def goalBabble(self, x):
print("Doing goal babbling now\n")
p = self.net.params
p[:] = x[3]
i = 0
self.sMemory = np.array([1] * (INPUTSIZE + PREDICTSIZE))
self.mMemory = np.array([0] * OUTPUTSIZE)
self.rest()
sensedAngles = self.get_sensor_values()
pv = sensedAngles[x[2]]
#Choose a goal sensor value in the range of the predicted angle
#self.randomGoal = self.rand.uniform(self.Body[x[1]][0],self.Body[x[1]][1])
self.randomGoal = self.rand.uniform(-0.5, 0.5)
print(self.randomGoal)
#CMA-ES can be used to discover joint angles that get
#closer to the goal state!!!!!!!!
self.x1 = x[1]
self.x2 = x[2]
res = cma.fmin(self.calcGoalScore,
0.1 * (np.random.random_sample(2, ) - 0.5),
0.5,
maxfevals=500,
verb_disp=1,
bounds=[self.Body[x[1]][0], self.Body[x[1]][1]])
cma.plot()
cma.show()
def goalBabble(self, x):
print("Doing goal babbling now\n")
p = self.net.params
p[:] = x[3]
i = 0
self.sMemory = np.array([1]*(INPUTSIZE + PREDICTSIZE))
self.mMemory = np.array([0]*OUTPUTSIZE)
self.rest()
sensedAngles = self.get_sensor_values()
pv = sensedAngles[x[2]]
#Choose a goal sensor value in the range of the predicted angle
#self.randomGoal = self.rand.uniform(self.Body[x[1]][0],self.Body[x[1]][1])
self.randomGoal = self.rand.uniform(-0.5,0.5)
print(self.randomGoal)
#CMA-ES can be used to discover joint angles that get
#closer to the goal state!!!!!!!!
self.x1 = x[1]
self.x2 = x[2]
res = cma.fmin(self.calcGoalScore, 0.1*(np.random.random_sample(2,)-0.5), 0.5,maxfevals=500, verb_disp=1, bounds=[self.Body[x[1]][0], self.Body[x[1]][1]] )
cma.plot()
cma.show()
def main(self):
# 500g foot at 18cm :
addedInertia = 0.0162
self.updateModelConstants(12, self.i0, self.ke, self.r, self.klin, self.linearTransition, self.staticFriction, self.coulombFriction, addedInertia)
self.simulationTest(0.7)
return
# print self
# T = numpy.arange(0, 1, 0.0001)
# timedCommands = zip(T, itertools.repeat(8))
# self.updateModelConstants(12, self.i0, self.ke, self.r, self.klin, self.linearTransition, self.staticFriction, self.coulombFriction)
# self.simulation(timedCommands, 0, 0, printIt=True)
#
# return
print "Initial model values :"
print "voltage = ", self.voltage #12
print "io = ", self.i0 #0.00353
print "ke = ", self.ke #1.6
print "r = ", self.r #5.86
print "klin = ", self.klin #-1.60368670825
print "linearTransition = ", self.linearTransition #0.306796157577
print "staticFriction = ", self.staticFriction #0.150170648464
print "coulombFriction = ", self.coulombFriction #0.0750853242321
print "addedInertia = ", self.addedInertia#0.004
listOfMeasures = self.readMeasures("measures/completeTest", timeLimit=0.150, typeOffset=0)
listOfMeasuresheavyLoad = self.readMeasures("measures/completeTestHeavyLoad", timeLimit=0.150, typeOffset=10)
#Adding the heavy load measures
listOfMeasures.extend(listOfMeasuresheavyLoad)
#Max speed is 4PI/s = 120 rpm
self.fixGaps(listOfMeasures, 4*math.pi)
self.noDisplay = False
#self.noDisplay = True
#value = self.evaluateModelForMeasures(listOfMeasures, 12, self.i0, self.ke, self.r, self.klin, self.linearTransition, self.staticFriction, self.coulombFriction)
#print value
#tolfun 100
# value = self.evaluateModelForMeasures(listOfMeasures, 12, -0.0017217180565952648, 3.9265053688586535, 4.4190475060541337, -1.642030980764918, -0.19456964024780998, 0.19221036872483038, 0.60201284035701119)
#tolfun 100 with limits on values
# value = self.evaluateModelForMeasures(listOfMeasures, 12, 0.00905955, 3.29605672, 1.63030819, -1.6484249, 0.04996982, 0.19198735, 0.21656958)
#tolfun 100 with limits on values
