Description
Background
I've been able to successfully run all Cases in this repo within a virtual environment. In it, I am using pyelastica==0.1.0.post5
However, if I keep all things the same but changed to pyelastica==0.2.2.post2, I get the following error when I run Case1/logging_bio_args.py
Traceback (most recent call last):
File "/home/saul/anaconda3/envs/rlcontrol-2/lib/python3.7/site-packages/elastica/wrappers/constraints.py", line 188, in __call__
*positions, *directors, *self._args, _system=rod, **self._kwargs
TypeError: __init__() got an unexpected keyword argument '_system'
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/home/saul/Elastica-RL-control/Case1/logging_bio_args.py", line 182, in <module>
model.learn(total_timesteps=int(args.total_timesteps))
File "/home/saul/anaconda3/envs/rlcontrol-2/lib/python3.7/site-packages/stable_baselines/trpo_mpi/trpo_mpi.py", line 333, in learn
seg = seg_gen.__next__()
File "/home/saul/anaconda3/envs/rlcontrol-2/lib/python3.7/site-packages/stable_baselines/common/runners.py", line 89, in traj_segment_generator
observation = env.reset()
File "/home/saul/anaconda3/envs/rlcontrol-2/lib/python3.7/site-packages/stable_baselines/bench/monitor.py", line 80, in reset
return self.env.reset(**kwargs)
File "/home/saul/Elastica-RL-control/Case1/set_environment.py", line 610, in reset
self.simulator.finalize()
File "/home/saul/anaconda3/envs/rlcontrol-2/lib/python3.7/site-packages/elastica/wrappers/base_system.py", line 147, in finalize
finalize()
File "/home/saul/anaconda3/envs/rlcontrol-2/lib/python3.7/site-packages/elastica/wrappers/constraints.py", line 63, in _finalize_constraints
for constraint in self._constraints
File "/home/saul/anaconda3/envs/rlcontrol-2/lib/python3.7/site-packages/elastica/wrappers/constraints.py", line 63, in <listcomp>
for constraint in self._constraints
File "/home/saul/anaconda3/envs/rlcontrol-2/lib/python3.7/site-packages/elastica/wrappers/constraints.py", line 193, in __call__
"Unable to construct boundary condition class. Note that:\n"
TypeError: Unable to construct boundary condition class. Note that:
1. Any rod properties needed should be placed first
in the boundary_condition __init__ like so (pos_one, pos_two, <other_args>)
2. Number of requested position and directors such as (1, 2) should match
the __init__ method. eg MyBC.__init__(pos_one, director_one, director_two)
should have the `using` call as .using(MyBC, positions=(1,), directors=(1,-1))
Attempting to find the cause of this error, I believe this the error resulted from the adoption of Mixin and Composition to the code design, which happened after the publication of the Elastica-RL codebase.
Help!
Is there an easy way to adapt this code from Case 1 the WallBoundaryForSphere class to be compatible with pyelastica==0.3.1.post1?
class WallBoundaryForSphere(FreeRod):
"""
This class generates a bounded space that sphere can move inside. If sphere
hits one of the boundaries (walls) of this space, it is reflected in opposite direction
with the same velocity magnitude.
"""
def __init__(self, boundaries):
self.x_boundary_low = boundaries[0]
self.x_boundary_high = boundaries[1]
self.y_boundary_low = boundaries[2]
self.y_boundary_high = boundaries[3]
self.z_boundary_low = boundaries[4]
self.z_boundary_high = boundaries[5]
def constrain_values(self, sphere, time):
pos_x = sphere.position_collection[0]
pos_y = sphere.position_collection[1]
pos_z = sphere.position_collection[2]
radius = sphere.radius
vx = sphere.velocity_collection[0]
vy = sphere.velocity_collection[1]
vz = sphere.velocity_collection[2]
if (pos_x - radius) < self.x_boundary_low:
sphere.velocity_collection[:] = np.array([-vx, vy, vz])
if (pos_x + radius) > self.x_boundary_high:
sphere.velocity_collection[:] = np.array([-vx, vy, vz])
if (pos_y - radius) < self.y_boundary_low:
sphere.velocity_collection[:] = np.array([vx, -vy, vz])
if (pos_y + radius) > self.y_boundary_high:
sphere.velocity_collection[:] = np.array([vx, -vy, vz])
if (pos_z - radius) < self.z_boundary_low:
sphere.velocity_collection[:] = np.array([vx, vy, -vz])
if (pos_z + radius) > self.z_boundary_high:
sphere.velocity_collection[:] = np.array([vx, vy, -vz])
def constrain_rates(self, sphere, time):
pass
Other Information
I am working on an RL project and am trying to recreate Case 1 as a benchmark for my custom system. Specifically, I am trying to recreate the target sphere moving in a bounded box so beautifully illustrated here.
For that system, I am using pyelastica==0.3.1.post1. When trying to recreate the target sphere moving in a bounded box, it seems that the error is being thrown when instantiating the WallBoundaryForSphere class.
I'm happy to provide any additional information or context, thanks in advance!