def eval_func(chromosome):
conf = LoadSystemConfiguration()
if not initialPopulationSetted:
setInitialPopulation(gaEngine)
prop = DTIndividualPropertyVanillaEvolutive()
if int(conf.getProperty("Concatenate walk cycles?")):
embryo = DTIndividualGeneticMatrixWalk(chromosomeToLucyGeneticMatrix(chromosome))
else:
embryo = DTIndividualGeneticMatrix(chromosomeToLucyGeneticMatrix(chromosome))
precycleFile = os.getcwd()+"/mocap/cmu_mocap/xml/util/walk_precycle.xml"
preCycleEmbryo = DTIndividualGeneticTimeSerieFile(precycleFile)
preCycleEmbryo.concatenate(embryo)
newEmbryo = preCycleEmbryo
#embryoLength = newEmbryo.getLength()
individual = Individual(prop, newEmbryo)
#individual.setLength(embryoLength)
fitness = individual.execute() #return the fitness resulting from the simulator execution
if int(conf.getProperty("re-evaluate fittest?"))==True:
if fitness > max_score: #is really a better fitness ?
candidateFitness = fitness
fitness = individual.execute()
print "candidateFitness: ", candidateFitness, "fitness: ", fitness
while abs(candidateFitness-fitness) > 0.01:
candidateFitness=fitness
fitness = individual.execute()
print "candidateFitness: ", candidateFitness, "fitness: ", fitness
#the candidateFitness was validated!
fitness = candidateFitness
return fitness
def eval_func(chromosome):
if not initialPopulationSetted:
setInitialPopulation(gaEngine)
#prop = DTIndividualPropertyVanilla() #TODO create a vanilla property as default argument in Individual constructor
prop = DTIndividualPropertyVanillaEvolutive()
individual = Individual(prop, DTIndividualGeneticMatrix(chromosomeToLucyGeneticMatrix(chromosome)))
fitness = individual.execute() #return the fitness resulting from the simulator execution
return fitness
walk = Individual(geneticVanillaProp, walkEmbryo)
else:
#TODO restructure the precycle for the case of phyisical and simulated
walkEmbryo = DTIndividualGeneticTimeSerieFile(os.getcwd()+"/"+filename)
precycleFile = os.getcwd()+"/mocap/cmu_mocap/xml/util/walk_precycle.xml"
preCycleEmbryo = DTIndividualGeneticTimeSerieFile(precycleFile)
preCycleEmbryo.concatenate(walkEmbryo)
walkEmbryo = preCycleEmbryo
walk = Individual(physicalProp, walkEmbryo)
#TODO add support for walking cycle
return walk
'''walk = Individual(geneticVanillaProp, DTIndividualGeneticMatrix()) #dummy individual to initialise the simulator and enable the time step configuration
walk.execute()
print "please set the proper time step in vrep"
time.sleep(5)'''
if arguments > 1:
files = sys.argv[1:]
for filename in files:
print 'executing individual: ' + filename
walk = createIndividual(filename)
walk.execute()
else:
for filename in glob.glob(os.path.join(geneticPoolDir, '*.xml')):
print 'executing individual: ' + filename
walk = Individual(geneticVanillaProp, DTIndividualGeneticTimeSerieFile(filename))
walk.execute()
def setInitialPopulation(ga_engine):
propCMUDaz = DTIndividualPropertyCMUDaz()
propVanilla = DTIndividualPropertyVanilla()
balieroProp = DTIndividualPropertyBaliero()
conf = LoadSystemConfiguration()
lucyCycles = os.getcwd()+conf.getDirectory("Lucy evolved walk cycles Files")
CMUxmlDir = os.getcwd()+conf.getDirectory("Transformed CMU mocap Files")
GAwalkDir = os.getcwd()+conf.getDirectory("GAWalk Files")
UIBLHDir = os.getcwd()+conf.getDirectory("UIBLH mocap Files")
BalieroDir = os.getcwd()+conf.getDirectory("Baliero transformed walk Files")
ADHOCDir = os.getcwd()+conf.getDirectory("ADHOC Files")
geneticPoolDir = os.getcwd()+conf.getDirectory("Genetic Pool")
population = ga_engine.getPopulation()
popSize = len(population)
individualCounter = 0
walk = Individual(propVanilla, DTIndividualGeneticMatrix()) #dummy individual to initialise the simulator and enable the time step configuration
walk.execute()
print "please set the proper time step in vrep"
dtgenoma = DTGenomeFunctions()
#the random initia population created is replaced by the imitation motion capture database
if individualCounter < popSize:
for filename in glob.glob(os.path.join(CMUxmlDir, '*.xml')):
if individualCounter < popSize:
print individualCounter, " individuals processed!"
