def simple_rgb_profile_zigzag():
PaintGymEnv.change_action_mode(1, 'discrete', 4)
PaintGymEnv.change_obs_mode('grid', 10)
with PaintGymEnv(os.path.join(os.path.dirname(os.path.realpath(__file__)),
'PaintRLEnv'),
with_robot=False,
renders=False,
render_video=False,
rollout=False,
extra_config=EXTRA_CONFIG) as env:
for _ in range(100):
env.reset()
horizontal_move = 0
up = True
done = False
obs = [0, 0]
total_return = 0
step_counter = 0
while not done:
if up:
if obs[1] < 0.95:
obs, reward, done, info = env.step(1)
step_counter += 1
elif horizontal_move < 2:
obs, reward, done, info = env.step(0)
step_counter += 1
horizontal_move += 1
else:
horizontal_move = 0
reward = 0
up = False
else:
if obs[1] > 0.05:
obs, reward, done, info = env.step(3)
step_counter += 1
elif horizontal_move < 2:
obs, reward, done, info = env.step(0)
step_counter += 1
horizontal_move += 1
else:
horizontal_move = 0
reward = 0
up = True
print('OBS: {0}, REWARD: {1}'.format(obs, reward))
total_return += reward
print('In {0} steps get {1} rewards'.format(
step_counter, total_return))
def simple_rgb_zigzag():
PaintGymEnv.change_action_mode(1, 'discrete', 4)
PaintGymEnv.change_obs_mode('discrete', 4)
with PaintGymEnv(os.path.join(os.path.dirname(os.path.realpath(__file__)),
'PaintRLEnv'),
with_robot=False,
renders=True,
render_video=False,
rollout=True,
extra_config=EXTRA_CONFIG) as env:
horizontal_move = 0
up = True
done = False
obs = [0] * 5
total_return = 0
step_counter = 0
while not done:
current_pos = 0 if obs[-1] == 0 else round(1 / obs[-1])
if up:
if current_pos % 22 != 19:
obs, reward, done, info = env.step(1)
step_counter += 1
elif horizontal_move < 2:
obs, reward, done, info = env.step(0)
step_counter += 1
horizontal_move += 1
else:
horizontal_move = 0
reward = 0
up = False
else:
if current_pos % 22 != 2:
obs, reward, done, info = env.step(3)
step_counter += 1
elif horizontal_move < 2:
obs, reward, done, info = env.step(0)
step_counter += 1
horizontal_move += 1
else:
horizontal_move = 0
reward = 0
up = True
print('OBS: {0}, REWARD: {1}'.format(obs, reward))
total_return += reward
print('In {0} steps get {1} rewards'.format(step_counter,
total_return))
def simple_hsi_zigzag():
EXTRA_CONFIG['COLOR_MODE'] = 'HSI'
PaintGymEnv.change_action_mode(2, 'continuous')
PaintGymEnv.change_obs_mode('simple', 4)
with PaintGymEnv(os.path.join(os.path.dirname(os.path.realpath(__file__)),
'PaintRLEnv'),
with_robot=False,
renders=True,
render_video=False,
rollout=True,
extra_config=EXTRA_CONFIG) as env:
horizontal_move = 0
up = True
done = False
obs = [0, 0]
total_return = 0
step_counter = 0
while not done:
if up:
if obs[1] < 0.95:
obs, reward, done, info = env.step([0, 1])
step_counter += 1
elif horizontal_move < 2:
obs, reward, done, info = env.step([0.5, 0])
step_counter += 1
horizontal_move += 1
else:
horizontal_move = 0
reward = 0
up = False
else:
if obs[1] > 0.05:
obs, reward, done, info = env.step([0, -1])
step_counter += 1
elif horizontal_move < 2:
obs, reward, done, info = env.step([0.5, 0])
step_counter += 1
horizontal_move += 1
else:
horizontal_move = 0
reward = 0
up = True
print('OBS: {0}, REWARD: {1}'.format(obs, reward))
total_return += reward
print('In {0} steps get {1} rewards'.format(step_counter,
total_return))
def simple_hsi_spiral():
EXTRA_CONFIG['COLOR_MODE'] = 'HSI'
PaintGymEnv.change_action_mode(1, 'discrete', 4)
PaintGymEnv.change_obs_mode('simple', 4)
with PaintGymEnv(os.path.join(os.path.dirname(os.path.realpath(__file__)),
'PaintRLEnv'),
with_robot=False,
renders=True,
render_video=False,
rollout=True,
extra_config=EXTRA_CONFIG) as env:
start_points = getattr(env, '_start_points')
axis_1, axis_2 = [], []
for sp in start_points:
axis_1.append(sp[0][1])
axis_2.append(sp[0][2])
x = min(axis_1) + (max(axis_1) - min(axis_1)) / 2
y = min(axis_2) + (max(axis_2) - min(axis_2)) / 2
center_point = [[start_points[0][0][0], x, y], start_points[0][1]]
env.robot.reset(center_point)
done = False
total_return = 0
step_counter = 0
direction = 0
strait_counter = 1
current_counter = strait_counter
while not done:
current_counter -= 1
obs, reward, done, info = env.step(direction % 4)
if current_counter == 0:
strait_counter += 1
direction += 1
current_counter = strait_counter
step_counter += 1
print('OBS: {0}, REWARD: {1}'.format(obs, reward))
total_return += reward
print('In {0} steps get {1} rewards'.format(step_counter,
total_return))