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Commit 9219e67c authored by Amira Abdel-Rahman's avatar Amira Abdel-Rahman
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AM216 FINAL PROJECT

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.gitlab-ci.yml
View file @ 9219e67c
# This file is a template, and might need editing before it works on your project.
# Full project: https://gitlab.com/pages/plain-html
pages:
stage: deploy
script:
- mkdir .public
- cp -r * .public
- mv .public public
artifacts:
paths:
- public
only:
- master
# This file is a template, and might need editing before it works on your project.
# Full project: https://gitlab.com/pages/plain-html
pages:
stage: deploy
script:
- mkdir .public
- cp -r * .public
- mv .public public
artifacts:
paths:
- public
only:
- master
README.md
View file @ 9219e67c
# MetaVoxels Code
Code for the design, simulation and optimization of MetaVoxels.
## Documentation
- Here: https://gitlab.cba.mit.edu/amiraa/metavoxels
## Interactive Demos
- [Tendons Modeling](https://amiraa.pages.cba.mit.edu/metavoxels-code/demos/indexTendon.html)
- [Precomputed 5*5 cuboct Voxel](https://amiraa.pages.cba.mit.edu/metavoxels-code/demos/indexScaling.html)
- [Precomputed 4*1 chiral Voxel](https://amiraa.pages.cba.mit.edu/metavoxels-code/demos/indexChiral.html)
- [Boundary Conditions](https://amiraa.pages.cba.mit.edu/metavoxels-code/demos/indexBoundaryConditions.html)
# MetaVoxels Code
Code for the design, simulation and optimization of MetaVoxels.
## Documentation
- Here: https://gitlab.cba.mit.edu/amiraa/metavoxels
## Interactive Demos
- [Tendons Modeling](https://amiraa.pages.cba.mit.edu/metavoxels-code/demos/indexTendon.html)
- [Precomputed 5*5 cuboct Voxel](https://amiraa.pages.cba.mit.edu/metavoxels-code/demos/indexScaling.html)
- [Precomputed 4*1 chiral Voxel](https://amiraa.pages.cba.mit.edu/metavoxels-code/demos/indexChiral.html)
- [Boundary Conditions](https://amiraa.pages.cba.mit.edu/metavoxels-code/demos/indexBoundaryConditions.html)
- [Hierarchal multi-material 3*3 Base Voxel (old cpu version (to fix))](https://amiraa.pages.cba.mit.edu/metavoxels-code/demos/indexHierarchical.html)
\ No newline at end of file
WANN/domain/rover.py
View file @ 9219e67c
import logging
import math
import gym
from gym import spaces
from gym.utils import seeding
import numpy as np
# import sys
# import cv2
# import math
import math as Math
#julia
import julia
from julia.api import Julia
jl = Julia(compiled_modules=False)
from julia import Main
Main.include("./julia/initRover.jl")
class RoverEnv(gym.Env):
def __init__(self):
"""
Data set is a tuple of
[0] input data: [nSamples x nInputs]
[1] labels: [nSamples x 1]
Example data sets are given at the end of this file
"""
# self.t = 0 # Current batch number
# self.t_limit = 0 # Number of batches if you want to use them (we didn't)
# self.batch = 1000 # Number of images per batch
self.seed()
self.viewer = None
# self.trainSet = trainSet
# self.target = target
# nInputs = np.shape(trainSet)[1]
# high = np.array([1.0]*nInputs)
self.action_space = spaces.Box(np.array(0,dtype=np.float32), \
np.array(1,dtype=np.float32))
self.observation_space = spaces.Box(np.array(0,dtype=np.float32), \
np.array(1,dtype=np.float32))
self.state = None
# self.trainOrder = None
# self.currIndx = None
# pixels = pixelGrid(resolution).T
# self.X=pixels[0]
# self.Y=pixels[1]
self.maxTimestep=10000
self.time= np.linspace(0,self.maxTimestep-1, self.maxTimestep)
Main.strY= np.linspace(0.0,1.0, self.maxTimestep)
Main.strZ= np.linspace(0.0,1.0, self.maxTimestep)
# Main.strY=turnArrayToString(y,self.maxTimestep)
# Main.strZ=turnArrayToString(z,self.maxTimestep)
# Main.eval("function externalForce(currentTimeStep,N_position,N_force)\n strY="+strY+";\n strZ="+strZ+";\n if (convert(Float64,N_force.z)>0.0) \n z=strZ[currentTimeStep+1];\n y=strY[currentTimeStep+1];\n if (convert(Float64,N_force.z)>1.5) \n z=-z;\n y=-y;\nend\nreturn Vector3(0.0,y,z);\n else\n return Vector3(0.0,0.0,0.0);\n end\n end")
# self.target=circle(self.resolution,False)
# self.target=Main.circle(self.resolution, 1,False)
# matplotlib.image.imsave("./img/target.png", self.target.reshape(self.resolution,self.resolution))
self.current=0
self.bestScore=-100000
def seed(self, seed=None):
''' Randomly select from training set'''
self.np_random, seed = seeding.np_random(seed)
return [seed]
def reset(self):
''' Initialize State'''
