def Start_Evaluation(self, pp, pb):
self.sim = PYROSIM(playPaused=pp, playBlind=pb, evalTime=500)
robot = ROBOT(self.sim, self.genome)
self.sim.Start()
def Start_Evaluation(self, hideSim=True, startPaused=False):
self.sim = PYROSIM(playPaused=startPaused,
playBlind=hideSim,
evalTime=c.evaluationTime)
robot = ROBOT(self.sim, self.genome)
self.sim.Start()
class INDIVIDUAL:
def __init__(self, i):
self.ID = i
self.genome = numpy.random.random([4, 8]) * 2 - 1
self.fitness = 0
def Start_Evaluation(self, pp, pb):
self.sim = PYROSIM(playPaused=pp, playBlind=pb, evalTime=500)
robot = ROBOT(self.sim, self.genome)
self.sim.Start()
def Compute_Fitness(self):
self.sim.Wait_To_Finish()
sensorData = self.sim.Get_Sensor_Data(sensorID=4, s=1)
self.fitness = sensorData[499]
if (self.fitness > 10.0):
self.fitness = 10.0
del self.sim
def Mutate(self):
s = random.randint(0, 3)
m = random.randint(0, 7)
self.genome[s, m] = random.gauss(self.genome[s, m],
math.fabs(self.genome[s, m]))
if (self.genome[s, m] > 1.0):
self.genome[s, m] = 1.0
if (self.genome[s, m] < -1.0):
self.genome[s, m] = -1.0
def Print(self):
print '[',
print self.ID,
print self.fitness,
print '] ',
def Start_Evaluation(self, env, pp, pb):
self.sim = PYROSIM(playPaused=pp,
playBlind=pb,
evalTime=constants.evaluationTime)
robot = ROBOT(self.sim, self.genome)
env.Send_To(self.sim)
self.sim.Start()
def __init__(self):
self.sim = PYROSIM(playPaused=False)
self.arena = ARENA(self.sim)
xPosition = random.random()*(c.endX-c.startX) + c.startX
yPosition = random.random()*(c.endY-c.startY) + c.startY
self.robot = ROBOT(self.sim, x = xPosition , y = yPosition , theta = 0.0 )
self.sim.Start()
def _Test_Tree():
T = 1000
sim = PYROSIM(playPaused=False,
playBlind=False,
evalTime=T,
xyz=[0, 0, 5],
hpr=[90, -90, 0])
#sim = PYROSIM(playPaused=False, playBlind=False, evalTime=T, xyz=[-5,0,2], hpr=[0,-20,0])
t = Treebot()
t.Send_To_Simulator(sim)
sim.Start()
sim.Wait_To_Finish()
data = sim.Get_Results()
def Evaluate(self, obstacles, playBlind, playPaused):
self.sims = {}
for e in range(0, c.NUM_ENVIRONMENTS):
self.sims[e] = PYROSIM(playBlind=playBlind, playPaused=playPaused)
self.sim = self.sims[e]
self.Send_To_Sim(e)
obstacles.Send_To_Sim(self.sims[e])
self.sims[e].Start()
self.fitness = 0.0
for e in range(0, c.NUM_ENVIRONMENTS):
self.sim = self.sims[e]
self.sims[e].Wait_To_Finish()
self.Compute_Fitness()
def Play_Indv(robot, eval_time, environment=False):
sensor_data = {}
if environment:
for i, env in enumerate(environment[:8]):
sim = PYROSIM(playPaused=True,
playBlind=False,
evalTime=eval_time,
xyz=(0, -2, 3),
hpr=(90, -30, 0))
offset = robot.Send_To_Simulator(sim, eval_time=eval_time)
env.Send_To_Simulator(sim, ID_offset=offset[0])
sim.Start()
sim.Wait_To_Finish()
sensor_data[i] = sim.Get_Results()
print sensor_data
return sensor_data
def Start_Evaluation(self,trialIndex,initialX,initialY,initialTheta,pp,pb):
self.sims[trialIndex] = PYROSIM(playPaused=pp,playBlind=pb)
self.robot = ROBOT(self.sims[trialIndex], self.genome, x = initialX , y = initialY , theta = initialTheta)
del self.robot
self.arena = ARENA(self.sims[trialIndex])
