def Start(self):
filePath = self.Config.FilePath.BestModel
cnf = "BestLog/BestLog180126082522.cnf"
wgt = "BestLog/BestLog180126082522.wgt"
timeLimit = 0.9
net = Network()
net.Load(cnf, wgt)
net.TimeLimit = timeLimit
model = Model()
taskName = "TaskEval/EvalTask114.task"
task = MujocoTask(model, taskName)
#task = MujocoTask.LoadRandom(model, self.Config.Task.EvalDir)
env = MujocoEnv(model)
agentConfig = self.Config.ViewerAgent
agent = Agent(agentConfig, net, model, task)
bestAction = agent.SearchBestAction()
while True:
env.SetSimState(task.StartState)
for action in bestAction:
env.Step(action)
#print(env.GetObservation(task))
env.Render()
def CalcScore(self, net, filePath):
bestModel = MujocoModelHumanoid()
bestTask = MujocoTask(bestModel, filePath)
bestEnv = MujocoEnv(bestModel)
bestAgent = Agent(self.Config.CheckerAgent, net, bestModel, bestTask)
bestAction = bestAgent.SearchBestAction()
bestScore = self.GetScore(bestEnv, bestTask, bestAction)
return bestScore
def CalcScores(self, best, next, filePath):
bestModel = MujocoModelHumanoid()
bestTask = MujocoTask(bestModel, filePath)
bestEnv = MujocoEnv(bestModel)
nextModel = MujocoModelHumanoid()
nextTask = MujocoTask(nextModel, filePath)
nextEnv = MujocoEnv(nextModel)
bestAgent = Agent(self.Config.EvaluateAgent, best, bestModel, bestTask)
nextAgent = Agent(self.Config.EvaluateAgent, next, nextModel, nextTask)
bestAction = bestAgent.SearchBestAction()
nextAction = nextAgent.SearchBestAction()
bestScore = self.GetScore(bestEnv, bestTask, bestAction)
nextScore = self.GetScore(nextEnv, nextTask, nextAction)
#nextAgent.SaveTrainData(self.Config.GetTrainPath("next"))
return bestScore, nextScore
def Start(self):
filePath = self.Config.FilePath.NextGeneration
net = Network()
net.Load(filePath.Config, filePath.Weight)
model = Model()
task = MujocoTask(model, self.GetRandomFile())
env = MujocoEnv(model)
agentConfig = self.Config.SelfPlayAgent
agent = Agent(agentConfig, net, model, task)
bestAction = agent.SearchBestAction()
print(bestAction)
agent.SaveTrainData(self.Config.GetTrainPath())
