if CONFIG["policy_type"] == "synth" and episode_number > 0:
policy.updateOffset(0.2)
if td_lambda.name == "true online" or td_lambda.name == "trad online":
td_lambda.episodeReset()
if td_lambda.name == "nac":
f_gradient_vec_diff = open(
"{0}{1}".format(
results_dir,
"/GradientVecDiff{0}.fso".format(episode_number)), "w",
1)
if episode_number > 0:
td_lambda.decayStatistics(decay=0.0)
# traces.reset()
nessie.disable_behaviours(True)
# print("RESETTING NAV")
# nessie.nav_reset()
random_yaw = float(randrange(-314, 314, 1)) / 100.0
possible_starting_states = [
1.57, 1.57, 1.57, 1.57, 1.57, -1.57, -1.57, -1.57, -1.57, -1.57
]
# random_yaw = possible_starting_states[episode_number % 2]
print("YAWING to: {0}".format(random_yaw))
nessie.pilot(
[0, 0, 0, 0, 0, possible_starting_states[episode_number]])
rospy.sleep(2.0)
nessie.disable_behaviours(False)
# if episode_number % CONFIG["log_actions"] == 0:
# nessie.logNav(log_nav=True, dir_path=results_dir, file_name_descriptor=str(episode_number))
cum_reward = 0.0
cum_step_time = 0.0
angle_dt = 0.0
prev_action = None
critic_value_func_params = None
if episode_number == CONFIG["episode_fault_injected"]:
thrusters.inject_surge_thruster_fault(17, 1)
td_lambda.episodeReset()
# Reset the last action value
# last_yaw_mean = yaw_ros_action("gaussian_variance", 0.7, False, 1.0)
# Enable behaviours
ros_behaviour_interface.disable_behaviours(disable=True)
ros_behaviour_interface.nav_reset()
random_yaw = 1.57 + 0.785#float(random.randrange(-314, 314, 5)) / 100
print("Moving to Random Starting Yaw: {0}".format(random_yaw))
hover_completed = ros_behaviour_interface.pilot([0, 0, 0, 0, 0,random_yaw])
rospy.sleep(5)
ros_behaviour_interface.disable_behaviours(disable=False)
print(hover_completed)
rospy.sleep(0.5) # give the nav topic callback to be called before the next episode is started.
# otherwise the next episode may start in a episode termination condition
logNav(log_nav=True, dir_path=results_dir, file_name_descriptor=str(episode_number))
# Loop number of steps
for step_number in range(CONFIG["max_num_steps"]):
# --------- STATE AND TRACES ---------