print args.reset_position, args.reset_only
robot.reset_all() #Use both right now. Strange gz reset
reset_world()
if args.reset_only:
exit("Resetting done, exiting (remove --reset-and-exit to continue)")
#Time the simulation
start_time = time.time()
#Actually run the simulation
output = main_simulation_run(
general_config
, (nemo_simulation
, (to_save, neuron_number)
, stimuli_dict)
, (robot)
, (sensory_neurons_in
, sensory_neurons_out)
, simple_feedback=args.simple_feedback
, bypass_debug=float(args.bypass_debug)
, args.save_membrane
)
#Get the total run time
end_time = time.time()
general_config_out = {"steps": output["ran_steps"]} #Add various robot params
#Save/process output + input
uniqueId = hashDict(general_config_out)\
+ "_" + hashDict(dict_config)
#Step is included in the output
saveKey(uniqueId + "_output", output, output_dir)
from libs.pYARP import RobotYARP #Import only if strictly needed
robot = RobotYARP ()
else:
robot = None
#Save input files
#saveKey(config_dict_hash + "_input", dict_config, output_dir)
saveFile(config_file_name, output_dir + "/" + config_dict_hash + "_input.py")
nemo_start_time = time.time()
output = main_simulation_run(
{
"steps": steps
, "use_cuda": use_cuda
, "cuda_backend": cuda_backend
}#general_config
, (nemo_simulation, (to_save, neuron_number), stimuli_dict) #L1
, (robot) #L2
, (sensory_neurons_in, sensory_neurons_out) #L3
, save_membrane=args.save_membrane
)
nemo_end_time = time.time()
cprint("NeMo speedup: %s" % (output["ran_steps"]/((nemo_end_time - nemo_start_time)*1000)), 'okgreen', True)
general_config_out = {"steps": output["ran_steps"]} #Add various robot params
#Save/process output + input
uniqueId = hashDict(general_config_out) + "_" + config_dict_hash
#Step is included in the output
print ("Saving output to %s_output" % uniqueId)
saveKey(uniqueId + "_output", output, output_dir)
