async def run():
"""
The main coroutine, which is started below.
"""
# Parse command line / file input arguments
settings = parser.parse_args()
# Load a robot from yaml
robot = revolve_bot.RevolveBot()
robot.load_file("experiments/examples/yaml/spider.yaml")
# Connect to the simulator and pause
world = await World.create(settings)
await world.pause(True)
# Insert the robot in the simulator
robot_manager = await world.insert_robot(robot, Vector3(0, 0, 0.05))
# Resume simulation
await world.pause(False)
# Start a run loop to do some stuff
while True:
# Print robot fitness every second
print("Robot fitness is {fitness}".format(
fitness=robot_manager.fitness()))
await asyncio.sleep(1.0)
async def run():
"""
The main coroutine, which is started below.
"""
# Parse command line / file input arguments
settings = parser.parse_args()
# Load a robot from yaml
robot = revolve_bot.RevolveBot()
if settings.robot_yaml is None:
robot.load_file("experiments/bo_learner/yaml/spider.yaml")
else:
robot.load_file(settings.robot_yaml)
robot.update_substrate()
# Connect to the simulator and pause
world = await World.create(settings)
await world.pause(True)
await world.delete_model(robot.id)
await asyncio.sleep(2.5)
# Insert the robot in the simulator
robot_manager = await world.insert_robot(robot, Vector3(0, 0, 0.025))
# Resume simulation
await world.pause(False)
# Start a run loop to do some stuff
while True:
await asyncio.sleep(5.0)
async def run():
"""
The main coroutine, which is started below.
"""
robot_file_path = "experiments/examples/yaml/spider.yaml"
# Parse command line / file input arguments
settings = parser.parse_args()
# Start Simulator
if settings.simulator_cmd != 'debug':
simulator_supervisor = DynamicSimSupervisor(
world_file=settings.world,
simulator_cmd=settings.simulator_cmd,
simulator_args=["--verbose"],
plugins_dir_path=os.path.join('.', 'build', 'lib'),
models_dir_path=os.path.join('.', 'models'),
simulator_name='gazebo')
await simulator_supervisor.launch_simulator(port=settings.port_start)
await asyncio.sleep(0.1)
# Load a robot from yaml
robot = revolve_bot.RevolveBot()
robot.load_file(robot_file_path)
robot.update_substrate()
# robot._brain = BrainRLPowerSplines()
# Connect to the simulator and pause
connection = await World.create(settings,
world_address=('127.0.0.1',
settings.port_start))
await asyncio.sleep(1)
# Starts the simulation
await connection.pause(False)
# Insert the robot in the simulator
robot_manager = await connection.insert_robot(
robot, Vector3(0, 0, settings.z_start))
# Start a run loop to do some stuff
while True:
# Print robot fitness every second
status = 'dead' if robot_manager.dead else 'alive'
print(
f"Robot fitness ({status}) is \n"
f" OLD: {fitness.online_old_revolve(robot_manager)}\n"
f" DISPLAC: {fitness.displacement(robot_manager, robot)}\n"
f" DIS_VEL: {fitness.displacement_velocity(robot_manager, robot)}")
await asyncio.sleep(1.0)
async def run():
"""
The main coroutine, which is started below.
"""
arguments = parser.parse_args()
if arguments.robot_name is not None:
# this split will give errors on windows
robot_file_path = "experiments/bodies/" + arguments.robot_name + ".yaml"
if arguments.iterations is not None:
# this split will give errors on windows
iterations = int(arguments.iterations)
#robot_file_path = "experiments/examples/yaml/spider.yaml"
# Parse command line / file input arguments
settings = parser.parse_args()
# Start Simulator
if settings.simulator_cmd != 'debug':
simulator_supervisor = DynamicSimSupervisor(
world_file=settings.world,
simulator_cmd=settings.simulator_cmd,
simulator_args=["--verbose"],
plugins_dir_path=os.path.join('.', 'build', 'lib'),
models_dir_path=os.path.join('.', 'models'),
simulator_name='gazebo')
await simulator_supervisor.launch_simulator(port=settings.port_start)
await asyncio.sleep(0.1)
# Load a robot from yaml
robot = revolve_bot.RevolveBot()
robot.load_file(robot_file_path)
robot.update_substrate()
# robot._brain = BrainRLPowerSplines()
# Connect to the simulator and pause
connection = await World.create(settings,
world_address=('127.0.0.1',
settings.port_start))
await asyncio.sleep(1)
# Starts the simulation
await connection.pause(False)
# Insert the robot in the simulator
#life_timeout = Fixed time a robot stays in the simulator
robot_manager = await connection.insert_robot(
robot, Vector3(0, 0, settings.z_start))
robot_fitness = []
for x in range(1, iterations):
# Print robot fitness every second
robot_fitness.append(
fitness.displacement_velocity(robot_manager, robot))
await asyncio.sleep(0.1)
print("**The Robot Fitness is: ",
str(sum(robot_fitness) / len(robot_fitness)))
