def __init__(self, conf, _private):
"""
:param conf:
:return:
"""
conf = make_revolve_config(conf)
super(World, self).__init__(_private=_private,
world_address=str_to_address(conf.world_address),
analyzer_address=str_to_address(conf.analyzer_address),
output_directory=conf.output_directory,
builder=get_builder(conf),
state_update_frequency=conf.pose_update_frequency,
generator=get_tree_generator(conf),
restore=conf.restore_directory,
enable_pose_logging=conf.enable_pose_logging)
self.conf = conf
self.crossover = Crossover(self.generator.body_gen, self.generator.brain_gen)
self.mutator = Mutator(self.generator.body_gen, self.generator.brain_gen,
p_duplicate_subtree=conf.p_duplicate_subtree,
p_swap_subtree=conf.p_swap_subtree,
p_delete_subtree=conf.p_delete_subtree,
p_remove_brain_connection=conf.p_remove_brain_connection,
p_delete_hidden_neuron=conf.p_delete_hidden_neuron)
# Set to true whenever a reproduction sequence is going on
# to prevent another one from starting (which cannot happen now
# but might in a more complicated yielding structure).
self._reproducing = False
# Write settings to config file
if self.output_directory:
parser.write_to_file(conf, os.path.join(self.output_directory, "settings.conf"))
def __init__(self, conf, _private):
"""
:param conf:
:return:
"""
super(World, self).__init__(_private=_private,
world_address=str_to_address(conf.world_address),
analyzer_address=str_to_address(conf.analyzer_address),
output_directory=conf.output_directory,
builder=get_builder(conf),
pose_update_frequency=conf.pose_update_frequency,
generator=get_tree_generator(conf),
restore=conf.restore_directory)
self.conf = conf
self.crossover = Crossover(self.generator.body_gen, self.generator.brain_gen)
self.mutator = Mutator(self.generator.body_gen, self.generator.brain_gen,
p_duplicate_subtree=conf.p_duplicate_subtree,
p_swap_subtree=conf.p_swap_subtree,
p_delete_subtree=conf.p_delete_subtree,
p_remove_brain_connection=conf.p_remove_brain_connection,
p_delete_hidden_neuron=conf.p_delete_hidden_neuron)
# Set to true whenever a reproduction sequence is going on
# to prevent another one from starting (which cannot happen now
# but might in a more complicated yielding structure).
self._reproducing = False
# Write settings to config file
if self.output_directory:
parser.write_to_file(conf, os.path.join(self.output_directory, "settings.conf"))
class World(WorldManager):
"""
A class that is used to manage the world, meaning it provides
methods to insert / remove robots and request information
about where they are.
The world class contains a number of coroutines, usually from
a request / response perspective. These methods thus work with
two futures - one for the request to complete, one for the
response to arrive. The convention for these methods is to
always yield the first future, because it has proven problematic
to send multiple messages over the same channel, so a request
is always sent until completion. The methods then return the
future that resolves when the response is delivered.
"""
def __init__(self, conf, _private):
"""
:param conf:
:return:
"""
super(World, self).__init__(
_private=_private,
world_address=str_to_address(conf.world_address),
analyzer_address=str_to_address(conf.analyzer_address),
output_directory=conf.output_directory,
builder=get_builder(conf),
state_update_frequency=conf.pose_update_frequency,
generator=get_tree_generator(conf),
restore=conf.restore_directory)
self.conf = conf
self.crossover = Crossover(self.generator.body_gen,
self.generator.brain_gen)
self.mutator = Mutator(
self.generator.body_gen,
self.generator.brain_gen,
p_duplicate_subtree=conf.p_duplicate_subtree,
p_swap_subtree=conf.p_swap_subtree,
p_delete_subtree=conf.p_delete_subtree,
p_remove_brain_connection=conf.p_remove_brain_connection,
p_delete_hidden_neuron=conf.p_delete_hidden_neuron)
# Set to true whenever a reproduction sequence is going on
# to prevent another one from starting (which cannot happen now
# but might in a more complicated yielding structure).
self._reproducing = False
self.model_control = None
self.birth_clinic_model = None
# Write settings to config file
if self.output_directory:
parser.write_to_file(
conf, os.path.join(self.output_directory, "settings.conf"))
@classmethod
@trollius.coroutine
def create(cls, conf):
"""
Coroutine to instantiate a Revolve.Angle WorldManager
:param conf:
:return:
"""
self = cls(_private=cls._PRIVATE, conf=conf)
yield From(self._init())
raise Return(self)
def _init(self):
"""
:return:
"""
yield From(super(World, self)._init())
self.model_control = yield From(
self.manager.advertise('/gazebo/default/model/modify',
'gazebo.msgs.Model'))
def robots_header(self):
"""
Extends the robots header with a max age
:return:
"""
return Robot.header()
def create_robot_manager(self, robot_name, tree, robot, position, time,
battery_level, parents):
"""
Overriding with robot manager with more capabilities.
:param robot_name:
:param tree:
:param robot:
:param position:
:param time:
:param battery_level:
:param parents:
:return:
"""
return Robot(self.conf,
robot_name,
tree,
robot,
position,
time,
battery_level=battery_level,
parents=parents)
@trollius.coroutine
def add_highlight(self, position, color):
"""
Adds a circular highlight at the given position.
