def run(self):
sim_config = self.record['sim_config']
for i_ep in range(self.n_episodes):
# print(i_ep)
ep_dict = {}
t_list = []
ep_dict.update({'t_list': t_list})
world = balls_sim.World(**sim_config)
# save constants for the episode
radii = [np.copy(body.r) for body in world.bodies]
masses = [np.copy(body.m) for body in world.bodies]
ep_dict.update({'radii': radii})
ep_dict.update({'masses': masses})
for t in range(self.ep_length):
world.run()
t_dict = {}
poses = [np.copy(body.pos) for body in world.bodies]
vels = [body.vel for body in world.bodies]
measures = [np.copy(body.measured_pos) for body in world.bodies]
t_dict.update({'poses': poses})
t_dict.update({'vels': vels})
t_dict.update({'measures': measures})
t_list.append(t_dict)
self.all_eps.append(ep_dict)
def run(self):
total_episodes = EPISODES_TRAIN if 'train' in FILENAME else EPISODES_VALID
while self.ep < total_episodes:
print('Episode:', self.ep)
# self.world = simple_sim.World()
self.world = balls_sim.World()
self.screen_list = []
for _ in range(EP_LEN):
self.world.run()
observation = self.world.draw()
# observation = self.world.give_numbers()
self.screen_list.append(observation)
self.t += 1
self.ep += 1
self.ep_list.append(self.screen_list[:])
def __init__(self, sim_config=DEFAULT_SIM_CONFIG, n_particles=1000):
self.sim_config = copy.deepcopy(DEFAULT_SIM_CONFIG)
self.sim_config.update(sim_config)
self.n = n_particles
self.parts = []
self.n_targets = sim_config['n_bodies']
self.measurement_noise = sim_config['measurement_noise']
self.dynamics_noise = sim_config['dynamics_noise']
for _ in range(self.n):
self.parts.append(balls_sim.World(**self.sim_config))
self.w = np.ones(n_particles) / n_particles
space = np.linspace(0.5, WORLD_LEN - 0.5, WORLD_LEN)
self.I, self.J = np.meshgrid(space, space)