def __init__(self):
args = sys.argv
if "-r" in args:
self.results_dir_name = args[args.index("-r") + 1]
else:
self.results_dir_name = "repeat_pilot_request"
self.position_normaliser = DynamicNormalizer([-2.4, 2.4], [-1.0, 1.0])
self.position_deriv_normaliser = DynamicNormalizer([-1.75, 1.75],
[-1.0, 1.0])
self.angle_normaliser = DynamicNormalizer([-3.14, 3.14], [-1.0, 1.0])
self.angle_deriv_normaliser = DynamicNormalizer([-0.02, 0.02],
[-1.0, 1.0])
self.angle_dt_moving_window = SlidingWindow(5)
self.last_150_episode_returns = SlidingWindow(150)
self.thrusters = Thrusters()
self.env = ROSBehaviourInterface()
self.environment_info = EnvironmentInfo()
sub_pilot_position_controller_output = rospy.Subscriber(
"/pilot/position_pid_output", FloatArray,
self.positionControllerCallback)
self.prev_action = 0.0
self.pos_pid_output = np.zeros(6)
def __init__(self):
args = sys.argv
if "-r" in args:
results_dir_name = args[args.index("-r") + 1]
else:
results_dir_name = "ga_pid_tuning"
self.results_dir = "/home/gordon/data/tmp/{0}{1}".format(
results_dir_name, 0)
if not os.path.exists(self.results_dir):
os.makedirs(self.results_dir)
filename = os.path.basename(sys.argv[0])
os.system("cp {0} {1}".format(filename, self.results_dir))
os.system(
"cp /home/gordon/rosbuild_ws/ros_simple_rl/src/ga_optimization/ga.py {0}"
.format(self.results_dir))
# TODO - add DataFrame for evolution history and generation
self.df_evolution_history = pd.DataFrame()
self.f_evolution_history = open(
"{0}{1}".format(self.results_dir, "/evolution_history.csv"), "w",
1)
self.position_normaliser = DynamicNormalizer([-2.4, 2.4], [-1.0, 1.0])
self.position_deriv_normaliser = DynamicNormalizer([-1.75, 1.75],
[-1.0, 1.0])
self.angle_normaliser = DynamicNormalizer([-3.14, 3.14], [-1.0, 1.0])
self.angle_deriv_normaliser = DynamicNormalizer([-0.02, 0.02],
[-1.0, 1.0])
self.angle_dt_moving_window = SlidingWindow(5)
self.last_150_episode_returns = SlidingWindow(150)
self.thrusters = Thrusters()
self.env = ROSBehaviourInterface()
self.environment_info = EnvironmentInfo()
self.baseline_response = optimal_control_response()
sub_pilot_position_controller_output = rospy.Subscriber(
"/pilot/position_pid_output", FloatArray,
self.positionControllerCallback)
self.prev_action = 0.0
self.pos_pid_output = np.zeros(6)
def __init__(self, env, results_parent_dir):
self.results_dir = results_parent_dir
self.position_normaliser = DynamicNormalizer([-2.4, 2.4], [-1.0, 1.0])
self.position_deriv_normaliser = DynamicNormalizer([-1.75, 1.75],
[-1.0, 1.0])
self.angle_normaliser = DynamicNormalizer([-3.14, 3.14], [-1.0, 1.0])
self.angle_deriv_normaliser = DynamicNormalizer([-0.02, 0.02],
[-1.0, 1.0])
self.angle_dt_moving_window = SlidingWindow(5)
self.last_150_episode_returns = SlidingWindow(150)
self.thrusters = Thrusters()
self.env = env
self.environment_info = EnvironmentInfo()
sub_pilot_position_controller_output = rospy.Subscriber(
"/pilot/position_pid_output", FloatArray,
self.positionControllerCallback)
self.prev_action = 0.0
self.pos_pid_output = np.zeros(6)
self.baseline_response = optimal_control_response()
def __init__(self):
args = sys.argv
if "-r" in args:
self.results_dir_name = args[args.index("-r") + 1]
else:
self.results_dir_name = "nessie_run"
self.position_normaliser = DynamicNormalizer([-2.4, 2.4], [-1.0, 1.0])
self.position_deriv_normaliser = DynamicNormalizer([-1.75, 1.75],
[-1.0, 1.0])
self.angle_normaliser = DynamicNormalizer([-3.14, 3.14], [-1.0, 1.0])
self.angle_deriv_normaliser = DynamicNormalizer([-0.02, 0.02],
[-1.0, 1.0])
self.angle_dt_moving_window = SlidingWindow(5)
self.last_150_episode_returns = SlidingWindow(150)
self.thrusters = Thrusters()
self.env = ROSBehaviourInterface()
self.environment_info = EnvironmentInfo()
self.ounoise = OUNoise()
self.prev_action = 0.0
# initialise some global variables/objects
# global normalisers
position_normaliser = DynamicNormalizer([-1.0, 1.0], [-1.0, 1.0])
position_deriv_normaliser = DynamicNormalizer([-3.0, 3.0], [-1.0, 1.0])
distance_normaliser = DynamicNormalizer([0.0, 25.0], [-1.0, 1.0])
distance_reward_normaliser = DynamicNormalizer([0.0, 15.0], [0.0, 1.0])
angle_normaliser = DynamicNormalizer([-3.14, 3.14], [-1.0, 1.0])
angle_deriv_normaliser = DynamicNormalizer([-0.15, 0.15], [-1.0, 1.0])
angle_between_vectors = AngleBetweenVectors()
angle_dt_moving_window = SlidingWindow(5)
thrusters = Thrusters()
nessie = ROSBehaviourInterface()
environment_info = EnvironmentInfo()
# Loop number of runs
for run in range(CONFIG["num_runs"]):
if CONFIG["test_policy"]:
CONFIG["dir_of_policies_to_load"] = results_to_validate[run]
if CONFIG["policy_test_type"] == "vali":
results_dir_name = "validate_{0}".format(
CONFIG["dir_of_policies_to_load"].split("/")[-1])
elif CONFIG["policy_test_type"] == "nessie":
results_dir_name = "real_{0}".format(
CONFIG["dir_of_policies_to_load"].split("/")[-1])
elif CONFIG["policy_test_type"] == "online_nessie":
results_dir_name = "online_{0}".format(
CONFIG["dir_of_policies_to_load"].split("/")[-1])
# Create logging directory and files
def on_rospyShutdown():
global episode_number, results_dir
logNav(log_nav=False, dir_path=results_dir, file_name_descriptor=str(episode_number))
if __name__ == '__main__':
args = sys.argv
if "-r" in args:
results_dir_name = args[args.index("-r") + 1]
else:
results_dir_name = "cacla_run"
rospy.init_node("natural_actor_critic")
navigation = Nav()
environmental_data = EnvironmentInfo()
angle_between_vectors = AngleBetweenVectors()
ros_behaviour_interface = ROSBehaviourInterface()
# Set ROS spin rate
rate = rospy.Rate(CONFIG["spin_rate"])
rospy.on_shutdown(on_rospyShutdown)
# Set Thruster Status
thrusters = Thrusters()
# initialise some global variables/objects
# global normalisers
yaw_velocity_normaliser = DynamicNormalizer([-1.0, 1.0], [0.0, 1.0])
surge_velocity_normaliser = DynamicNormalizer([-0.6, 0.6], [0.0, 1.0])
codependant_normaliser = DynamicNormalizer([-0.4, 0.4], [0.0, 1.0])