del self.arena
self.sims[trialIndex].Start()
def Send_Sub_Population_To_Simulator(population, start_index):
sensor_data = {}
ID = 0
for offset in range(start_index, len(population), NUM_IN_PARALLEL):
sims = [0] * NUM_IN_PARALLEL
for i in range(NUM_IN_PARALLEL):
if i + offset < len(population):
sims[i] = PYROSIM(playBlind=True, evalTime=1000)
indv_to_send = population[i + offset]['genome']
indv_to_send.Send_To_Simulator(sims[i], eval_time=1000)
sims[i].Start()
for i in range(NUM_IN_PARALLEL):
if i + offset < len(population):
sims[i].Wait_To_Finish()
ID = population[i + offset]['ID']
sensor_data[i + offset] = sims[i].Get_Results()
return sensor_data
def Send_Sub_Population_To_Simulator(self, start_index, environment=0):
sensor_data = {}
ID = 0
for offset in range(start_index, len(self.population),
NUM_IN_PARALLEL):
sims = [0] * NUM_IN_PARALLEL
for i in range(NUM_IN_PARALLEL):
if i + offset < len(self.population):
sims[i] = PYROSIM(playBlind=True, evalTime=self.eval_time)
indv_to_send = self.population[i + offset]['genome']
offsets = indv_to_send.Send_To_Simulator(
sims[i], eval_time=self.eval_time)
self.environments[environment].Send_To_Simulator(
sims[i], ID_offset=offsets[0])
sims[i].Start()
for i in range(NUM_IN_PARALLEL):
if i + offset < len(self.population):
sims[i].Wait_To_Finish()
ID = self.population[i + offset]['ID']
sensor_data[i + offset] = sims[i].Get_Results()
return sensor_data
def Evaluate(self, hideSim=True, startPaused=False):
sim = PYROSIM(playPaused=startPaused,
playBlind=hideSim,
evalTime=c.evaluationTime)
robot = ROBOT(sim, self.genome)
sim.Start()
sim.Wait_To_Finish()
x = sim.Get_Sensor_Data(sensorID=4, s=0)
y = sim.Get_Sensor_Data(sensorID=4, s=1)
z = sim.Get_Sensor_Data(sensorID=4, s=2)
# self.sensorData_0 = sim.Get_Sensor_Data(sensorID=0)
# self.sensorData_1 = sim.Get_Sensor_Data(sensorID=1)
# self.sensorData_2 = sim.Get_Sensor_Data(sensorID=2)
# self.sensorData_3 = sim.Get_Sensor_Data(sensorID=3)
# self.sensorData_4 = sim.Get_Sensor_Data(sensorID=4)
# print(sim.Get_Sensor_Data(sensorID=4))
self.fitness = y[-1]
del sim
from pyrosim import PYROSIM sim = PYROSIM(playPaused = True , evalTime = 1000) x = 0 y = 0 z = 0.1 for i in range(0,10): sim.Send_Cylinder(x=x, y=y, z=z, r1=0, r2=1, r3=0, length=1.0, radius=0.1) z = z + 2.0 * 0.1 sim.Start()
from pyrosim import PYROSIM
ARM_LENGTH = 0.5
ARM_RADIUS = ARM_LENGTH / 10.0
sim = PYROSIM(playPaused=True, evalTime=1000)
sim.Send_Cylinder(ID=0,
x=0,
y=0,
z=ARM_LENGTH / 2.0 + ARM_RADIUS,
r1=0,
r2=0,
r3=1,
length=ARM_LENGTH,
radius=ARM_RADIUS)
sim.Send_Cylinder(ID=1,
x=0,
y=ARM_LENGTH / 2.0,
z=ARM_LENGTH + ARM_RADIUS,
r1=0,
r2=1,
r3=0,
length=ARM_LENGTH,
radius=ARM_RADIUS)
sim.Send_Joint(ID=0,
firstObjectID=0,
secondObjectID=1,
import matplotlib.pyplot as plt
from pyrosim import PYROSIM
from robot import ROBOT
import random
for i in range(0, 3):
########################################################################################################################
# Pyrosim setup
########################################################################################################################