# print('Lucky number', np.random.randint(10)) # same randomness?
# self.trainOrder = np.random.permutation(len(self.target))
# self.t = 0 # timestep
# self.currIndx = self.trainOrder[self.t:self.t+self.batch]
# self.state = self.trainSet[self.currIndx,:]
self.state= np.array([np.linspace(0,self.maxTimestep-1, self.maxTimestep)]).T-self.maxTimestep/2.0
# self.current=0
return self.state
def step(self, action):
'''
Judge Classification, increment to next batch
action - [batch x output] - softmax output
'''
# y = self.target[self.currIndx]
# m = y.shape[0]
# log_likelihood = -np.log(action[range(m),y])
# print(action.shape)
# print(self.target.shape)
# print(sum(action))
aaa=np.reshape(action,(self.maxTimestep,4))
x= aaa[:,0]
y= aaa[:,1]
z= aaa[:,2]
k= aaa[:,3]
# print(sum(y))
# print(sum(z))
if(min(y)-max(y)!=0):
y=maprange((min(y),max(y)),(-1.0,1.0), y)
if(min(z)-max(z)!=0):
z=maprange((min(z),max(z)),(-1.0,1.0), z)
if(min(x)-max(x)!=0):
x=maprange((min(x),max(x)),(-1.0,1.0), x)
if(min(k)-max(k)!=0):
k=maprange((min(k),max(k)),(-1.0,1.0), k)
Main.strX=x
Main.strY=y
Main.strZ=z
Main.strK=k
# Main.strY=turnArrayToString(y,self.maxTimestep)
# Main.strZ=turnArrayToString(z,self.maxTimestep)
# Main.eval("function externalForce(currentTimeStep,N_position,N_force)\n strY="+strY+";\n strZ="+strZ+";\n if (convert(Float64,N_force.z)>0.0) \n z=strZ[currentTimeStep+1];\n y=strY[currentTimeStep+1];\n if (convert(Float64,N_force.z)>1.5) \n z=-z;\n y=-y;\nend\nreturn Vector3(0.0,y,z);\n else\n return Vector3(0.0,0.0,0.0);\n end\n end")
Main.include("./julia/runRover.jl")
# if (self.current>100):
# self.current=0
loss = Main.target
# print(loss)
# result = np.all(action == action[0])
# if(result):
# loss=1000000
# print(sum(y))
# print(sum(z))
if loss is not None:
reward = loss
if reward>self.bestScore:
print(loss)
self.bestScore=reward
np.savetxt("./results/rover/"+str(self.current)+"_"+str(int(reward))+".out", (Main.strX,Main.strY,Main.strZ,Main.strK)) # X is an array
self.current+=1
self.state= np.array([np.linspace(0,self.maxTimestep-1, self.maxTimestep)]).T-self.maxTimestep/2.0
done = True
obs = self.state
return obs, reward, done, {}
# -- Data Sets ----------------------------------------------------------- -- #
def turnArrayToString(a,max):
strA="["
strA+=str(a[0])
for i in range(1, int(max)):
strA+=","
strA+=str(a[i])
strA+="]"
return strA
def maprange(a, b, s):
(a1, a2), (b1, b2) = a, b
return b1 + ((s - a1) * (b2 - b1) / (a2 - a1))
import logging
import math
import gym
from gym import spaces
from gym.utils import seeding
import numpy as np
# import sys
# import cv2
# import math
import math as Math
#julia
import julia
from julia.api import Julia
jl = Julia(compiled_modules=False)
from julia import Main
Main.include("./julia/initRover.jl")
class RoverEnv(gym.Env):
def __init__(self):
"""
Data set is a tuple of
[0] input data: [nSamples x nInputs]
[1] labels: [nSamples x 1]
Example data sets are given at the end of this file
"""
# self.t = 0 # Current batch number
# self.t_limit = 0 # Number of batches if you want to use them (we didn't)
# self.batch = 1000 # Number of images per batch
self.seed()
self.viewer = None
# self.trainSet = trainSet
# self.target = target
# nInputs = np.shape(trainSet)[1]
# high = np.array([1.0]*nInputs)
self.action_space = spaces.Box(np.array(0,dtype=np.float32), \
np.array(1,dtype=np.float32))
self.observation_space = spaces.Box(np.array(0,dtype=np.float32), \
np.array(1,dtype=np.float32))
self.state = None
# self.trainOrder = None
# self.currIndx = None
# pixels = pixelGrid(resolution).T
# self.X=pixels[0]
# self.Y=pixels[1]
self.maxTimestep=10000
self.time= np.linspace(0,self.maxTimestep-1, self.maxTimestep)
Main.strY= np.linspace(0.0,1.0, self.maxTimestep)
Main.strZ= np.linspace(0.0,1.0, self.maxTimestep)