:param position:
:param color:
:return:
"""
hl = Highlight("highlight_" + str(self.get_robot_id()), color)
position = position.copy()
position.z = 0
hl.set_position(position)
sdf = SDF(elements=[hl])
fut = yield From(self.insert_model(sdf))
raise Return(fut, hl)
@trollius.coroutine
def generate_population(self, n):
"""
Generates population of `n` valid robots robots.
:param n: Number of robots
:return: Future with a list of valid robot trees and corresponding
bounding boxes.
"""
logger.debug("Generating population...")
trees = []
bboxes = []
for _ in xrange(n):
gen = yield From(self.generate_valid_robot())
if not gen:
raise Return(None)
tree, robot, bbox = gen
trees.append(tree)
bboxes.append(bbox)
raise Return(trees, bboxes)
@trollius.coroutine
def insert_population(self, trees, poses):
"""
:param trees:
:type trees: list[Tree]
:param poses: Iterable of (x, y, z) positions to insert.
:type poses: list[Pose]
:return:
"""
futures = []
for tree, pose in itertools.izip(trees, poses):
future = yield From(self.insert_robot(tree, pose))
futures.append(future)
future = multi_future(futures)
future.add_done_callback(
lambda _: logger.debug("Done inserting population."))
raise Return(future)
def get_simulation_sdf(self, robot, robot_name):
"""
:param robot:
:param robot_name:
:return:
"""
return get_simulation_robot(robot, robot_name, self.builder, self.conf)
@trollius.coroutine
def build_walls(self, points):
"""
Builds a wall defined by the given points, used to shield the
arena.
:param points:
:return: Future that resolves when all walls have been inserted.
"""
futures = []
l = len(points)
for i in range(l):
start = points[i]
end = points[(i + 1) % l]
wall = Wall("wall_%d" % i, start, end, constants.WALL_THICKNESS,
constants.WALL_HEIGHT)
future = yield From(self.insert_model(SDF(elements=[wall])))
futures.append(future)
raise Return(multi_future(futures))
@trollius.coroutine
def place_birth_clinic(self, diameter, height, angle=None):
"""
CURRENTLY NOT USED.
Places the birth clinic. Since we're lazy and rotating appears to cause errors,
we're just deleting the old birth clinic and inserting a new one every time.
Inserts the birth clinic
:param height:
:param diameter:
:param angle:
:return:
"""
if self.birth_clinic_model:
# Delete active birth clinic and place new
yield From(
wait_for(self.delete_model(self.birth_clinic_model.name)))
self.birth_clinic_model = None
if angle is None:
angle = random.random() * 2 * math.pi
name = "birth_clinic_" + str(self.get_robot_id())
self.birth_clinic_model = bc = BirthClinic(name=name,
diameter=diameter,
height=height)
bc.rotate_around(Vector3(0, 0, 1), angle)
future = yield From(self.insert_model(SDF(elements=[bc])))
raise Return(future)
@trollius.coroutine
def set_birth_clinic_rotation(self, angle=None):
"""
Sets rotation of the birth clinic.
:param angle: Desired rotation, a random angle is chosen if none is given.
:return:
"""
if angle is None:
angle = random.random() * 2 * math.pi
msg = model_pb2.Model()
msg.name = self.birth_clinic_model.name
quat = Quaternion.from_angle_axis(angle, Vector3(0, 0, 1))
pose = msg.pose
pos, rot = pose.position, pose.orientation
pos.x, pos.y, pos.z = 0, 0, 0
rot.w, rot.x, rot.y, rot.z = quat
fut = yield From(self.model_control.publish(msg))
raise Return(fut)
@trollius.coroutine
def attempt_mate(self, ra, rb):
"""
Attempts mating between two robots.
:param ra:
:param rb:
:return:
"""
logger.debug("Attempting mating between `%s` and `%s`..." %
(ra.name, rb.name))
# Attempt to create a child through crossover
success, child = self.crossover.crossover(ra.tree, rb.tree)
if not success:
logger.debug("Crossover failed.")
raise Return(False)
# Apply mutation
logger.debug("Crossover succeeded, applying mutation...")
self.mutator.mutate(child, in_place=True)
if self.conf.enforce_planarity:
make_planar(child.root)
_, outputs, _ = child.root.io_count(recursive=True)
if not outputs:
logger.debug("Evolution resulted in child without motors.")
raise Return(False)
# Check if the robot body is valid
ret = yield From(self.analyze_tree(child))
if ret is None or ret[0]:
logger.debug("Intersecting body parts: Miscarriage.")
raise Return(False)
logger.debug("Viable child created.")
raise Return(child, ret[1])
class World(WorldManager):
"""
A class that is used to manage the world, meaning it provides
methods to insert / remove robots and request information
about where they are.
The world class contains a number of coroutines, usually from
a request / response perspective. These methods thus work with
two futures - one for the request to complete, one for the
response to arrive. The convention for these methods is to
always yield the first future, because it has proven problematic
to send multiple messages over the same channel, so a request
is always sent until completion. The methods then return the
future that resolves when the response is delivered.
