bump

Author: FedeClaudi

proj/environment/environment.py

@@ -68,7 +68,8 @@ def reset(self):
         self.model.reset()
 
         # make goal trajetory
-        trajectory, goal_duration = self.make_trajectory()
+        (trajectory, goal_duration), trial = self.make_trajectory()
+        self.trial = trial
 
         self.goal_duration = goal_duration  # how long it should take
 

proj/environment/manager.py

@@ -149,9 +149,14 @@ def _upload_to_dropbox(self):
 
         upload_folder(dbx, self.datafolder, dpx_path)
 
+    def _save_trial(self):
+        if self.trial is not None:
+            self.trial.to_hdf(str(self.datafolder / "trial.h5"), key="hdf5")
+
     def conclude(self):
         self._log_conf()
         self._save_results()
+        self._save_trial()
 
         if self.model.LIVE_PLOT:
             self._save_video()

proj/environment/trajectories.py

@@ -31,8 +31,9 @@ def complete_given_xy(x, y, params, planning_params):
     ang_speed = np.ones_like(speed)  # it will be ignored
 
     trajectory = np.vstack([x, y, angle, speed, ang_speed]).T
-    return compute_trajectory_stats(
-        trajectory, len(trajectory), planning_params
+    return (
+        compute_trajectory_stats(trajectory, len(trajectory), planning_params),
+        None,
     )
 
 
@@ -238,6 +239,9 @@ def from_tracking(n_steps, params, planning_params, cache_fld, *args):
     # stack
     trajectory = np.vstack(vars.values()).T
 
-    return compute_trajectory_stats(
-        trajectory, len(x[start:]) / fps, planning_params
+    return (
+        compute_trajectory_stats(
+            trajectory, len(x[start:]) / fps, planning_params
+        ),
+        trials,
     )

proj/run/runner.py

@@ -18,13 +18,14 @@ def __init__(self, *args):
 
     def render(self, task):
         if task.speed is None:
-            return Text("no speed")
+            return Text(" ")
         else:
             return Text(f"{task.speed:.3f} steps/s")
 
 
 progress = Progress(
     TextColumn("[bold magenta]Step {task.completed}/{task.total}"),
+    "•",
     SpeedColumn(),
     # "[progress.description]{task.description}",
     BarColumn(bar_width=None),
@@ -36,7 +37,7 @@ def render(self, task):
 
 # run
 def run_experiment(
-    environment, controller, model, n_secs=30, frames_folder=None,
+    environment, controller, model, n_secs=10, frames_folder=None,
 ):
     """
         Runs an experiment