def execute(self):
# create the corresponding instance of Lucy, depending if it's real or simulated.
if int(self.sysConf.getProperty("Lucy simulated?")) == 1:
self.lucy = SimulatedLucy(int(self.configuration.getProperty("Lucy render enable")))
else:
self.lucy = PhysicalLucy()
poseExecute = {}
i = 0
while self.lucy.isLucyUp() and i < self.poseSize:
for joint in self.robotConfig.getJointsName():
if not (self.property.avoidJoint(joint)):
value = self.genomeMatrix[i][self.genomeMatrixJointNameIDMapping[joint]]
poseExecute[joint] = value
i = i + 1
self.lucy.executePose(Pose(poseExecute))
self.lucy.stopLucy() # this function also updates time and distance
if i < self.poseSize:
self.fitness = self.lucy.getFitness()
else:
endFrameExecuted = True
self.fitness = self.lucy.getFitness(endFrameExecuted)
print "fitness: ", self.fitness
return self.fitness
def execute(self):
#create the corresponding instance of Lucy, depending if it's real or simulated.
if int(self.sysConf.getProperty("Lucy simulated?"))==1:
self.lucy = SimulatedLucy(int(self.configuration.getProperty("Lucy render enable")))
else:
self.lucy = PhysicalLucy()
poseExecute={}
i=0
while (self.lucy.isLucyUp() and i < self.length):
for joint in self.robotConfig.getJointsName():
if not(self.property.avoidJoint(joint)):
value = self.genomeMatrix[i][self.genomeMatrixJointNameIDMapping[joint]]
poseExecute[joint] = value
i = i + self.lucy.getPosesExecutedByStepQty()
self.lucy.executePose(Pose(poseExecute))
'''if self.precycleLength > 0 and i == self.precycleLength - 1:
self.lucy.moveHelperArm()
if self.precycleLength > 0 and i > self.precycleLength - 1:
if (i - self.precycleLength) > 0 and (i - self.precycleLength) % self.cycleLength == 0:
self.lucy.moveHelperArm()'''
startingCyclePose = self.getPrecycleLength()
executionConcatenationGap = self.individualGeneticMaterial.getConcatenationGap(startingCyclePose)
self.fitness = self.lucy.getFitness(self.length, executionConcatenationGap)
self.lucy.stopLucy() #this function also updates time and distance
return self.fitness
class Individual:
def __init__(self, idividualProperty, individualGeneticMaterial):
self.property = idividualProperty
self.fitness = 0
self.robotConfig = LoadRobotConfiguration()
self.configuration = LoadSystemConfiguration()
self.genomeMatrix = individualGeneticMaterial.getGeneticMatrix()
self.poseSize = len(self.genomeMatrix)
self.genomeMatrixJointNameIDMapping = {}
self.sysConf = LoadSystemConfiguration()
i = 0
for jointName in self.robotConfig.getJointsName():
self.genomeMatrixJointNameIDMapping[jointName] = i
i = i + 1
dontSupportedJoints = self.configuration.getVrepNotImplementedBioloidJoints()
self.robotImplementedJoints = []
robotJoints = self.robotConfig.getJointsName()
for joint in robotJoints:
if joint not in dontSupportedJoints:
self.robotImplementedJoints.append(joint)
# is important to use only supported joints to avoid errors obtaining the handler of a joint that doesn't exists
for i in xrange(self.poseSize):
for joint in self.robotImplementedJoints:
# print "i: ", i, "j: ", joint
value = self.genomeMatrix[i][self.genomeMatrixJointNameIDMapping[joint]] + self.property.getPoseFix(
joint
) # TODO this can be a problem for the physical robot
self.genomeMatrix[i][self.genomeMatrixJointNameIDMapping[joint]] = value
def stopLucy(self):
self.lucy.stopLucy()
def execute(self):
