richardrl

    if args.enable_torques:
        print("ASSUMING THE WITNESS POINTS ARE DEFINED WITH RESPECT TO THE CENTER OF MASS!!! CHANGE BODY FRAME ORIGIN IF THIS IS NOT TRUE")
        # for each contact point, setup the product of binary-continuous for w*b
        # sum all the torques for a single object

        # setup obj-obj first
        for i in range(config.num_internal_bodies):
            net_torque_to_object_i = np.zeros(3)
            for j in range(config.num_internal_bodies):
                net_torque_to_i_from_j = np.zeros(3)

richardrl

import os
import torch
from tqdm import tqdm
import time

# declare which gpu device to use
cuda_device = '0'

def check_mem(cuda_device):
    devices_info = os.popen('"/usr/bin/nvidia-smi" --query-gpu=memory.total,memory.used --format=csv,nounits,noheader').read().strip().split("\n")

richardrl

import pyglet
import pyglet.gl as gl

import numpy as np

import os
import tempfile
import subprocess
import collections

richardrl

Preamble

There is a longstanding issue/missing feature/bug with sockets on Docker on macOS; it may never work; you'll need to use a network connection between Docker containers and X11 on macOS for the foreseeable future.

I started from this gist and made some adjustments:

• the volume mappings aren't relevant/used, due to the socket issue above.
• this method only allows X11 connections from your Mac, not the entire local network, which would include everyone on the café/airport WiFi.
• updated to include using the host.docker.internal name for the the container host, instead.
• you have to restart XQuartz after the config change.

richardrl

from multiprocessing import Pool
from functools import partial

def _pickle_method(method):
	func_name = method.im_func.__name__
	obj = method.im_self
	cls = method.im_class
	if func_name.startswith('__') and not func_name.endswith('__'): #deal with mangled names
		cls_name = cls.__name__.lstrip('_')
		func_name = '_' + cls_name + func_name

richardrl

#!/usr/bin/python
# -*- coding:utf-8 -*-
"""
Idea and code was taken from stackoverflow().

This sample illustrates how to
+ how to pass method of instance method
  to multiprocessing(idea and code was introduced
  at http://goo.gl/tRHN1D by torek).

richardrl

from graphviz import Digraph
import torch
from torch.autograd import Variable, Function

def iter_graph(root, callback):
    queue = [root]
    seen = set()
    while queue:
        fn = queue.pop()
        if fn in seen:

richardrl

import open3d
import numpy as np
def main():
    vis = open3d.visualization.Visualizer()


    vis.create_window("Pose Visualizer")
    vis.get_render_option().line_width = 10.0

    obb = open3d.geometry.OrientedBoundingBox(center=np.array([0.0,0.0,0.0]), R=np.eye(3), extent=np.array([1.0, 1.0, 1.0]))

richardrl

    block_gripper_contacts = list(filter(lambda contact: (contact.geom1 == right_gripperid or contact.geom1 == left_gripperid) and contact.geom2 == blockid, self.sim.data.contact))
    block_gripper_distances = [contact.dist for contact in block_gripper_contacts]

    if len(block_gripper_distances) > 0:
        collisions += np.any(np.array(block_gripper_distances) <= 0)