"""
def __init__(self, conf, _private):
"""
:param conf:
:return:
"""
super(World, self).__init__(_private=_private,
world_address=str_to_address(conf.world_address),
analyzer_address=str_to_address(conf.analyzer_address),
output_directory=conf.output_directory,
builder=get_builder(conf),
pose_update_frequency=conf.pose_update_frequency,
generator=get_tree_generator(conf),
restore=conf.restore_directory)
self.conf = conf
self.crossover = Crossover(self.generator.body_gen, self.generator.brain_gen)
self.mutator = Mutator(self.generator.body_gen, self.generator.brain_gen,
p_duplicate_subtree=conf.p_duplicate_subtree,
p_swap_subtree=conf.p_swap_subtree,
p_delete_subtree=conf.p_delete_subtree,
p_remove_brain_connection=conf.p_remove_brain_connection,
p_delete_hidden_neuron=conf.p_delete_hidden_neuron)
# Set to true whenever a reproduction sequence is going on
# to prevent another one from starting (which cannot happen now
# but might in a more complicated yielding structure).
self._reproducing = False
# Write settings to config file
if self.output_directory:
parser.write_to_file(conf, os.path.join(self.output_directory, "settings.conf"))
@classmethod
@trollius.coroutine
def create(cls, conf):
"""
Coroutine to instantiate a Revolve.Angle WorldManager
:param conf:
:return:
"""
self = cls(_private=cls._PRIVATE, conf=conf)
yield From(self._init())
raise Return(self)
def robots_header(self):
"""
Extends the robots header with a max age
:return:
"""
return super(World, self).robots_header() + ['max_age']
def create_robot_manager(self, robot_name, tree, robot, position, time, parents):
"""
Overriding with robot manager with more capabilities.
:param robot_name:
:param tree:
:param robot:
:param position:
:param time:
:param parents:
:return:
"""
return Robot(self.conf, robot_name, tree, robot, position, time, parents)
@trollius.coroutine
def add_highlight(self, position, color):
"""
Adds a circular highlight at the given position.
:param position:
:param color:
:return:
"""
hl = Highlight("highlight_"+str(self.get_robot_id()), color)
position = position.copy()
position.z = 0
hl.set_position(position)
sdf = SDF(elements=[hl])
fut = yield From(self.insert_model(sdf))
raise Return(fut, hl)
@trollius.coroutine
def generate_population(self, n):
"""
Generates population of `n` valid robots robots.
:param n: Number of robots
:return: Future with a list of valid robot trees and corresponding
bounding boxes.
"""
logger.debug("Generating population...")
trees = []
bboxes = []
for _ in xrange(n):
gen = yield From(self.generate_valid_robot())
if not gen:
raise Return(None)
tree, robot, bbox = gen
trees.append(tree)
bboxes.append(bbox)
raise Return(trees, bboxes)
@trollius.coroutine
def insert_population(self, trees, poses):
"""
:param trees:
:type trees: list[Tree]
:param poses: Iterable of (x, y, z) positions to insert.
:type poses: list[Pose]
:return:
"""
futures = []
for tree, pose in itertools.izip(trees, poses):
future = yield From(self.insert_robot(tree, pose))
futures.append(future)
future = multi_future(futures)
future.add_done_callback(lambda _: logger.debug("Done inserting population."))
raise Return(future)
def get_simulation_sdf(self, robot, robot_name):
"""
:param robot:
:param robot_name:
:return:
"""
return get_simulation_robot(robot, robot_name, self.builder, self.conf)
@trollius.coroutine
def build_walls(self, points):
"""
Builds a wall defined by the given points, used to shield the
arena.
:param points:
:return: Future that resolves when all walls have been inserted.
"""
futures = []
l = len(points)
for i in range(l):
start = points[i]
end = points[(i + 1) % l]
wall = Wall("wall_%d" % i, start, end, constants.WALL_THICKNESS, constants.WALL_HEIGHT)
future = yield From(self.insert_model(SDF(elements=[wall])))
futures.append(future)
raise Return(multi_future(futures))
@trollius.coroutine
def attempt_mate(self, ra, rb):
"""
Attempts mating between two robots.
:param ra:
:param rb:
:return:
"""
logger.debug("Attempting mating between `%s` and `%s`..." % (ra.name, rb.name))
# Attempt to create a child through crossover
success, child = self.crossover.crossover(ra.tree, rb.tree)
if not success:
logger.debug("Crossover failed.")
raise Return(False)
# Apply mutation
logger.debug("Crossover succeeded, applying mutation...")
self.mutator.mutate(child, in_place=True)
if self.conf.enforce_planarity:
make_planar(child.root)
_, outputs, _ = child.root.io_count(recursive=True)
if not outputs:
logger.debug("Evolution resulted in child without motors.")
raise Return(False)
# Check if the robot body is valid
ret = yield From(self.analyze_tree(child))
if ret is None or ret[0]:
logger.debug("Intersecting body parts: Miscarriage.")
raise Return(False)
logger.debug("Viable child created.")
raise Return(child, ret[1])