# Main.strY=turnArrayToString(y,self.maxTimestep)
# Main.strZ=turnArrayToString(z,self.maxTimestep)
# Main.eval("function externalForce(currentTimeStep,N_position,N_force)\n strY="+strY+";\n strZ="+strZ+";\n if (convert(Float64,N_force.z)>0.0) \n z=strZ[currentTimeStep+1];\n y=strY[currentTimeStep+1];\n if (convert(Float64,N_force.z)>1.5) \n z=-z;\n y=-y;\nend\nreturn Vector3(0.0,y,z);\n else\n return Vector3(0.0,0.0,0.0);\n end\n end")
# self.target=circle(self.resolution,False)
# self.target=Main.circle(self.resolution, 1,False)
# matplotlib.image.imsave("./img/target.png", self.target.reshape(self.resolution,self.resolution))
self.current=0
self.bestScore=-100000
def seed(self, seed=None):
''' Randomly select from training set'''
self.np_random, seed = seeding.np_random(seed)
return [seed]
def reset(self):
''' Initialize State'''
# print('Lucky number', np.random.randint(10)) # same randomness?
# self.trainOrder = np.random.permutation(len(self.target))
# self.t = 0 # timestep
# self.currIndx = self.trainOrder[self.t:self.t+self.batch]
# self.state = self.trainSet[self.currIndx,:]
self.state= np.array([np.linspace(0,self.maxTimestep-1, self.maxTimestep)]).T-self.maxTimestep/2.0
# self.current=0
return self.state
def step(self, action):
'''
Judge Classification, increment to next batch
action - [batch x output] - softmax output
'''
# y = self.target[self.currIndx]
# m = y.shape[0]
# log_likelihood = -np.log(action[range(m),y])
# print(action.shape)
# print(self.target.shape)
# print(sum(action))
aaa=np.reshape(action,(self.maxTimestep,4))
x= aaa[:,0]
y= aaa[:,1]
z= aaa[:,2]
k= aaa[:,3]
# print(sum(y))
# print(sum(z))
if(min(y)-max(y)!=0):
y=maprange((min(y),max(y)),(-1.0,1.0), y)
if(min(z)-max(z)!=0):
z=maprange((min(z),max(z)),(-1.0,1.0), z)
if(min(x)-max(x)!=0):
x=maprange((min(x),max(x)),(-1.0,1.0), x)
if(min(k)-max(k)!=0):
k=maprange((min(k),max(k)),(-1.0,1.0), k)
Main.strX=x
Main.strY=y
Main.strZ=z
Main.strK=k
# Main.strY=turnArrayToString(y,self.maxTimestep)
# Main.strZ=turnArrayToString(z,self.maxTimestep)
# Main.eval("function externalForce(currentTimeStep,N_position,N_force)\n strY="+strY+";\n strZ="+strZ+";\n if (convert(Float64,N_force.z)>0.0) \n z=strZ[currentTimeStep+1];\n y=strY[currentTimeStep+1];\n if (convert(Float64,N_force.z)>1.5) \n z=-z;\n y=-y;\nend\nreturn Vector3(0.0,y,z);\n else\n return Vector3(0.0,0.0,0.0);\n end\n end")
Main.include("./julia/runRover.jl")
# if (self.current>100):
# self.current=0
loss = Main.target
# print(loss)
# result = np.all(action == action[0])
# if(result):
# loss=1000000
# print(sum(y))
# print(sum(z))
if loss is not None:
reward = loss
if reward>self.bestScore:
print(loss)
self.bestScore=reward
np.savetxt("./results/rover/"+str(self.current)+"_"+str(int(reward))+".out", (Main.strX,Main.strY,Main.strZ,Main.strK)) # X is an array
self.current+=1
self.state= np.array([np.linspace(0,self.maxTimestep-1, self.maxTimestep)]).T-self.maxTimestep/2.0
done = True
obs = self.state
return obs, reward, done, {}
# -- Data Sets ----------------------------------------------------------- -- #
def turnArrayToString(a,max):
strA="["
strA+=str(a[0])
for i in range(1, int(max)):
strA+=","
strA+=str(a[i])
strA+="]"
return strA
def maprange(a, b, s):
(a1, a2), (b1, b2) = a, b
return b1 + ((s - a1) * (b2 - b1) / (a2 - a1))
WANN/julia/initRover.jl
View file @ 9219e67c
# Amira Abdel-Rahman
# (c) Massachusetts Institute of Technology 2021
####################################################
plotting=false
GPU=false
logging=false
include("../../julia/MetaVoxels.jl")
include("../../julia/examples/walkingRobot.jl")
# include("../../julia/examples/rover.jl")
include("../../julia/MetaVoxels.jl")
simName="tutorial"
path="../../json/$(simName).json"
savedDataFolderPath="../../json/$(simName)/" # make sure this folder exists, this is where the simulation result will be saved
path="../json/$(simName).json"
savedDataFolderPath="../json/$(simName)/" # make sure this folder exists, this is where the simulation result will be saved
println("Initiated Rover!")
