def run_server():
conf = parser.parse_args()
conf.enable_light_sensor = False
conf.output_directory = None
conf.max_lifetime = 999999
conf.initial_age_mu = 500
conf.initial_age_sigma = 500
world = yield From(World.create(conf))
yield From(world.pause(True))
trees, bboxes = yield From(world.generate_population(40))
insert_queue = zip(trees, bboxes)
yield From(world.pause(False))
for tree, bbox in insert_queue[:40]:
fut = yield From(birth(world, tree, bbox, None))
yield From(fut)
yield From(sleep_sim_time(world, 1.0))
print("Inserted all robots")
sim_time_sec = 1.0
while True:
before = time.time()
yield From(sleep_sim_time(world, sim_time_sec))
after = time.time()
diff = after - before
print(sim_time_sec / diff)
def run_server():
conf = Config(
proposal_threshold=0,
output_directory='output'
)
world = yield From(World.create(conf))
yield From(world.pause(True))
wall_x = conf.arena_size[0] / 2.0
wall_y = conf.arena_size[1] / 2.0
wall_points = [Vector3(-wall_x, -wall_y, 0), Vector3(wall_x, -wall_y, 0),
Vector3(wall_x, wall_y, 0), Vector3(-wall_x, wall_y, 0)]
future = yield From(world.build_walls(wall_points))
yield From(future)
grid_size = (1, 2)
spacing = 3 * conf.mating_distance
grid_x, grid_y = grid_size
x_offset = -(grid_x - 1) * spacing * 0.5
y_offset = -(grid_y - 1) * spacing * 0.5
poses = [Pose(position=Vector3(x_offset + spacing * i, y_offset + spacing * j, 0))
for i, j in itertools.product(range(grid_x), range(grid_y))]
trees, bboxes = yield From(world.generate_population(len(poses)))
for pose, bbox in itertools.izip(poses, bboxes):
pose.position += Vector3(0, 0, bbox[2])
fut = yield From(world.insert_population(trees, poses))
yield From(fut)
while True:
yield From(trollius.sleep(0.1))
yield From(world.perform_reproduction())
def run_server():
conf = parser.parse_args()
conf.enable_light_sensor = False
conf.output_directory = None
conf.max_lifetime = 999999
conf.initial_age_mu = 500
conf.initial_age_sigma = 500
world = yield From(World.create(conf))
yield From(world.pause(True))
trees, bboxes = yield From(world.generate_population(40))
insert_queue = zip(trees, bboxes)
yield From(world.pause(False))
for tree, bbox in insert_queue[:40]:
fut = yield From(birth(world, tree, bbox, None))
yield From(fut)
yield From(sleep_sim_time(world, 1.0))
print("Inserted all robots")
sim_time_sec = 1.0
while True:
before = time.time()
yield From(sleep_sim_time(world, sim_time_sec))
after = time.time()
diff = after - before
print(sim_time_sec / diff)
def run(conf):
"""
:param conf:
:return:
"""
conf.evaluation_time = 5.0
conf.output_directory = 'output'
world = yield From(World.create(conf))
yield From(world.pause(True))
for i in range(3):
ta, _, _ = yield From(world.generate_valid_robot())
tb, _, _ = yield From(world.generate_valid_robot())
ra = yield From(wait_for(world.insert_robot(ta, pose=Pose(position=Vector3(0, 3*i, 0.5)))))
rb = yield From(wait_for(world.insert_robot(tb, pose=Pose(position=Vector3(0, 3*i + 1, 0.5)))))
while True:
# Attempt reproduction
mate = yield From(world.attempt_mate(ra, rb))
if mate:
break
tree, bbox = mate
yield From(wait_for(world.insert_robot(tree, pose=Pose(position=Vector3(0, 3*i + 2, 0.5)))))
def run_server(conf):
"""
:param args:
:return:
"""
conf.proposal_threshold = 0
conf.output_directory = None
conf.min_parts = 6
conf.max_parts = 15
conf.arena_size = (3, 3)
interactive = [True]
world = yield From(World.create(conf))
yield From(world.pause(True))
start_bots = conf.num_initial_bots
poses = [Pose(position=pick_position(conf)) for _ in range(start_bots)]
trees, bboxes = yield From(world.generate_population(len(poses)))
fut = yield From(world.insert_population(trees, poses))
yield From(fut)
# List of reproduction requests
reproduce = []
# Request callback for the subscriber
def callback(data):
