def run_simulation(self, render, logging):
cpg_params = self.simulation['cpg_params']
self.model_file = None
if not self.experiment['default_morphology']:
self.model_file = '/Users/Siebe/Dropbox/Thesis/Scratches/model.xml'
elif self.experiment['variation_params']:
model_files, variation_dicts = generate_model_variations(
self.experiment['default_morphology'],
self.experiment['variation_params'],
num=1)
print(variation_dicts)
self.model_file = model_files[0]
elif not self.experiment['delta_dicts']:
self.model_file = generate_temp_model_file(
self.experiment['default_morphology'])
elif not self.model_file:
model_config = dict_elementwise_operator(
self.experiment['default_morphology'],
self.experiment['delta_dicts'][
self.simulation['variation_index']])
self.model_file = generate_temp_model_file(model_config)
perturbations = self.simulation.get('perturbation', [])
return evaluate(self.model_file, self.closed_loop, cpg_params,
perturbations, render, logging)
def generate_variations(morphology, test_percentage, num_variations=100):
spring_std_dev = test_percentage * BASE_STIFFNESS / 100
variation_params = variation_params = {
'legs': {
'FL': {
'spring_stiffness': {
'normal': [0, spring_std_dev**2]
},
},
'FR': {
'spring_stiffness': {
'normal': [0, spring_std_dev**2]
},
},
'BL': {
'spring_stiffness': {
'normal': [0, spring_std_dev**2]
},
},
'BR': {
'spring_stiffness': {
'normal': [0, spring_std_dev**2]
},
},
}
}
variation_paths, _ = generate_model_variations(morphology,
variation_params,
num_variations)
return variation_paths
def setup_model_variations(self):
self.model_files = []
if not self.variation_params:
self.model_files.append(
generate_temp_model_file(self.default_morphology))
else:
variation_xml_paths, delta_dicts = generate_model_variations(
self.default_morphology, self.variation_params,
self.num_variations)
self.model_files.extend(variation_xml_paths)
self.variation_delta_dicts = delta_dicts
def sample_variations(self, num):
model_files = []
variation_delta_dicts = []
if not self.variation_params:
model_files.append(
generate_temp_model_file(self.default_morphology))
else:
variation_xml_paths, delta_dicts = generate_model_variations(
self.default_morphology, self.variation_params, num)
model_files.extend(variation_xml_paths)
variation_delta_dicts = delta_dicts
return (model_files, variation_delta_dicts)
def generate_variations(morphology, test_percentage, num_variations=100):
mass_std_dev = test_percentage * BASE_MASS / 100
variation_params = {
'body': {
'front': {
'mass': {
'normal': [0, mass_std_dev**2]
},
},
'hind': {
'mass': {
'normal': [0, mass_std_dev**2]
},
},
},
}
variation_paths, _ = generate_model_variations(morphology,
variation_params,
num_variations)
return variation_paths
def generate_variations(morphology, test_percentage, num_variations=100):
friction_std_dev_front = test_percentage * BASE_FRICTION_FRONT/100
friction_std_dev_back = test_percentage * BASE_FRICTION_BACK/100
variation_params = variation_params = {
'legs': {
'FL': {
'foot_friction': {'normal': [0, friction_std_dev_front**2]},
},
'FR': {
'foot_friction': {'normal': [0, friction_std_dev_front**2]},
},
'BL': {
'foot_friction': {'normal': [0, friction_std_dev_back**2]},
},
'BR': {
'foot_friction': {'normal': [0, friction_std_dev_back**2]},
},
}
}
variation_paths, _ = generate_model_variations(morphology, variation_params, num_variations)
return variation_paths