# Amira Abdel-Rahman
# (c) Massachusetts Institute of Technology 2021
####################################################
plotting=false
GPU=false
logging=false
include("../../julia/MetaVoxels.jl")
include("../../julia/examples/walkingRobot.jl")
# include("../../julia/examples/rover.jl")
include("../../julia/MetaVoxels.jl")
simName="tutorial"
path="../../json/$(simName).json"
savedDataFolderPath="../../json/$(simName)/" # make sure this folder exists, this is where the simulation result will be saved
path="../json/$(simName).json"
savedDataFolderPath="../json/$(simName)/" # make sure this folder exists, this is where the simulation result will be saved
println("Initiated Rover!")
WANN/julia/runRover.jl
View file @ 9219e67c
# Amira Abdel-Rahman
# (c) Massachusetts Institute of Technology 2021
####################################################
include("../../julia/MetaVoxels.jl")
function floorPenetration(x,y,nomSize)
floor=0.001*1.2
# floor=0.0
p=0.0
d=10.0
if(y<floor)
# if(y<floor&& (x<5.0*d || x>=14.0*d))
p=floor-y
end
return p
end
function penetrationStiffness(E,nomSize)
return (1.0*E*nomSize)
end
#!< returns the stiffness with which this voxel will resist penetration. This is calculated according to E*A/L with L = voxelSize/2.
setupSim=[]
setupSim=getSetupFullPath(path); #get simulation
runMetaVoxels!(setupSim,savedDataFolderPath,"CPU");
target=getFinalDisplacement(savedDataFolderPath,1,"x");
# Amira Abdel-Rahman
# (c) Massachusetts Institute of Technology 2021
####################################################
include("../../julia/MetaVoxels.jl")
function floorPenetration(x,y,nomSize)
floor=0.001*1.2
# floor=0.0
p=0.0
d=10.0
if(y<floor)
# if(y<floor&& (x<5.0*d || x>=14.0*d))
p=floor-y
end
return p
end
function penetrationStiffness(E,nomSize)
return (1.0*E*nomSize)
end
#!< returns the stiffness with which this voxel will resist penetration. This is calculated according to E*A/L with L = voxelSize/2.
setupSim=[]
setupSim=getSetupFullPath(path); #get simulation
runMetaVoxels!(setupSim,savedDataFolderPath,"CPU");
target=getFinalDisplacement(savedDataFolderPath,1,"x");
WANN/julia/script.jl
View file @ 9219e67c
using Plots
function testFunc01(x,y)
return x.+y
end
function testFunc01(a,b,c)
return a.*b.*c
end
function dataPlotTest(y)
plot(y)
savefig("./testPlot.png")
end
# dataPlotTest([1,2,3,4])
using Plots
function testFunc01(x,y)
return x.+y
end
function testFunc01(a,b,c)
return a.*b.*c
end
function dataPlotTest(y)
plot(y)
savefig("./testPlot.png")
end
# dataPlotTest([1,2,3,4])
WANN/julia/test.csv
View file @ 9219e67c
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0.000000000000000000e+00 1.000000000000000000e+00 2.000000000000000000e+00 3.000000000000000000e+00 4.000000000000000000e+00
WANN/julia/test.jl
View file @ 9219e67c
function myArrayFn(x)
println("array size: $(size(x))");
println("max element: $(maximum(x))")
println("min element: $(minimum(x))")
return 2*x
function myArrayFn(x)
println("array size: $(size(x))");
println("max element: $(maximum(x))")
println("min element: $(minimum(x))")
return 2*x
end
\ No newline at end of file
WANN/julia/test.out
View file @ 9219e67c
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WANN/log/test_best.out
View file @ 9219e67c
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WANN/log/test_best/0008.out
View file @ 9219e67c
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