req = Request()
req.ParseFromString(data)
imode_value = None
if req.request == "produce_offspring":
reproduce.append(req.data.split("+++"))
imode_value = True
elif req.request == "enable_interaction":
imode_value = True
elif req.request == "disable_interaction":
imode_value = False
if imode_value is not None:
interactive[0] = imode_value
print("Interactive mode is now %s" % ("ON" if interactive[0] else "OFF"))
if not interactive[0]:
reproduce[:] = []
subscriber = world.manager.subscribe(
'/gazebo/default/request', 'gazebo.msgs.Request', callback)
yield From(subscriber.wait_for_connection())
while True:
if interactive[0]:
yield From(interactive_mode(world, reproduce))
else:
yield From(automatic_mode(conf, world, interactive))
yield From(trollius.sleep(0.1))
yield From(cleanup(world))
def run_server():
conf = parser.parse_args()
conf.analyzer_address = None
world = yield From(World.create(conf))
yield From(world.pause(True))
with open("/home/elte/mt/tol/scripts/starfish.yaml", "rb") as f:
robot_yaml = f.read()
body_spec = world.builder.body_builder.spec
brain_spec = world.builder.brain_builder.spec
bot = yaml_to_robot(body_spec, brain_spec, robot_yaml)
fname = conf.output_directory+"/revolve_benchmark.csv"
exists = os.path.exists(fname)
if exists:
f = open(fname, 'ab', buffering=1)
else:
f = open(fname, 'wb', buffering=1)
output = csv.writer(f, delimiter=',')
if not exists:
output.writerow(['run', 'population_size', 'step_size',
'sim_time', 'real_time', 'factor'])
n_bots = [5, 10, 15, 20, 25, 30, 35, 40, 45, 50]
sim_time = 5.0
runs = 20
yield From(world.pause(False))
for n in n_bots:
poses = get_poses(n)
trees = [Tree.from_body_brain(bot.body, bot.brain, body_spec) for _ in range(n)]
for i in range(runs):
yield From(wait_for(world.insert_population(trees, poses)))
while world.last_time is None:
yield From(trollius.sleep(0.1))
sim_before = world.last_time
before = time.time()
while float(world.last_time - sim_before) < sim_time:
yield From(trollius.sleep(0.1))
sim_diff = float(world.last_time - sim_before)
diff = time.time() - before
output.writerow((i, n, conf.world_step_size, sim_diff,
diff, sim_diff / diff))
yield From(wait_for(world.delete_all_robots()))
yield From(trollius.sleep(0.3))
def run():
"""
The main coroutine, which is started below.
"""
# Parse command line / file input arguments
conf = parser.parse_args()
# Adding brain configuration
with open(conf.brain_conf_path, 'r') as f:
s = f.read()
brain_conf = ast.literal_eval(s)
if conf.load_controller != "None":
brain_conf["policy_load_path"] = conf.load_controller
conf.brain_conf = brain_conf
# This disables the analyzer; enable it if you want to generate valid robots
# Can also do this using arguments of course, just pass an empty string
# conf.analyzer_address = None
with open("{}.yaml".format(conf.robot_name), 'r') as yamlfile:
bot_yaml = yamlfile.read()
# Create the world, this connects to the Gazebo world
world = yield From(World.create(conf))
# These are useful when working with YAML
body_spec = world.builder.body_builder.spec
brain_spec = world.builder.brain_builder.spec
# Create a robot from YAML
robot = yaml_to_robot(body_spec, brain_spec, bot_yaml)
# Create a revolve.angle `Tree` representation from the robot, which
# is what is used in the world manager.
robot_tree = Tree.from_body_brain(robot.body, robot.brain, body_spec)
# Insert the robot into the world. `insert_robot` resolves when the insert
# request is sent, the future it returns resolves when the robot insert
# is actually confirmed and a robot manager object has been created
pose = Pose(position=Vector3(0, 0, 0.05))
future = yield From(world.insert_robot(robot_tree, pose, "{}-{}".format(conf.robot_name, conf.experiment_round)))
robot_manager = yield From(future)
