def policy_rollout(agent, path, t_interval=1, timesteps=200):
for j in range(1):
robot = SwimmingRobot(a1=0, a2=0, t_interval=t_interval)
xs = [robot.x]
ys = [robot.y]
thetas = [robot.theta]
a1s = [robot.a1]
a2s = [robot.a2]
steps = [0]
# robot.randomize_state(enforce_opposite_angle_signs=True)
robot_params = []
robot_param = [
robot.x, robot.y, robot.theta,
float(robot.a1),
float(robot.a2), robot.a1dot, robot.a2dot
]
robot_params.append(robot_param)
print('Beginning', j + 1, 'th Policy Rollout')
try:
for i in range(timesteps):
# rollout
state = robot.state
print('In', i + 1, 'th iteration the initial state is: ',
state)
old_x = robot.x
action = agent.choose_action(state)
print('In', i + 1, 'th iteration the chosen action is: ',
action)
robot.move(action=action)
new_x = robot.x
print('In', i + 1, 'th iteration, the robot moved ',
new_x - old_x, ' in x direction')
# add values to lists
xs.append(robot.x)
ys.append(robot.y)
thetas.append(robot.theta)
a1s.append(robot.a1)
a2s.append(robot.a2)
steps.append(i + 1)
robot_param = [
robot.x, robot.y, robot.theta,
float(robot.a1),
float(robot.a2), robot.a1dot, robot.a2dot
]
robot_params.append(robot_param)
except ZeroDivisionError as e:
print(str(e), 'occured at ', j + 1, 'th policy rollout')
# plotting
make_rollout_graphs(xs, ys, thetas, a1s, a2s, steps, path=path)
generate_csv(robot_params, path + "/policy_rollout.csv")
robot = SwimmingRobot(t_interval=1, a1=0, a2=0)
robot_param = [robot.x, robot.y, robot.theta, float(robot.a1), float(robot.a2), robot.a1dot, robot.a2dot]
robot_params.append(robot_param)
# for i in range(50):
# print('i: ', i)
# if i%2 == 0:
# action = (-pi/2, pi/2)
# else:
# action = (pi/2, -pi/2)
# for j in range(40):
# print('j: ', j)
# print('a1 a2: ', robot.a1, robot.a2)
# robot.move(action)
# robot_param = [robot.x, robot.y, robot.theta, float(robot.a1), float(robot.a2), robot.a1dot, robot.a2dot]
# robot_params.append(robot_param)
for t in range(1000):
print(t + 1, 'th iteration')
a1dot = 0
a2dot = 1/5 * cos(t/5)
action = (a1dot, a2dot)
robot.move(action)
print('action taken(a1dot, a2dot): ', action)
print('robot x y theta a1 a2: ', robot.x, robot.y, robot.theta, robot.a1, robot.a2)
robot_param = [robot.x, robot.y, robot.theta, float(robot.a1), float(robot.a2), robot.a1dot, robot.a2dot]
robot_params.append(robot_param)
print(robot_params)
generate_csv(robot_params, 'csv_outputs/swimming_test_a1_idle.csv')