def exec_steps(steps: int, actor: base_actor.BaseActor, caterpillar: Caterpillar,
disable_list: list, episode=None) -> float:
"""
Run caterpillar for designated steps.
return run information which is (accumulated tensions,)
"""
accumulated_tension = 0
for step in range(steps):
(_, _, tensions), _ = caterpillar_runner.observe_and_act(actor, caterpillar, disable_list, episode=episode)
accumulated_tension += np.sum(np.power(tensions, 2))
caterpillar.step(step, int(1 / config.params["time_dalte"] / 10))
return (accumulated_tension,)
def run_caterpillar(actor,
save_dir: str,
steps: int,
disable_list=None,
broken_value=0):
if disable_list is None:
disable_list = []
caterpillar = Caterpillar(config.somites, mode="default")
# Record during sampling
sim_distance_file = DataCSVSaver(os.path.join(save_dir, "distance.txt"),
("step", "distance"))
sim_phase_diffs_file = DataCSVSaver(
os.path.join(save_dir, "phase_diffs.txt"),
["step"] + ["phi_{}".format(i) for i in range(config.oscillators)])
sim_phases_file = DataCSVSaver(
os.path.join(save_dir, "phases.txt"),
["step"] + ["phi_{}".format(i) for i in range(config.oscillators)])
sim_actions_file = DataCSVSaver(
os.path.join(save_dir, "actions.txt"),
["step"] + ["action_{}".format(i) for i in range(config.oscillators)])
sim_frictions_file = DataCSVSaver(
os.path.join(save_dir, "frictions.txt"),
["step"] + ["friction_{}".format(i) for i in range(config.somites)])
sim_tension_file = DataCSVSaver(
os.path.join(save_dir, "tensions.txt"),
["step"] + ["tension_{}".format(i) for i in range(config.oscillators)])
for step in range(steps):
obv, action = observe_and_act(actor,
caterpillar,
disable_list=disable_list,
broken_value=broken_value)
_, frictions, tensions = obv
caterpillar.step(step, int(1 / config.params["time_dalte"] / 10))
# Save data
sim_distance_file.append_data(step, caterpillar.moved_distance())
sim_phase_diffs_file.append_data(step, *caterpillar.phases_from_base())
sim_phases_file.append_data(step, *caterpillar.phis)
sim_actions_file.append_data(step, *action)
sim_frictions_file.append_data(step, *frictions)
sim_tension_file.append_data(step, *tensions)
caterpillar.save_simulation("{}/render.sim".format(save_dir))
return caterpillar.moved_distance()
def test_current_params(actor: base_actor, log_dir: str, episode: int):
steps = input("How many steps for this sample?: ")
if steps == "":
utils.notice("default steps {}".format(config.params["default_sample_steps"]))
steps = config.params["default_sample_steps"]
# Record during sampling
sim_distance_file = DataCSVSaver(
"{}/train_result_ep{}_distance.txt".format(log_dir, episode),
("step", "distance")
)
sim_phase_diffs_file = DataCSVSaver(
"{}/train_result_ep{}_phase_diffs.txt".format(log_dir, episode),
["step"] + ["phi_{}".format(i) for i in range(config.oscillators)]
)
sim_actions_file = DataCSVSaver(
"{}/train_result_ep{}_actions.txt".format(log_dir, episode),
["step"] + ["action_{}".format(i) for i in range(config.oscillators)]
)
sim_frictions_file = DataCSVSaver(
"{}/train_result_ep{}_frictions.txt".format(log_dir, episode),
["step"] + ["friction_{}".format(i) for i in range(config.somites)]
)
caterpillar = Caterpillar(config.somites, mode="default")
for step in range(int(steps)):
try:
_, action = caterpillar_runner.observe_and_act(actor, caterpillar, [])
caterpillar.step(step, int(1 / config.params["time_dalte"] / 10))
except Exception:
continue
else:
# Save data
sim_distance_file.append_data(step, caterpillar.moved_distance())
sim_phase_diffs_file.append_data(step, *caterpillar.phases_from_base())
sim_actions_file.append_data(step, *action)
frictions = caterpillar.frictions()
sim_frictions_file.append_data(step, *frictions)
print("Moved distance:", caterpillar.moved_distance())
caterpillar.save_simulation("{}/train_result_ep{}.sim".format(log_dir, episode))