print 'inserting individual: ' + filename + " into the initial population"
walk = Individual(propCMUDaz, DTIndividualGeneticTimeSerieFile(filename))
teacherGeneticMatrix = walk.getGenomeMatrix()
adan = population[individualCounter]
adanIndividualLength=dtgenoma.getIndividualLength(adan)
adanJointLength=dtgenoma.getIndividualFrameLength(adan)
for i in xrange(adanIndividualLength):
for j in xrange(adanJointLength):
if i < len(teacherGeneticMatrix): #if the fixed gnoma representation size is less than the teacher size
adan.setItem(i,j,teacherGeneticMatrix[i][j])
else:
#put a sentinel joint value to mark the end of the individual
adan.setItem(i,j,sysConstants.JOINT_SENTINEL)
population[individualCounter]=adan
individualCounter = individualCounter + 1
else:
break
#uncomment this block and comment the one above to use individuals with vainilla format
'''if individualCounter < popSize:
for filename in glob.glob(os.path.join(CMUxmlDir, '*.xml')):
if individualCounter < popSize:
print individualCounter, " individuals processed!"
print 'inserting individual: ' + filename + " into the initial population"
walk = Individual(propVanilla, DTIndividualGeneticTimeSerieFile(filename))
teacherGeneticMatrix = walk.getGenomeMatrix()
adan = population[individualCounter]
adanIndividualLength=dtgenoma.getIndividualLength(adan)
adanJointLength=dtgenoma.getIndividualFrameLength(adan)
for i in xrange(adanIndividualLength):
for j in xrange(adanJointLength):
if i < len(teacherGeneticMatrix): #if the fixed gnoma representation size is less than the teacher size
adan.setItem(i,j,teacherGeneticMatrix[i][j])
else:
#put a sentinel joint value to mark the end of the individual
adan.setItem(i,j,sysConstants.JOINT_SENTINEL)
population[individualCounter]=adan
individualCounter = individualCounter + 1
else:
break
'''
global initialPopulationSetted
initialPopulationSetted = True
from parser.LoadPoses import LoadPoses
from datatypes.DTIndividualProperty import DTIndividualProperty, DTIndividualPropertyCMUDaz, DTIndividualPropertyVanilla, DTIndividualPropertyBaliero, DTIndividualPropertyVanillaEvolutive, DTIndividualPropertyPhysicalBioloid
from datatypes.DTIndividualGeneticMaterial import DTIndividualGeneticMaterial, DTIndividualGeneticTimeSerieFile, DTIndividualGeneticMatrix
from Pose import Pose
from configuration.LoadSystemConfiguration import LoadSystemConfiguration
from simulator.LoadRobotConfiguration import LoadRobotConfiguration
from Individual import Individual
import os
import glob
import time
import sys
propCMUDaz = DTIndividualPropertyCMUDaz()
propVanilla = DTIndividualPropertyVanilla()
balieroProp = DTIndividualPropertyBaliero()
physicalProp = DTIndividualPropertyPhysicalBioloid()
geneticVanillaProp = DTIndividualPropertyVanillaEvolutive()
conf = LoadSystemConfiguration()
CMUxmlDir = os.getcwd()+conf.getDirectory("Transformed CMU mocap Files")
for filename in glob.glob(os.path.join(CMUxmlDir, '*.xml')):
walk = Individual(propCMUDaz, DTIndividualGeneticTimeSerieFile(filename))
fitness = walk.execute()
length = walk.getLength()
walk.persist("/tmp/"+str(fitness)+".xml")
print "individual: ", filename, "fitness: ", fitness, "length: ", length