def run(agent: DDPG, steps: int, save_dir: str) -> float:
sim_distance_file = DataCSVSaver(os.path.join(save_dir, "distance.txt"), ("step", "distance"))
sim_somite_phase_diffs_file = DataCSVSaver(os.path.join(save_dir, "somite_phase_diffs.txt"), ["step"] + ["phi_{}".format(i) for i in range(config.oscillators)])
sim_gripper_phase_diffs_file = DataCSVSaver(os.path.join(save_dir, "gripper_phase_diffs.txt"), ["step"] + ["phi_{}".format(i) for i in range(config.grippers)])
sim_somite_phases_file = DataCSVSaver(os.path.join(save_dir, "somite_phases.txt"), ["step"] + ["phi_{}".format(i) for i in range(config.oscillators)])
sim_gripper_phases_file = DataCSVSaver(os.path.join(save_dir, "gripper_phases.txt"), ["step"] + ["phi_{}".format(i) for i in range(config.grippers)])
sim_somite_actions_file = DataCSVSaver(os.path.join(save_dir, "somite_actions.txt"), ["step"] + ["action_{}".format(i) for i in range(config.oscillators)])
sim_gripper_actions_file = DataCSVSaver(os.path.join(save_dir, "gripper_actions.txt"), ["step"] + ["action_{}".format(i) for i in range(config.grippers)])
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.somites - 2)])
caterpillar = Caterpillar(config.somites, config.oscillators_list, config.grippers_list, config.caterpillar_params)
locomotion_distance = utils.locomotion_distance_logger(caterpillar)
for step in range(steps):
obs, somite_phases, gripper_phases = observe(caterpillar)
actions = agent.act(obs)
feedbacks_somite, feedbacks_gripper = actions[:config.oscillators], actions[config.oscillators:]
caterpillar.step_with_feedbacks(config.params["time_delta"], tuple(feedbacks_somite), tuple(feedbacks_gripper))
frictions, tensions, _, _ = np.split(
obs, [config.somites, config.somites * 2 - 2, config.somites * 2 - 2 + config.oscillators])
sim_distance_file.append_data(step, locomotion_distance(caterpillar))
sim_somite_phase_diffs_file.append_data(step, *utils.phase_diffs(np.array(somite_phases)))
sim_gripper_phase_diffs_file.append_data(step, *utils.phase_diffs(np.array(gripper_phases)))
sim_somite_phases_file.append_data(step, *utils.mod2pi(np.array(somite_phases)))
sim_gripper_phases_file.append_data(step, *utils.mod2pi(np.array(gripper_phases)))
sim_frictions_file.append_data(step, *frictions)
sim_tension_file.append_data(step, *tensions)
sim_somite_actions_file.append_data(step, *feedbacks_somite)
sim_gripper_actions_file.append_data(step, *feedbacks_gripper)
caterpillar.save_simulation("{}/render.json".format(save_dir))
return locomotion_distance(caterpillar)
def run_earthworm(actor,
save_dir: str,
steps: int,
disable_list=None,
broken_value=0):
if disable_list is None:
disable_list = []
earthworm = Earthworm(config.somites, config.oscillators_list,
config.earthworm_params)
# Record during sampling
sim_distance_file = DataCSVSaver(os.path.join(save_dir, "distance.txt"),
("step", "distance"))
sim_somite_phase_diffs_file = DataCSVSaver(
os.path.join(save_dir, "somite_phase_diffs.txt"),
["step"] + ["phi_{}".format(i) for i in range(config.oscillators)])
sim_somite_phases_file = DataCSVSaver(
os.path.join(save_dir, "somite_phases.txt"),
["step"] + ["phi_{}".format(i) for i in range(config.oscillators)])
sim_somite_actions_file = DataCSVSaver(
os.path.join(save_dir, "somite_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.somites - 1)])
locomotion_distance = utils.locomotion_distance_logger(
earthworm) # closure to keep locomotion distance
for step in range(steps):
obv, action = observe_and_act(actor,
earthworm,
disable_list=disable_list,
broken_value=broken_value)
# for (oscillator_id, target_angle) in config.fixed_angles.items():
# earthworm.set_target_angle(oscillator_id, target_angle)
earthworm.step_with_feedbacks(config.params["time_delta"],
tuple(action))
# Save data
phases, frictions, tensions = obv
sim_distance_file.append_data(step, locomotion_distance(earthworm))
sim_somite_phase_diffs_file.append_data(
step, *utils.phase_diffs(phases[:config.oscillators]))
sim_somite_phases_file.append_data(
step, *utils.mod2pi(phases[:config.oscillators]))
sim_frictions_file.append_data(step, *frictions)
sim_tension_file.append_data(step, *tensions)
sim_somite_actions_file.append_data(step, *action)
earthworm.save_simulation("{}/render.json".format(save_dir))
return locomotion_distance(earthworm)
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_somite_phase_diffs_file = DataCSVSaver(