# value = self.evaluateModelForMeasures(listOfMeasures, 12, 0.00794687, 1.49117495, 0.85706012, 1.64383661, -0.04078583, 0.07417589, 0.30257492)
# value = self.evaluateModelForMeasures(listOfMeasures, 12, 0.0034689028202296171, 1.555666164824836, 1.1287356922053267, 1.6444843194436245, 0.41284770773063401, 0.1294117709539814, 0.29580470901307804)
#tolfun 80 :
# [0.0021731366250028568, 1.355067751766774, 0.94623234209939366, 1.6460100334124927, 0.027949448057014062, 0.12011789072794421, 0.27722890096104058]
#Score of 5.27
# value = self.evaluateModelForMeasures(listOfMeasures, 12, 4.66664605e-04, 1.21498291e+00, 5.13895843e-01, 1.80236842e+00, 3.23283556e-01, 1.31244462e-01, 1.36619002e-01)
#Score of 23
# value = self.evaluateModelForMeasures(listOfMeasures, 12, 0.32711334, 5.0, 11.26126126, 12.46876941, 37.99361901, 0.50304455, 0.50304455)
#Score of 5 (only on the first 150 ms though)
# value = self.evaluateModelForMeasures(listOfMeasures, 12, 0.00589097, 1.4666091, 4.10039631, 1.55765625, 0.25689851, 0.12147452, 0.08027712)
#Score of 0.91 (only on the first 150 ms though)
# value = self.evaluateModelForMeasures(listOfMeasures, 12, 0.00459395, 1.39735606, 3.26399923, 1.7137901, 0.59109595, 0.14349084, 0.11449425)
#Score of 0.127 (only on the first 150 ms though)
# value = self.evaluateModelForMeasures(listOfMeasures, 12, 0.00250709722, 1.57426512, 4.57635209, 1.62426655, 0.149425682, 0.0985980367, 0.0915512434)
#Score of 10 (full length)
# 3.83787890e-03 1.47894946e+00 4.25865142e+00 1.63136824e+00 9.17768154e-02 1.26099628e-01 9.98887909e-02
#Adding the "addedInertia" attribute from here
# value = self.evaluateModelForMeasures(listOfMeasures, 12, 0.00250709722, 1.57426512, 4.57635209, 1.62426655, 0.149425682, 0.0985980367, 0.0915512434, 0.004)
#Score of 0.94 with addedInertia, on the first 150ms
# 1.07728666e-03 1.36831818e+00 3.91813279e+00 1.65976880e+00 1.75653773e-01 1.26764092e-01 9.03878047e-02 3.11286186e-03
#Score of 0.39 with addedInertia, on the first 150ms
# 4.91495976e-04 1.62594599e+00 4.72658717e+00 1.63540545e+00 1.95274189e-01 1.21803765e-01 8.79444393e-02 4.07977291e-03
#Score of 0.39 with addedInertia, on the first 150ms
# 0.00537005 1.39865656 4.06586179 1.63538543 0.19542816 0.12123053 0.1030164 0.00408195
#Score of 0.386 with addedInertia, on the first 150ms
# 6.74933458e-03 1.50816125e+00 4.38408117e+00 1.63554751e+00 1.38872124e-01 1.45544129e-01 1.01677621e-01 4.09684545e-03
#Score of 0.382214837376 with addedInertia, on the first 150ms
# [ 1.55818308e-02 1.51294795e+00 4.39798614e+00 1.63553529e+00 8.09641650e-02 2.03719639e-01 1.20403543e-01 4.07587229e-03]
# print "value = ", value
# return
self.noDisplay = True
params = [self.i0, self.ke, self.r, self.klin, self.linearTransition, self.staticFriction, self.coulombFriction, self.addedInertia]
options = cma.CMAOptions()
#Rescaling the sigmas for each variable
options['scaling_of_variables'] = [params[0], params[1], params[2]/5.0, params[3]/5.0, params[4], params[5]/10.0, params[6]*2, params[7]/2.5]
options['tolfun'] = 0.5
options['ftarget'] = 0.2
res = cma.fmin(self.evaluateModelForMeasures1D, params, 0.5, options, args=[listOfMeasures], restarts=6, bipop=True)
print "Best solution = ", res[0]
print "Best score = ", res[1]
print "Function evals = ", res[2]
print "Function evals? = ", res[3]
print "Nb iterations = ", res[4]
print "mean of final sample distribution", res[5]
cma.plot()
cma.show()
while(True) :
temp = 22
import cma import matplotlib.pyplot as plt cma.plot() cma.show()
