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 ---------