sim = PYROSIM(playPaused=False, evalTime=300)
robot = ROBOT(sim, random.random() * 2 - 1)
sim.Start()
sim.Wait_To_Finish()
sensorData_0 = sim.Get_Sensor_Data(sensorID=0)
sensorData_1 = sim.Get_Sensor_Data(sensorID=1)
sensorData_2 = sim.Get_Sensor_Data(sensorID=2)
sensorData_3 = sim.Get_Sensor_Data(sensorID=3)
sensorData_4 = sim.Get_Sensor_Data(sensorID=4)
sensorData_5 = sim.Get_Sensor_Data(sensorID=5)
# x = sim.Get_Sensor_Data(sensorID=5, s=0)
# y = sim.Get_Sensor_Data(sensorID=5, s=1)
# z = sim.Get_Sensor_Data(sensorID=5, s=2)
#
# print (x[-1])
# print(y[-1])
# print(z[-1])
########################################################################################################################
from pyrosim import PYROSIM sim = PYROSIM() sim.Send_Cylinder() sim.Start()
from pyrosim import PYROSIM
import math
ARM_LENGTH = 0.5
ARM_RADIUS = ARM_LENGTH / 10.0
sim = PYROSIM(playPaused=True, evalTime=1000, debug=False)
sim.Send_Cylinder(objectID=0,
x=0,
y=0,
z=ARM_LENGTH / 2.0 + 2 * ARM_RADIUS,
r1=0,
r2=0,
r3=1,
length=ARM_LENGTH,
radius=ARM_RADIUS)
sim.Send_Cylinder(objectID=1,
x=0,
y=ARM_LENGTH / 2.0,
z=ARM_LENGTH + 2 * ARM_RADIUS,
r1=0,
r2=1,
r3=0,
length=ARM_LENGTH,
radius=ARM_RADIUS)
sim.Send_Joint(jointID=0,
firstObjectID=0,
#Sensor on feet
sim.Send_Touch_Sensor(ID=sensorID, objectIndex=calfID)
sensorID += 1
#Send a position sensor attached to the body
sim.Send_Position_Sensor(ID=sensorID, objectIndex=bodyID)
print sensorID
sensorID += 1
return objID, jointID, sensorID
if __name__ == '__main__':
T = 1000
sim = PYROSIM(playPaused=False, playBlind=False, evalTime=T)
objID = 0
jointID = 0
sensorID = 0
neuronID = 0
pos_sensor_list = []
N = 4
for i in range(
N): #Create N potatoes, each with a different random network
color = np.random.rand(3)
objID, jointID, sensorID, neuronID = Send_Quadruped_Body_And_Brain(
sim,
x=i * 1.5 - N / 2.,
objID=objID,
jointID=jointID,
sensorID=sensorID,
from population import POPULATION
from pyrosim import PYROSIM
from robot import ROBOT
from minimalRobot import MINIMAL_ROBOT
from individual import INDIVIDUAL
import constants as c
from core01_HillClimber import *
from environments import ENVIRONMENTS
import matplotlib.pyplot as plt
import copy as cp
import sys
import pickle
import random
import os.path
import time
genome = [
MatrixCreate(c.numHidNeurons, 5),
MatrixCreate(c.numHidNeurons, 8),
MatrixCreate(c.numHidNeurons, c.numHidNeurons)
]
genome[0] = MatrixRandomize(genome[0], 0, 0)
genome[1] = MatrixRandomize(genome[1], 0, 0)
genome[2] = MatrixRandomize(genome[2], 0, 0)
# Plain Robot without motor Neurons
sim = PYROSIM(playPaused=True, playBlind=False, evalTime=1000000)
robot = ROBOT(sim, genome)
sim.Start()
from pyrosim import PYROSIM from robot import ROBOT import matplotlib.pyplot as plt import random for i in range(0, 10): sim = PYROSIM(playPaused=False, evalTime = 200) robot = ROBOT(sim, random.random() *2 - 1) sim.Start() sim.Wait_To_Finish() # sensorData = sim.Get_Sensor_Data(sensorID=2) # print sensorData # f = plt.figure() # pn = f.add_subplot(111) # plt.plot(sensorData) # pn.set_ylim(-10,+11) # plt.show()
from pyrosim import PYROSIM
