Joint limits, mannequin collisions, and cloth physics are constraints in the target perform which can be highly non-convex and non-differentiable. We carry out the optimizations of the human and robotic configurations for every subtask utilizing covariance matrix adaptation evolution strategy (CMA-ES) (CMA 2018; Hansen 2006), which works well for derivative-free, simulation-based, native optimization. We now have noticed that CMA-ES often performs higher for native optimization than international optimization, and that beginning with an excellent initialization typically improves its efficiency. We manually outlined trajectory policies for each dressing subtask. A rectangular software holding the sleeve pulls the sleeve first alongside the forearm, then along the upper arm, and at last strikes to the top of the shoulder. Each linear trajectory is defined with respect to a coordinate body at the bottom of the hyperlink being dressed, with its X-axis alongside the axis of the hyperlink and the Y-axis parallel to the ground plane. Figure 2 exhibits these axes overlaid on a diagram of the arm. 0.0, 0.0, 0.1), with respect to the hand, forearm, upper arm, and shoulder, respectively.
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