improved logging and stuff

Author: FedeClaudi

proj/__init__.py

@@ -1,9 +1,9 @@
 import pyinspect
 
-pyinspect.install_traceback()
+pyinspect.install_traceback(all_locals=False)
 
 # Set up logging
-from proj.utils.logging import log, rich_to_txt
+from proj.utils.logging import log
 
 # import stuff
 from proj.model.config import Config

proj/environment/trajectories.py

@@ -4,6 +4,7 @@
 from sklearn.metrics import mean_squared_error
 from rich.table import Table
 import logging
+from rich import print
 
 from fcutils.maths.geometry import (
     calc_angle_between_points_of_vector_2d,
@@ -14,7 +15,7 @@
 from fcutils.maths.filtering import line_smoother
 
 from proj.utils.misc import interpolate_nans
-from proj import log, rich_to_txt
+from proj import log
 
 
 def complete_given_xy(x, y, params, planning_params):
@@ -82,7 +83,21 @@ def compute_trajectory_stats(
     )
 
     # log stuff
-    logging.info(rich_to_txt(table), extra={"markup": True})
+    logging.info(
+        f"""
+        Trajectory metadata 
+
+
+        n_points = {n_points}
+        distance_travelled = {round(distance_travelled, 2)}
+        waypoint_density = {round(waypoint_density, 2)}
+        start_goal_distance = {round(start_goal_distance, 2)}
+        duration = {round(duration, 2)}
+        lookahead = {lookahead}
+        perc_lookahead = {perc_lookahead}
+    """
+    )
+    print(table)
 
     if waypoint_density < 2 or waypoint_density > 3:
         log.info(

proj/model/config.py

@@ -5,8 +5,8 @@
     STATE_SIZE=5,
     INPUT_SIZE=2,
     ANGLE_IDX=2,  # state vector index which is angle, used to fit diff in
-    R=np.diag([1.0e-06, 1.0e-06]),  # control cost
-    Q=np.diag([10, 10, 10, 3, 0]),  # state cost | x, y, theta, v, omega
+    R=np.diag([1.0e-04, 1.0e-04]),  # control cost
+    Q=np.diag([30, 30, 30, 3, 0]),  # state cost | x, y, theta, v, omega
     Sf=np.diag([0, 0, 0, 0, 0]),  # final state cost
 )
 
@@ -70,7 +70,7 @@ class Config:
         min_speed=80,
         min_dist=0,  # if agent is within this distance from trajectory end the goal is considered achieved
         # ? for trajectories from data
-        px_to_cm=1 / 30.8,  # convert px values to cm
+        px_to_cm=1 / 8,  # convert px values to cm
         # dist_th=60,  # keep frames only after moved away from start location
         dist_th=-1,
         resample=True,  # if True when using tracking trajectory resamples it
@@ -116,6 +116,11 @@ def __init__(self,):
         self.Q = params["Q"]
         self.Sf = params["Sf"]
 
+        # Adjust mouse length for plotting
+        self.mouse["length"] = (
+            self.mouse["length"] * self.trajectory["px_to_cm"]
+        )
+
     def config_dict(self):
         return dict(
             dt=self.dt,

proj/paths.py

@@ -2,8 +2,8 @@
 from pathlib import Path
 
 if sys.platform == "darwin":
-    # trials_cache = "/Users/federicoclaudi/Dropbox (UCL - SWC)/Rotation_vte/Locomotion/control/behav_data/m46_cache.h5"
-    trials_cache = "/Users/federicoclaudi/Dropbox (UCL - SWC)/Rotation_vte/Locomotion/control/behav_data/zanes.h5"
+    trials_cache = "/Users/federicoclaudi/Dropbox (UCL - SWC)/Rotation_vte/Locomotion/control/behav_data/m46_cache.h5"
+    # trials_cache = "/Users/federicoclaudi/Dropbox (UCL - SWC)/Rotation_vte/Locomotion/control/behav_data/zanes.h5"
 
     main_fld = Path(
         "/Users/federicoclaudi/Dropbox (UCL - SWC)/Rotation_vte/Locomotion/control"
@@ -14,8 +14,8 @@
 
     db_app = "/Users/federicoclaudi/Dropbox (UCL - SWC)/Apps/loco_upload"
 else:
-    # trials_cache = "D:\\Dropbox (UCL - SWC)\\Rotation_vte\\Locomotion\\control\\behav_data\\m46_cache.h5"
-    trials_cache = "D:\\Dropbox (UCL - SWC)\\Rotation_vte\\Locomotion\\control\\behav_data\\zanes.h5"
+    trials_cache = "D:\\Dropbox (UCL - SWC)\\Rotation_vte\\Locomotion\\control\\behav_data\\m46_cache.h5"
+    # trials_cache = "D:\\Dropbox (UCL - SWC)\\Rotation_vte\\Locomotion\\control\\behav_data\\zanes.h5"
 
     main_fld = Path(
         "D:\\Dropbox (UCL - SWC)\\Rotation_vte\\Locomotion\\control"
@@ -28,12 +28,12 @@
 
 # winstor paths
 winstor_main = Path("/nfs/winstor/branco/Federico/Locomotion/control/data")
-# winstor_trial_cache = (
-#     "/nfs/winstor/branco/Federico/Locomotion/control/m46_cache.h5"
-# )
-
 winstor_trial_cache = (
-    "/nfs/winstor/branco/Federico/Locomotion/control/zanes.h5"
+    "/nfs/winstor/branco/Federico/Locomotion/control/m46_cache.h5"
 )
 
+# winstor_trial_cache = (
+#     "/nfs/winstor/branco/Federico/Locomotion/control/zanes.h5"
+# )
+
 winstor_db_app = ""

proj/utils/logging.py

@@ -20,11 +20,6 @@
 logging_console = Console(record=True)
 
 
-def rich_to_txt(obj):
-    logging_console.print(obj)
-    return logging_console.export_text()
-
-
 # Disable logging some packages
 for module in [
     "matplotlib",

run_allocentric.py

@@ -1,4 +1,10 @@
 # %%
+
+import pyinspect
+
+pyinspect.install_traceback(all_locals=False)
+
+
 from proj import (
     Model,
     Environment,

workspace.py

@@ -0,0 +1,13 @@
+from proj import Model
+from rich import print
+from sympy import latex
+from pylatexenc.latex2text import LatexNodes2Text
+
+model = Model()
+model.get_combined_dynamics_kinematics()
+
+g, inp, M = model.matrixes["g"], model.matrixes["inp"], model.matrixes["M"]
+
+mod = g + M * inp
+
+print(LatexNodes2Text().latex_to_text((latex(inp))))