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perceptualrobots · Aug 6, 2024 · 2a42ecf · 2a42ecf
1 parent 5804969
commit 2a42ecf
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Showing 5 changed files with 21 additions and 12 deletions.
diff --git a/nbs/01_putils.ipynb b/nbs/01_putils.ipynb
@@ -886,7 +886,7 @@
     "#| export\n",
     "def get_abs_tol(key):\n",
     "    # dic = {'evolve': 0.01, 'ARC-evolve' : 0.01, 'ARC-display': 0.01, 'ARC': 0.01}\n",
-    "    dic = { 'ARC-evolve' : 0.001, 'ARC-display': 0.1, 'ARC': 0.01,  'ARC-change' : 1e-2}\n",
+    "    dic = { 'ARC-evolve' : 0.01, 'ARC-display': 0.1, 'ARC': 0.01,  'ARC-change' : 1e-2}\n",
     "\n",
     "    # if key in dic:\n",
     "    return dic[key]\n",
@@ -902,7 +902,7 @@
    "source": [
     "#| export\n",
     "def get_rel_tol(key):\n",
-    "    dic = { 'ARC-change' : 1e-2}\n",
+    "    dic = { 'ARC-change' : 1e-3}\n",
     "\n",
     "    # if key in dic:\n",
     "    return dic[key]\n",

diff --git a/nbs/05_environments.ipynb b/nbs/05_environments.ipynb
@@ -39,7 +39,7 @@
    "outputs": [],
    "source": [
     "#| export\n",
-    "import gym, json, math, os\n",
+    "import gym, math, os\n",
     "import numpy as np\n",
     "from abc import abstractmethod\n",
     "from typing import Any, List, Optional"
@@ -54,7 +54,7 @@
     "#| export\n",
     "import pct.putils as vid\n",
     "from pct.functions import BaseFunction, Constant\n",
-    "from pct.putils import FunctionsList, SingletonObjects, NumberStats, map_to_int_even_range, map_to_int_odd_range, get_rel_tol\n",
+    "from pct.putils import FunctionsList, SingletonObjects, NumberStats, map_to_int_even_range, map_to_int_odd_range, get_rel_tol, get_abs_tol\n",
     "from pct.network import ClientConnectionManager\n",
     "from pct.webots import WebotsHelper\n",
     "from pct.yaw_module import YawEnv\n",
@@ -1580,6 +1580,7 @@
     "    def early_terminate(self) -> None:\n",
     "        if self.early_termination:\n",
     "            if self.done:\n",
+    "                self.env_done = False\n",
     "                if not self.env.next():\n",
     "                    raise Exception(f'1001: Env: {self.env_name} has finished.')\n",
     "\n",
@@ -1598,7 +1599,7 @@
     "\n",
     "    def parse_obs(self) -> None:\n",
     "        self.fitness = self.obs[1]\n",
-    "        self.done = self.obs[2]\n",
+    "        self.env_done = self.obs[2]\n",
     "        self.info = self.obs[3]\n",
     "        self.add_to_fitness_history(self.fitness)\n",
     "\n",
@@ -1634,7 +1635,10 @@
     "\n",
     "        self.boxcar.append(fitness)\n",
     "        self.boxcar.pop(0)\n",
-    "        self.done, details = ListChecker.check_list_unchanged(self.boxcar, rel_tol =get_rel_tol('ARC-change'), abs_tol=0)\n",
+    "        if self.env_done:\n",
+    "            self.done = self.env_done\n",
+    "        else:\n",
+    "            self.done, details = ListChecker.check_list_unchanged(self.boxcar, rel_tol =get_rel_tol('ARC-change'), abs_tol=get_abs_tol('ARC-change'))\n",
     "        pass\n",
     "\n",
     "    def get_fitness_list(self):\n",

diff --git a/pct/arc.py b/pct/arc.py
@@ -99,6 +99,7 @@ def next(self):
             return False
         if self.initial_index is not None:
             return False
+        print('index', self.index)
         self.create_env()
         return True
 

diff --git a/pct/environments.py b/pct/environments.py
@@ -6,15 +6,15 @@
            'WebotsWrestlerSupervisor', 'Bridge', 'MicroGrid', 'ARC']
 
 # %% ../nbs/05_environments.ipynb 3
-import gym, json, math, os
+import gym, math, os
 import numpy as np
 from abc import abstractmethod
 from typing import Any, List, Optional
 
 # %% ../nbs/05_environments.ipynb 4
 import pct.putils as vid
 from .functions import BaseFunction, Constant
-from .putils import FunctionsList, SingletonObjects, NumberStats, map_to_int_even_range, map_to_int_odd_range, get_rel_tol
+from .putils import FunctionsList, SingletonObjects, NumberStats, map_to_int_even_range, map_to_int_odd_range, get_rel_tol, get_abs_tol
 from .network import ClientConnectionManager
 from .webots import WebotsHelper
 from .yaw_module import YawEnv
@@ -1331,6 +1331,7 @@ def get_env_inputs_indexes(self):
     def early_terminate(self) -> None:
         if self.early_termination:
             if self.done:
+                self.env_done = False
                 if not self.env.next():
                     raise Exception(f'1001: Env: {self.env_name} has finished.')
 
@@ -1349,7 +1350,7 @@ def apply_actions_get_obs(self) -> Any:
 
     def parse_obs(self) -> None:
         self.fitness = self.obs[1]
-        self.done = self.obs[2]
+        self.env_done = self.obs[2]
         self.info = self.obs[3]
         self.add_to_fitness_history(self.fitness)
 
@@ -1385,7 +1386,10 @@ def add_to_fitness_history(self, fitness):
 
         self.boxcar.append(fitness)
         self.boxcar.pop(0)
-        self.done, details = ListChecker.check_list_unchanged(self.boxcar, rel_tol =get_rel_tol('ARC-change'), abs_tol=0)
+        if self.env_done:
+            self.done = self.env_done
+        else:
+            self.done, details = ListChecker.check_list_unchanged(self.boxcar, rel_tol =get_rel_tol('ARC-change'), abs_tol=get_abs_tol('ARC-change'))
         pass
 
     def get_fitness_list(self):

diff --git a/pct/putils.py b/pct/putils.py
@@ -504,7 +504,7 @@ def clip_value(val, range):
 # %% ../nbs/01_putils.ipynb 43
 def get_abs_tol(key):
     # dic = {'evolve': 0.01, 'ARC-evolve' : 0.01, 'ARC-display': 0.01, 'ARC': 0.01}
-    dic = { 'ARC-evolve' : 0.001, 'ARC-display': 0.1, 'ARC': 0.01,  'ARC-change' : 1e-2}
+    dic = { 'ARC-evolve' : 0.01, 'ARC-display': 0.1, 'ARC': 0.01,  'ARC-change' : 1e-2}
 
     # if key in dic:
     return dic[key]
@@ -513,7 +513,7 @@ def get_abs_tol(key):
 
 # %% ../nbs/01_putils.ipynb 44
 def get_rel_tol(key):
-    dic = { 'ARC-change' : 1e-2}
+    dic = { 'ARC-change' : 1e-3}
 
     # if key in dic:
     return dic[key]