def bd_sequence_from_robot(id_robot, robot, sleep_wait, id_episode, id_environment,
check_valid_values=False):
"""
:param robobs_seq: Sequence of RobotObservations
:returns: iterator of bd array
"""
boot_spec = robot.get_spec()
keeper = ObsKeeper(boot_spec=boot_spec, id_robot=id_robot,
check_valid_values=check_valid_values)
for obs in iterate_robot_observations(robot, sleep_wait):
bd = keeper.push(timestamp=obs.timestamp,
observations=obs.observations,
commands=obs.commands,
commands_source=obs.commands_source,
id_episode=id_episode,
id_world=id_environment)
yield bd
def bd_sequence_from_robot_agent(id_robot, robot, id_agent, agent,
sleep_wait, id_episode, id_environment,
check_valid_values=False):
"""
yields array of bd
"""
boot_spec = robot.get_spec()
keeper = ObsKeeper(boot_spec=boot_spec, id_robot=id_robot,
check_valid_values=check_valid_values)
for obs in iterate_robot_observations(robot, sleep_wait):
bd = keeper.push(timestamp=obs.timestamp,
observations=obs.observations,
commands=obs.commands,
commands_source=obs.commands_source,
id_episode=id_episode,
id_world=id_environment)
yield bd
agent.process_observations(bd)
commands = agent.choose_commands() # repeated
robot.set_commands(commands, id_agent)