"{}/train_result_ep{}_somite_phase_diffs.txt".format(log_dir, episode),
["step"] + ["phi_{}".format(i) for i in range(config.oscillators)])
sim_somite_phases_file = DataCSVSaver(
"{}/train_result_ep{}_somite_phases.txt".format(log_dir, episode),
["step"] + ["phi_{}".format(i) for i in range(config.oscillators)])
sim_somite_actions_file = DataCSVSaver(
"{}/train_result_ep{}_somite_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)])
earthworm = new_earthworm()
locomotion_distance = utils.locomotion_distance_logger(earthworm)
for step in range(int(steps)):
try:
(phases, frictions, _), action = earthworm_runner.observe_and_act(
actor, earthworm, [])
# for (oscillator_id, target_angle) in config.fixed_angles.items():
# earthworm.set_target_angle(oscillator_id, target_angle)
earthworm.step_with_feedbacks(config.params["time_delta"],
tuple(action))
except KeyboardInterrupt as e:
print("exception occured during sample run,", e)
continue
else:
# Save data
sim_distance_file.append_data(step, locomotion_distance(earthworm))
sim_somite_phase_diffs_file.append_data(
step, *utils.phase_diffs(phases[:config.oscillators]))
sim_somite_phases_file.append_data(
step, *utils.mod2pi(phases[:config.oscillators]))
sim_somite_actions_file.append_data(step, *action)
sim_frictions_file.append_data(step, *frictions)
print("Moved distance:", locomotion_distance(earthworm))
earthworm.save_simulation("{}/train_result_ep{}.json".format(
log_dir, episode))
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, config.oscillators_list,
config.grippers_list, config.caterpillar_params)
# Record during sampling
sim_distance_file = DataCSVSaver(os.path.join(save_dir, "distance.txt"),
("step", "distance"))
sim_somite_phase_diffs_file = DataCSVSaver(
os.path.join(save_dir, "somite_phase_diffs.txt"),
["step"] + ["phi_{}".format(i) for i in range(config.oscillators)])
sim_gripper_phase_diffs_file = DataCSVSaver(
os.path.join(save_dir, "gripper_phase_diffs.txt"),
["step"] + ["phi_{}".format(i) for i in range(config.grippers)])
sim_somite_phases_file = DataCSVSaver(
os.path.join(save_dir, "somite_phases.txt"),
["step"] + ["phi_{}".format(i) for i in range(config.oscillators)])
sim_gripper_phases_file = DataCSVSaver(
os.path.join(save_dir, "gripper_phases.txt"),
["step"] + ["phi_{}".format(i) for i in range(config.grippers)])
sim_somite_actions_file = DataCSVSaver(
os.path.join(save_dir, "somite_actions.txt"),
["step"] + ["action_{}".format(i) for i in range(config.oscillators)])
sim_gripper_actions_file = DataCSVSaver(
os.path.join(save_dir, "gripper_actions.txt"),
["step"] + ["action_{}".format(i) for i in range(config.grippers)])
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.somites - 2)])
sim_grip_thresholds_file = DataCSVSaver(
os.path.join(save_dir, "grip_thresholds.txt"),
["step"] + ["gripper_{}".format(i) for i in range(config.grippers)])
locomotion_distance = utils.locomotion_distance_logger(
caterpillar) # closure to keep locomotion distance
for step in range(steps):
obv, action = observe_and_act(actor,
caterpillar,
disable_list=disable_list,
broken_value=broken_value)
feedbacks, gripping_phase_thresholds = action[0], action[1]
for (oscillator_id, target_angle) in config.fixed_angles.items():
caterpillar.set_target_angle(oscillator_id, target_angle)
caterpillar.set_gripping_phase_thresholds(
tuple(gripping_phase_thresholds))
caterpillar.step_with_feedbacks(config.params["time_delta"],
tuple(feedbacks[:config.oscillators]),
tuple(feedbacks[config.oscillators:]))
# Save data
phases, frictions, tensions = obv
sim_distance_file.append_data(step, locomotion_distance(caterpillar))
sim_somite_phase_diffs_file.append_data(
step, *utils.phase_diffs(phases[:config.oscillators]))
sim_gripper_phase_diffs_file.append_data(
step, *utils.phase_diffs(phases[config.oscillators:]))
sim_somite_phases_file.append_data(
step, *utils.mod2pi(phases[:config.oscillators]))
sim_gripper_phases_file.append_data(
step, *utils.mod2pi(phases[config.oscillators:]))
sim_frictions_file.append_data(step, *frictions)
sim_tension_file.append_data(step, *tensions)
sim_somite_actions_file.append_data(step,
*feedbacks[:config.oscillators])
sim_gripper_actions_file.append_data(step,
*feedbacks[config.oscillators:])
sim_grip_thresholds_file.append_data(step, *gripping_phase_thresholds)
caterpillar.save_simulation("{}/render.json".format(save_dir))
return locomotion_distance(caterpillar)