# I usually start the world paused, un-pause it here. Note that
# pause again returns a future for when the request is sent,
# that future in turn resolves when a response has been received.
# This is the general convention for all message actions in the
# world manager. `wait_for` saves the hassle of grabbing the
# intermediary future in this case.
yield From(wait_for(world.pause(True)))
# Start a run loop to do some stuff
while True:
# Print robot fitness every second
print("Robot fitness: %f" % robot_manager.fitness())
yield From(trollius.sleep(1.0))
def run_server():
conf = Config(
update_rate=25,
proposal_threshold=0
)
world = yield From(World.create(conf))
yield From(world.pause(True))
yield From(yield_wait(world.build_arena()))
n_bots = [1, 5, 20, 50]
radius = 0.4 * conf.arena_size[0]
n_repeats = 1
sim_time = 5.0
_state = [None, -1]
# World update trigger
def trigger(_):
elapsed = float(world.last_time)
if elapsed >= sim_time:
_state[0] = time.time() - _state[0]
_state[1] = elapsed
# Remove trigger to prevent other incoming messages
# from overwriting these values.
world.remove_update_trigger(trigger)
elif elapsed < 0:
logger.error("Elapsed time < 0!")
print("nbots\titer\tsimtime\twctime")
for n in n_bots:
poses = get_circle_poses(n, radius)
for i in range(n_repeats):
# Generate a starting population from the given poses
yield From(yield_wait(world.generate_starting_population(poses)))
yield From(trollius.sleep(0.5))
_state[0] = time.time()
_state[1] = -1
world.add_update_trigger(trigger)
yield From(world.pause(False))
while _state[1] < 0:
# Wait until the simulation time has passed the required
# number of seconds.
yield From(trollius.sleep(0.1))
print("%d\t%d\t%f\t%f" % (n, i, _state[1], _state[0]))
yield From(world.pause())
yield From(yield_wait(world.delete_all_robots()))
# Sleep to process all old messages
yield From(trollius.sleep(0.5))
yield From(world.reset())
def run_server():
conf = Config(update_rate=25, proposal_threshold=0)
world = yield From(World.create(conf))
yield From(world.pause(True))
yield From(yield_wait(world.build_arena()))
n_bots = [1, 5, 20, 50]
radius = 0.4 * conf.arena_size[0]
n_repeats = 1
sim_time = 5.0
_state = [None, -1]
# World update trigger
def trigger(_):
elapsed = float(world.last_time)
if elapsed >= sim_time:
_state[0] = time.time() - _state[0]
_state[1] = elapsed
# Remove trigger to prevent other incoming messages
# from overwriting these values.
world.remove_update_trigger(trigger)
elif elapsed < 0:
logger.error("Elapsed time < 0!")
print("nbots\titer\tsimtime\twctime")
for n in n_bots:
poses = get_circle_poses(n, radius)
for i in range(n_repeats):
# Generate a starting population from the given poses
yield From(yield_wait(world.generate_starting_population(poses)))
yield From(trollius.sleep(0.5))
_state[0] = time.time()
_state[1] = -1
world.add_update_trigger(trigger)
yield From(world.pause(False))
while _state[1] < 0:
# Wait until the simulation time has passed the required
# number of seconds.
yield From(trollius.sleep(0.1))
print("%d\t%d\t%f\t%f" % (n, i, _state[1], _state[0]))
yield From(world.pause())
yield From(yield_wait(world.delete_all_robots()))
# Sleep to process all old messages
yield From(trollius.sleep(0.5))
yield From(world.reset())
def run_server(conf):
"""
:param args:
:return:
"""
# conf.proposal_threshold = 0
# conf.output_directory = None
conf.min_parts = 1
conf.max_parts = 3
conf.arena_size = (3, 3)
# interactive = [True]
world = yield From(World.create(conf))
yield From(world.pause(True))
start_bots = conf.num_initial_bots
poses = [Pose(position=pick_position(conf)) for _ in range(start_bots)]
trees, bboxes = yield From(world.generate_population(len(poses)))
fut = yield From(world.insert_population(trees, poses))
yield From(fut)
# List of reproduction requests
reproduce = []
# Request callback for the subscriber
def callback(data):
req = Request()
req.ParseFromString(data)
if req.request == "produce_offspring":
reproduce.append(req.data.split("+++"))
subscriber = world.manager.subscribe(
'/gazebo/default/request', 'gazebo.msgs.Request', callback)
yield From(subscriber.wait_for_connection())
yield From(world.pause(False))
while True:
yield From(spawn_population(world, conf))
yield From(trollius.sleep(12))
yield From(cleanup(world))
def run_server():
world = yield From(World.create(conf))
counter = 0
while True:
model.name = "test_bot_%d" % counter
print("Inserting %s..." % model.name)
fut = yield From(world.insert_model(sdf))
yield From(fut)
print("Done. Waiting...")
yield From(trollius.sleep(1.0))
print("Done. Removing...")
fut = yield From(world.delete_model(model.name))
yield From(fut)
print("Done. Waiting...")
yield From(trollius.sleep(1.0))
counter += 1
def run_server():
conf = parser.parse_args()
conf.enable_light_sensor = False
conf.output_directory = None
conf.max_lifetime = 999999
conf.initial_age_mu = 500
conf.initial_age_sigma = 500
world = yield From(World.create(conf))
yield From(world.pause(False))
trees, bboxes = yield From(world.generate_population(30))
insert_queue = zip(trees, bboxes)
for tree, bbox in insert_queue[:15]:
fut = yield From(birth(world, tree, bbox, None))
yield From(fut)
yield From(sleep_sim_time(world, 1.0))
sim_time_sec = 5.0
while True:
bots = []
for tree, bbox in insert_queue[15:]:
fut = yield From(birth(world, tree, bbox, None))
bot = yield From(fut)
bots.append(bot)
yield From(sleep_sim_time(world, 1.0))
print("Inserted all robots")
before = time.time()
yield From(sleep_sim_time(world, sim_time_sec))
after = time.time()
diff = after - before
print(sim_time_sec / diff)
futs = []
for robot in bots:
fut = yield From(world.delete_robot(robot))
futs.append(fut)
yield From(multi_future(futs))
yield From(trollius.sleep(0.1))
print("Deleted all robots")
def run_server():
conf = parser.parse_args()
conf.enable_light_sensor = False
conf.output_directory = None
conf.max_lifetime = 999999
conf.initial_age_mu = 500
conf.initial_age_sigma = 500
world = yield From(World.create(conf))
yield From(world.pause(False))
trees, bboxes = yield From(world.generate_population(30))
insert_queue = zip(trees, bboxes)
for tree, bbox in insert_queue[:15]:
fut = yield From(birth(world, tree, bbox, None))
yield From(fut)
yield From(sleep_sim_time(world, 1.0))
sim_time_sec = 5.0
while True:
bots = []
for tree, bbox in insert_queue[15:]:
fut = yield From(birth(world, tree, bbox, None))
bot = yield From(fut)
bots.append(bot)
yield From(sleep_sim_time(world, 1.0))
print("Inserted all robots")
before = time.time()
yield From(sleep_sim_time(world, sim_time_sec))
after = time.time()
diff = after - before
print(sim_time_sec / diff)
futs = []
for robot in bots:
