_tendon_multiobject -if __name__ == "__main__": - rule_vocabulary = create_rules() - grasp_object_blueprint = [] - grasp_object_blueprint.append(get_object_parametrized_trapezohedron(0.15)) - grasp_object_blueprint.append(get_object_box(0.14, 0.19, 0.28, 0, mass = 0.268)) - grasp_object_blueprint.append(get_object_ellipsoid(0.14, 0.14, 0.22, 0, mass=0.188)) - # create reward counter using run setup function - control_optimizer = config_combination_force_tendon_multiobject( - grasp_object_blueprint, [1.1, 1.2, 0.5]) - - init_graph = GraphGrammar() - env = SubStringDesignEnvironment(rule_vocabulary, control_optimizer, hp.MAX_NUMBER_RULES, init_graph, 0) - - mcts = MCTS(env, hp.MCTS_C) - name_directory = input("enter directory name: ") - mcts_manager = MCTSManager(mcts, name_directory,verbosity=2, use_date=True) - mcts_manager.save_information_about_search(hp, grasp_object_blueprint) - - for i in range(hp.FULL_LOOP_MCTS): - mcts_manager.run_search(hp.BASE_ITERATION_LIMIT_TENDON, 1, 1, 2) - mcts_manager.save_results() \ No newline at end of file