def env(chrom):
from osim.env import L2RunEnv as RunEnv
e = RunEnv(visualize=False)
e.reset()
T = 2
total_reward = 0
for t in range(500):
obs, reward, done, _ = e.step(
controller.input(chrom.allele, T, t * 0.01))
total_reward += reward
if done:
break
# print("HEADLESS: The reward is {}".format(total_reward))
# enables to calculate accumulated fitness
if total_reward < 0: total_reward = 0
del e
return total_reward
# for i in pool:
# print("\n",i.fitness)
# print(i.allele)
print("Current gen {}".format(num))
chrom = pool[0]
print("fitness of best chromosome {}".format(chrom.fitness))
print(len(best_chrom))
print([i.fitness for i in best_chrom])
T = 2
from osim.env import L2RunEnv as RunEnv
e = RunEnv(visualize=True)
# e = RunEnv(visualize=False)
e.reset()
total_reward = 0
total_reward_aux = 0
for t in range(700):
obs, reward, done, _ = e.step(controller.input(chrom.allele, T, t * 0.01))
total_reward += reward
if done:
print("Done, {} steps".format(t))
break
print(total_reward)
import matplotlib.pyplot as plt
# Best fitness
# print(best_fitness)
plt.plot(best_fitness)
plt.ylabel('Recompensa', fontsize='large')