fut = yield From(world.delete_robot(robot))
futs.append(fut)
yield From(multi_future(futs))
yield From(trollius.sleep(0.1))
print("Deleted all robots")
def run_server(conf):
conf.min_parts = 1
conf.max_parts = 3
conf.arena_size = (3, 3)
world = yield From(World.create(conf))
yield From(spawn_initial_robots(world, init_pop_size))
robots = [r for r in world.robot_list()]
parent_a = random.choice(robots)
parent_b = random.choice(robots)
print "parent_a id =", parent_a.id
print "parent_b id =", parent_b.id
yield From(do_mate(world, parent_a, parent_b))
def run_server():
conf = Config(proposal_threshold=0, output_directory='output')
world = yield From(World.create(conf))
yield From(world.pause(True))
wall_x = conf.arena_size[0] / 2.0
wall_y = conf.arena_size[1] / 2.0
wall_points = [
Vector3(-wall_x, -wall_y, 0),
Vector3(wall_x, -wall_y, 0),
Vector3(wall_x, wall_y, 0),
Vector3(-wall_x, wall_y, 0)
]
future = yield From(world.build_walls(wall_points))
yield From(future)
grid_size = (1, 2)
spacing = 3 * conf.mating_distance
grid_x, grid_y = grid_size
x_offset = -(grid_x - 1) * spacing * 0.5
y_offset = -(grid_y - 1) * spacing * 0.5
poses = [
Pose(position=Vector3(x_offset + spacing * i, y_offset +
spacing * j, 0))
for i, j in itertools.product(range(grid_x), range(grid_y))
]
trees, bboxes = yield From(world.generate_population(len(poses)))
for pose, bbox in itertools.izip(poses, bboxes):
pose.position += Vector3(0, 0, bbox[2])
fut = yield From(world.insert_population(trees, poses))
yield From(fut)
while True:
yield From(trollius.sleep(0.1))
yield From(world.perform_reproduction())
def run(conf):
"""
:param conf:
:return:
"""
conf.evaluation_time = 5.0
conf.output_directory = 'output'
world = yield From(World.create(conf))
yield From(world.pause(True))
for i in range(3):
ta, _, _ = yield From(world.generate_valid_robot())
tb, _, _ = yield From(world.generate_valid_robot())
ra = yield From(
wait_for(
world.insert_robot(ta,
pose=Pose(position=Vector3(0, 3 *
i, 0.5)))))
rb = yield From(
wait_for(
world.insert_robot(
tb, pose=Pose(position=Vector3(0, 3 * i + 1, 0.5)))))
while True:
# Attempt reproduction
mate = yield From(world.attempt_mate(ra, rb))
if mate:
break
tree, bbox = mate
yield From(
wait_for(
world.insert_robot(
tree, pose=Pose(position=Vector3(0, 3 * i + 2, 0.5)))))
def run_server():
conf = parser.parse_args()
conf.analyzer_address = None
world = yield From(World.create(conf))
yield From(world.pause(True))
with open("/home/elte/mt/tol/scripts/starfish.yaml", "rb") as f:
robot_yaml = f.read()
body_spec = world.builder.body_builder.spec
brain_spec = world.builder.brain_builder.spec
bot = yaml_to_robot(body_spec, brain_spec, robot_yaml)
fname = conf.output_directory + "/revolve_benchmark.csv"
exists = os.path.exists(fname)
if exists:
f = open(fname, 'ab', buffering=1)
else:
f = open(fname, 'wb', buffering=1)
output = csv.writer(f, delimiter=',')
if not exists:
output.writerow([
'run', 'population_size', 'step_size', 'sim_time', 'real_time',
'factor'
])
n_bots = [5, 10, 15, 20, 25, 30, 35, 40, 45, 50]
sim_time = 5.0
runs = 20
yield From(world.pause(False))
for n in n_bots:
poses = get_poses(n)
trees = [
Tree.from_body_brain(bot.body, bot.brain, body_spec)
for _ in range(n)
]
for i in range(runs):
yield From(wait_for(world.insert_population(trees, poses)))
while world.last_time is None:
yield From(trollius.sleep(0.1))
sim_before = world.last_time
before = time.time()
while float(world.last_time - sim_before) < sim_time:
yield From(trollius.sleep(0.1))
sim_diff = float(world.last_time - sim_before)
diff = time.time() - before
output.writerow(
(i, n, conf.world_step_size, sim_diff, diff, sim_diff / diff))
yield From(wait_for(world.delete_all_robots()))
yield From(trollius.sleep(0.3))
