many fixes

Author: FedeClaudi

.gitignore

@@ -7,6 +7,10 @@ proj/secrets.py
 vscode/*
 vscode/
 vscode
+.vscode
+.vscode/*
+.vscode/settings.json
+vscode/settings.json
 
 # Byte-compiled / optimized / DLL files
 __pycache__/

.vscode/settings.json

@@ -1,4 +1,4 @@
 {
-    "python.pythonPath": "/Users/federicoclaudi/miniconda3/envs/dev/bin/python",
+    "python.pythonPath": "C:\\Users\\Federico\\.conda\\envs\\dev\\python.exe",
     "cSpell.enabled": true
 }

proj/environment/manager.py

@@ -158,14 +158,26 @@ def conclude(self):
         # Upload results to dropbox
         if self.winstor:
             self._upload_to_dropbox()
+
+            logging.info("Sending slack message")
+            send_slack_message(
+                f"""
+                \n
+                Completed simulation
+                Start time: {self.simstart}
+                End time: {timestamp()}
+                Data folder: {self.datafolder}
+                """
+            )
         else:
             logging.info("Did not upload to dropbox")
 
+    def failed(self):
         logging.info("Sending slack message")
         send_slack_message(
             f"""
             \n
-            Completed simulation
+            Failed simulation simulation
             Start time: {self.simstart}
             End time: {timestamp()}
             Data folder: {self.datafolder}

proj/environment/plotter.py

@@ -54,6 +54,7 @@ def _plot_xy(self, ax, curr_goals):
                 curr_goals[:, 1],
                 lw=10,
                 color="r",
+                alpha=0.5,
                 zorder=-1,
                 solid_capstyle="round",
             )
@@ -226,7 +227,7 @@ def _plot_cost(self, keep_s=1.2):
             if "total" not in k:
                 n = len(v)
                 if n > keep_n + 2:
-                    x = v[n - keep_n]
+                    x = v[n - keep_n :]
                 else:
                     x = v.copy()
 

proj/environment/trajectories.py

@@ -111,7 +111,7 @@ def compute_trajectory_stats(
 
     if distance_travelled < min_dist_travelled:
         log.warning("Distance travelled below minimal requirement, erroring")
-        raise ValueError("Distance travelled below minimal requirement")
+        return None, None
 
     return trajectory, duration
 
@@ -223,9 +223,12 @@ def from_tracking(n_steps, params, planning_params, cache_fld, *args):
     vars = dict(x=x, y=y, angle=angle, speed=speed, ang_speed=ang_speed)
     if params["resample"]:
         for k, v in vars.items():
-            vars[k] = _interpol(
-                v[start:-1], params["max_deg_interpol"], n_steps
-            )
+            try:
+                vars[k] = _interpol(
+                    v[start:-1], params["max_deg_interpol"], n_steps
+                )
+            except ValueError:  # there were nans in the array
+                return None, None
 
     # stack
     trajectory = np.vstack(vars.values()).T

proj/environment/world.py

@@ -124,6 +124,9 @@ def initialize_world(self, trajectory):
         """
             Create the world and the model at some location
         """
+        if trajectory is None:
+            return
+
         # create world
         self.world_size = self._initialize_world(trajectory)
 

proj/model/config.py

@@ -12,7 +12,7 @@ class Config:
     STATE_SIZE = 5
     INPUT_SIZE = 2
 
-    R = np.diag([0.0001, 0.0001])  # control cost
+    R = np.diag([0.1, 0.1])  # control cost
     Q = np.diag([5, 5, 1, 5, 0])  # state cost | x, y, theta, v, omega
     Sf = np.diag([0, 0, 0, 0, 0])  # final state cost
 
@@ -25,25 +25,25 @@ class Config:
 
     # ------------------------------- Mouse params ------------------------------- #
     # ? works
-    # mouse = dict(
-    #     L = 1.5,  # half body width | cm
-    #     R = 1,  # radius of wheels | cm
-    #     d = 0.1,  # distance between axel and CoM | cm
-    #     length = 3,  # cm
-    #     m = round(20 / 9.81, 2),  # mass | g
-    #     m_w = round(2 / 9.81, 2),  # mass of wheels/legs |g
-    # )
-
-    # ? more realistic
     mouse = dict(
-        L=2,  # half body width | cm
-        R=2,  # radius of wheels | cm
-        d=3,  # distance between axel and CoM | cm
-        length=8.6,  # cm
-        m=round(25 / 9.81, 2),  # mass | g
-        m_w=round(0.6 / 9.81, 2),  # mass of wheels/legs |g
+        L=1.5,  # half body width | cm
+        R=1,  # radius of wheels | cm
+        d=0.1,  # distance between axel and CoM | cm
+        length=3,  # cm
+        m=round(20 / 9.81, 2),  # mass | g
+        m_w=round(2 / 9.81, 2),  # mass of wheels/legs |g
     )
 
+    # ? more realistic
+    # mouse = dict(
+    #     L=2,  # half body width | cm
+    #     R=2,  # radius of wheels | cm
+    #     d=3,  # distance between axel and CoM | cm
+    #     length=8.6,  # cm
+    #     m=round(25 / 9.81, 2),  # mass | g
+    #     m_w=round(0.6 / 9.81, 2),  # mass of wheels/legs |g
+    # )
+
     # ------------------------------ Goal trajectory ----------------------------- #
 
     trajectory = dict(  # parameters of the goals trajectory
@@ -53,7 +53,7 @@ class Config:
         max_speed=100,
         min_speed=80,
         min_dist=5,  # if agent is within this distance from trajectory end the goal is considered achieved
-        dist_th=300,  # keep frames only after moved away from start location
+        dist_th=60,  # keep frames only after moved away from start location
         resample=True,  # if True when using tracking trajectory resamples it
         max_deg_interpol=8,  # if using track fit a N degree polynomial to daa to smoothen
         randomize=True,  # if true when using tracking it pulls a random trial

proj/run/runner.py

@@ -57,6 +57,11 @@ def run_experiment(
 
     # reset things
     trajectory = environment.reset()
+    if trajectory is None:
+        log.info("Failed to get a valid trajectory")
+        environment.failed()
+        return
+
     model.reset()
 
     # Get number of steps

proj/utils/dropbox.py

@@ -44,6 +44,7 @@ def _fix_path(self, path):
 
     def _check_path(self, path):
         path = str(path)
+        path = path.replace("\\", "/")
         if path[0] != "/":
             return "/" + path
         else:

setup.py

@@ -16,6 +16,7 @@
     "rich",
     "sklearn",
     "fancylog",
+    "slackclient",
     "dropbox",
 ]