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perceptualrobots · Jan 15, 2024 · 9fe29ca · 9fe29ca
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diff --git a/nbs/00_examples.ipynb b/nbs/00_examples.ipynb
@@ -17,16 +17,7 @@
    "cell_type": "code",
    "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "The autoreload extension is already loaded. To reload it, use:\n",
-      "  %reload_ext autoreload\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "%load_ext autoreload\n",
     "%autoreload 2"
@@ -38,7 +29,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "import gym \n",
+    "import gym, warnings\n",
     "render=False\n",
     "runs=1"
    ]
@@ -204,7 +195,7 @@
      "output_type": "stream",
      "text": [
       "**************************\n",
-      "cartpoleh PCTHierarchy [1, 1, 1, 1] fa2763ce-27ed-11ee-aada-8cf8c5b8669e\n",
+      "cartpoleh PCTHierarchy [1, 1, 1, 1] 94aa530f-b3e3-11ee-939d-5c879c15de65\n",
       "--------------------------\n",
       "PRE: None\n",
       "Level 0 Cols 1\n",
@@ -356,7 +347,7 @@
      "output_type": "stream",
      "text": [
       "**************************\n",
-      "cartpoleh PCTHierarchy [1, 1, 1, 1] fa2763ce-27ed-11ee-aada-8cf8c5b8669e\n",
+      "cartpoleh PCTHierarchy [1, 1, 1, 1] 94aa530f-b3e3-11ee-939d-5c879c15de65\n",
       "--------------------------\n",
       "PRE: CartPole-v1 CartPoleV1 | 0 | links  greaterthan \n",
       "Level 3 Cols 1\n",
@@ -431,22 +422,15 @@
       "DiGraph with 18 nodes and 21 edges\n",
       "['greaterthan', 'force', 'CartPole-v1', 'cart_velocity_reference', 'cart_position_output', 'subtract', 'cart_velocity', 'cart_position_reference', 'pole_velocity_output', 'subtract1', 'cart_position', 'pole_velocity_reference', 'pole_angle_output', 'subtract2', 'pole_velocity', 'pole_angle_reference', 'subtract3', 'pole_angle']\n"
      ]
-    },
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "C:\\Users\\ryoung\\AppData\\Local\\Temp\\ipykernel_21976\\4286188622.py:3: DeprecationWarning: info is deprecated and will be removed in version 3.0.\n",
-      "\n",
-      "  print(nx.info(gr))\n"
-     ]
     }
    ],
    "source": [
     "import networkx as nx\n",
     "gr = cartpole_hierarchy.graph()\n",
-    "print(nx.info(gr))\n",
-    "print(gr.nodes())"
+    "with warnings.catch_warnings():\n",
+    "    warnings.simplefilter(\"ignore\")\n",
+    "    print(nx.info(gr))\n",
+    "    print(gr.nodes())"
    ]
   },
   {
@@ -509,18 +493,7 @@
    "cell_type": "code",
    "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "C:\\Users\\ryoung\\AppData\\Local\\Programs\\Python\\Python39\\lib\\site-packages\\nbdev\\export.py:54: UserWarning: Notebook 'C:\\Users\\ryoung\\Versioning\\python\\nbdev\\pct\\nbs\\12_yaw_module.ipynb' uses `#|export` without `#|default_exp` cell.\n",
-      "Note nbdev2 no longer supports nbdev1 syntax. Run `nbdev_migrate` to upgrade.\n",
-      "See https://nbdev.fast.ai/getting_started.html for more information.\n",
-      "  warn(f\"Notebook '{nbname}' uses `#|export` without `#|default_exp` cell.\\n\"\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "#| hide\n",
     "import nbdev; nbdev.nbdev_export()"

diff --git a/nbs/01_putils.ipynb b/nbs/01_putils.ipynb
diff --git a/nbs/08_architectures.ipynb b/nbs/08_architectures.ipynb
diff --git a/pct/architectures.py b/pct/architectures.py
@@ -5,7 +5,7 @@
            'setup_environment', 'create_hierarchy']
 
 # %% ../nbs/08_architectures.ipynb 5
-import os
+import os, warnings
 import numpy as np
 from abc import ABC, abstractmethod
 

diff --git a/pct/putils.py b/pct/putils.py
@@ -11,6 +11,8 @@
 import sys
 import importlib
 import json
+import warnings
+warnings.filterwarnings("error")
 
 # %% ../nbs/01_putils.ipynb 4
 class SingletonObjects:
@@ -316,11 +318,28 @@ def floatListsToString(alist, places):
 
 # %% ../nbs/01_putils.ipynb 24
 def sigmoid(x, range, slope) :
-    return -range / 2 + range / (1 + np.exp(-x * slope / range));
+    val = 0
+    if abs(x) > 10000000:
+        exv = - np.sign(x) * 10000000
+    else:
+        exv = -x * slope / range
+    if exv > 709:
+        exv = 709
+    try:
+        val = -range / 2 + range / (1 + np.exp(exv))
+    except RuntimeWarning:
+        print(f'RuntimeWarning... exv={exv} x={x} slope={slope} range={range}')
+
+    return val
 
 # %% ../nbs/01_putils.ipynb 25
 def smooth(new_val, old_val, smooth_factor):
-    return old_val * smooth_factor + new_val * (1-smooth_factor)
+    val = 0
+    try:
+        val = old_val * smooth_factor + new_val * (1-smooth_factor)
+    except RuntimeWarning:
+        print(f'RuntimeWarning... old_val={old_val} new_val={new_val} smooth_factor={smooth_factor}')
+    return val
 
 # %% ../nbs/01_putils.ipynb 26
 def dot(inputs, weights):