def is_valid(self,
min_percent_full=0.3,
min_percent_tissue=0.1,
min_percent_muscle=0.1):
# override super class function to redefine what constitutes a valid individuals
for name, details in self.genotype.to_phenotype_mapping.items():
if np.isnan(details["state"]).any():
return False
if name == "material":
state = details["state"]
# Discarding the robot if it doesn't have at least a given percentage of non-empty voxels
if np.sum(state > 0) < np.product(
self.genotype.orig_size_xyz) * min_percent_full:
return False
# Discarding the robot if it doesn't have at least a given percentage of tissues (materials 1 and 2)
if count_occurrences(
state,
[1, 2]) < np.sum(state > 0) * min_percent_tissue:
return False
# Discarding the robot if it doesn't have at least one bone (material 2)
if count_occurrences(state, [2]) == 0:
return False
# Discarding the robot if it doesn't have at least a given percentage of muscles (materials 3 and 4)
if count_occurrences(
state,
[3, 4]) < np.sum(state > 0) * min_percent_muscle:
return False
return True
def is_valid(self,
min_percent_full=0.01,
min_percent_muscle=0.0,
max_percent_full=0.99):
# override super class function to redefine what constitutes a valid individuals
for name, details in self.genotype.to_phenotype_mapping.items():
if np.isnan(details["state"]).any():
return False
if name == "material":
state = details["state"]
# Discarding the robot if it doesn't have at least a given percentage of non-empty voxels
if np.sum(state > 0) < np.product(
self.genotype.orig_size_xyz) * min_percent_full:
return False
# Discarding the robot if it doesn't have at least a given percentage of muscles (materials 3 and 4)
if count_occurrences(state, [3, 4]) < np.product(
self.genotype.orig_size_xyz) * min_percent_muscle:
return False
# daniel: Discarding the robot if it is completely filled (trivial solution?)
if np.sum(state > 0) > np.product(
self.genotype.orig_size_xyz) * max_percent_full:
return False
return True