# create the corresponding instance of Lucy, depending if it's real or simulated.
if int(self.sysConf.getProperty("Lucy simulated?")) == 1:
self.lucy = SimulatedLucy(int(self.configuration.getProperty("Lucy render enable")))
else:
self.lucy = PhysicalLucy()
poseExecute = {}
i = 0
while self.lucy.isLucyUp() and i < self.poseSize:
for joint in self.robotConfig.getJointsName():
if not (self.property.avoidJoint(joint)):
value = self.genomeMatrix[i][self.genomeMatrixJointNameIDMapping[joint]]
poseExecute[joint] = value
i = i + 1
self.lucy.executePose(Pose(poseExecute))
self.lucy.stopLucy() # this function also updates time and distance
if i < self.poseSize:
self.fitness = self.lucy.getFitness()
else:
endFrameExecuted = True
self.fitness = self.lucy.getFitness(endFrameExecuted)
print "fitness: ", self.fitness
return self.fitness
def getPoseQty(self):
return self.lp.getFrameQty()
def getPose(self, poseNumber):
return self.lp.getFramePose(poseNumber)
def getMostSimilarPose(self, pose):
diff = MAX_INT
moreSimilarPose = self.getPose(1)
for i in xrange(self.getPoseQty()):
myPose = getPose(i)
newDiff = pose.diff(myPose)
if newDiff < diff:
diff = newDiff
moreSimilarPose = myPose
return moreSimilarPose
def getGenomeMatrix(self):
return self.genomeMatrix
def setGenomeMatrix(self, geneMatrix):
self.genomeMatrix = geneMatrix
self.poseSize = len(geneMatrix)
def persist(self, file):
root = ET.Element("root")
lucy = ET.SubElement(root, "Lucy")
for frameIt in xrange(self.poseSize):
frame = ET.SubElement(lucy, "frame")
frame.set("number", str(frameIt))
for joint in self.robotImplementedJoints:
xmlJoint = ET.SubElement(frame, joint)
joint_id = self.robotConfig.loadJointId(joint)
pos = self.genomeMatrix[frameIt][self.genomeMatrixJointNameIDMapping[joint]]
xmlJointAngle = xmlJoint.set("angle", str(pos))
tree = ET.ElementTree(root)
tree.write(file)
class Individual:
def __init__(self, idividualProperty, individualGeneticMaterial, modelReposeValue=DTModelVrepReda()):
self.property = idividualProperty
self.modelReposeValue = modelReposeValue
self.fitness = 0
self.robotConfig = LoadRobotConfiguration()
self.configuration = LoadSystemConfiguration()
self.genomeMatrix = individualGeneticMaterial.getGeneticMatrix()
self.length = individualGeneticMaterial.getLength()
self.genomeMatrixJointNameIDMapping = {}
self.sysConf = LoadSystemConfiguration()
self.individualGeneticMaterial = individualGeneticMaterial
self.moveArmFirstTime = True
self.precycleLength = 0
self.cycleLength = 0 #Not used yet
i=0
for jointName in self.robotConfig.getJointsName():
self.genomeMatrixJointNameIDMapping[jointName]=i
i=i+1
dontSupportedJoints = self.configuration.getVrepNotImplementedBioloidJoints()
self.robotImplementedJoints = []
robotJoints = self.robotConfig.getJointsName()
for joint in robotJoints:
if joint not in dontSupportedJoints:
self.robotImplementedJoints.append(joint)
#is important to use only supported joints to avoid errors obtaining the handler of a joint that doesn't exists
for i in xrange(self.length):
for joint in self.robotImplementedJoints:
#print "i: ", i, "j: ", joint
if self.property.avoidJoint(joint):
value = modelReposeValue.getReposeValue(joint)
else:
value = self.genomeMatrix[i][self.genomeMatrixJointNameIDMapping[joint]] + self.property.getPoseFix(joint) #TODO this can be a problem for the physical robot
self.genomeMatrix[i][self.genomeMatrixJointNameIDMapping[joint]]=value
def stopLucy(self):
self.lucy.stopLucy()
def execute(self):
#create the corresponding instance of Lucy, depending if it's real or simulated.
if int(self.sysConf.getProperty("Lucy simulated?"))==1:
self.lucy = SimulatedLucy(int(self.configuration.getProperty("Lucy render enable")))
else:
self.lucy = PhysicalLucy()
poseExecute={}
i=0
while (self.lucy.isLucyUp() and i < self.length):
for joint in self.robotConfig.getJointsName():
if not(self.property.avoidJoint(joint)):
value = self.genomeMatrix[i][self.genomeMatrixJointNameIDMapping[joint]]
poseExecute[joint] = value
i = i + self.lucy.getPosesExecutedByStepQty()
self.lucy.executePose(Pose(poseExecute))
'''if self.precycleLength > 0 and i == self.precycleLength - 1:
self.lucy.moveHelperArm()
if self.precycleLength > 0 and i > self.precycleLength - 1:
if (i - self.precycleLength) > 0 and (i - self.precycleLength) % self.cycleLength == 0:
self.lucy.moveHelperArm()'''
startingCyclePose = self.getPrecycleLength()
executionConcatenationGap = self.individualGeneticMaterial.getConcatenationGap(startingCyclePose)
self.fitness = self.lucy.getFitness(self.length, executionConcatenationGap)
self.lucy.stopLucy() #this function also updates time and distance
return self.fitness
def getGenomeMatrix(self):
return self.genomeMatrix
def setGenomeMatrix(self, geneMatrix):
self.genomeMatrix = geneMatrix
dtGenome = DTGenomeFunctions()
self.length = dtGenome.individualLength(geneMatrix)
def persist(self,file):
root = ET.Element("root")
lucy = ET.SubElement(root, "Lucy")
for frameIt in xrange(self.length):
frame = ET.SubElement(lucy, "frame")
frame.set("number" , str(frameIt))
for joint in self.robotImplementedJoints: #TODO because the notImplementedJoints doesn't participate in the simulation and fitness evaluation, they are not stored
xmlJoint = ET.SubElement(frame, joint)
joint_id = self.robotConfig.loadJointId(joint)
pos = self.genomeMatrix[frameIt][self.genomeMatrixJointNameIDMapping[joint]]
xmlJointAngle = xmlJoint.set("angle" , str(pos))
tree = ET.ElementTree(root)
tree.write(file)
def getJointMatrixIDFromName(self, jointName):
return self.genomeMatrixJointNameIDMapping[jointName]
def setLength(self, length):
self.length = length
def setPrecycleLength(self, precycleLength):
self.precycleLength = precycleLength
def setCycleLength(self, cycleLength):
self.cycleLength = cycleLength
def getLength(self):
return self.length
def getPrecycleLength(self):
return self.precycleLength
def getCycleLength(self):
return self.cycleLength