WHEEL_RADIUS = 0.1
sim = PYROSIM(playPaused=False, evalTime=1000)
sim.Send_Cylinder(objectID=0,
x=-2 * WHEEL_RADIUS,
y=-2 * WHEEL_RADIUS,
z=WHEEL_RADIUS,
length=0,
radius=WHEEL_RADIUS)
sim.Send_Box(objectID=1,
x=0,
y=0,
z=WHEEL_RADIUS,
length=4 * WHEEL_RADIUS,
width=4 * WHEEL_RADIUS,
height=WHEEL_RADIUS)
sim.Send_Joint(jointID=0,
firstObjectID=0,
secondObjectID=1,
x=-2 * WHEEL_RADIUS,
y=-2 * WHEEL_RADIUS,
z=WHEEL_RADIUS,
n1=1,
n2=0,
n3=0,
lo=-3.14159 / 4.0,
from pyrosim import PYROSIM
ARM_LENGTH = 0.5
ARM_RADIUS = ARM_LENGTH / 10.0
sim = PYROSIM(playPaused=False, evalTime=1000)
sim.Send_Cylinder(objectID=0,
x=0,
y=0,
z=ARM_LENGTH / 2.0 + ARM_RADIUS,
r1=0,
r2=0,
r3=1,
length=ARM_LENGTH,
radius=ARM_RADIUS)
sim.Send_Cylinder(objectID=1,
x=0,
y=ARM_LENGTH / 2.0,
z=ARM_LENGTH + ARM_RADIUS,
r1=0,
r2=1,
r3=0,
length=ARM_LENGTH,
radius=ARM_RADIUS)
sim.Start()
# sim.Collect_Sensor_Data()
from pyrosim import PYROSIM sim = PYROSIM(evalTime=10000) sim.Start()
from pyrosim import PYROSIM
import matplotlib.pyplot as plt
sim = PYROSIM(playPaused=True, evalTime=2000)
sim.Send_Cylinder(objectID=0, x=0, y=0, z=0.6, length=1, radius=0.1)
sim.Send_Cylinder(objectID=1,
x=0,
y=0.5,
z=1.1,
r=1,
g=0,
b=0,
r1=0,
r2=1,
r3=0)
sim.Send_Joint(jointID=0,
firstObjectID=0,
secondObjectID=1,
x=0,
y=0,
z=1.1,
n1=-1,
n2=0,
n3=0,
lo=-3.14159 / 2,
hi=3.14159 / 2)
from pyrosim import PYROSIM
import constants
pi = constants.pi
sim = PYROSIM(playPaused=True, evalTime=10000)
sim.Send_Cylinder(objectID=0, x=0, y=0, z=0.6, length=1.0, radius=0.1)
sim.Send_Cylinder(objectID=1,
x=0,
y=0.5,
z=1.1,
length=1.0,
radius=0.1,
r=1,
g=0,
b=0,
r1=0,
r2=1,
r3=0)
sim.Send_Joint(jointID=0,
firstObjectID=0,
secondObjectID=1,
x=0,
y=0,
z=1.1,
n1=1,
n2=0,
n3=0,
lo=-pi / 2,
hi=pi / 2)
from pyrosim import PYROSIM
ARM_LENGTH = 0.5
ARM_RADIUS = ARM_LENGTH / 10.0
sim = PYROSIM(playPaused=True, evalTime=1000)
sim.Send_Cylinder(ID=0,
x=0,
y=0,
z=ARM_LENGTH / 2.0 + ARM_RADIUS,
r1=0,
r2=0,
r3=1,
length=ARM_LENGTH,
radius=ARM_RADIUS)
sim.Send_Cylinder(ID=1,
x=0,
y=ARM_LENGTH / 2.0,
z=ARM_LENGTH + ARM_RADIUS,
r1=0,
r2=1,
r3=0,
length=ARM_LENGTH,
radius=ARM_RADIUS)
sim.Send_Joint(ID=0,
firstObjectID=0,
secondObjectID=1,
from pyrosim import PYROSIM sim = PYROSIM(playPaused=True, evalTime=1000) sim.Send_Cylinder(x=0, y=0, z=0.5, r1=0, r2=1, r3=0) sim.Start()
from pyrosim import PYROSIM
sim = PYROSIM(playPaused=True, evalTime=1000)
sim.Send_Cylinder(objectID=0, x=0, y=0, z=0.6, length=1.0, radius=0.1)
sim.Send_Cylinder(objectID=1,
x=0,
y=0.5,
z=1.1,
r=1,
g=0,
b=0,
r1=0,
r2=1,
r3=0)
# sim.Send_Cylinder( length=1.0 , radius=0.1 )
sim.Start()
from pyrosim import PYROSIM import matplotlib.pyplot as plt sim = PYROSIM(playPaused=True , evalTime=100) sim.Send_Cylinder( objectID=0, x=0 , y=0 , z=.6 , length=1.0 , radius=0.1 ) sim.Send_Cylinder( objectID=1 , x=0 , y=.5 , z=1.1 , r1=0 , r2=1, r3=0 , length=1.0 , radius=0.1 , r=1, g=0, b=0) sim.Send_Joint( jointID = 0 , firstObjectID = 0 , secondObjectID = 1, x=0 , y=0 , z=1.1, n1 = -1 , n2 = 0 , n3 = 0, lo=-3.14159/2 , hi=3.14159/2 ) sim.Send_Touch_Sensor( sensorID = 0 , objectID = 0 ) sim.Send_Touch_Sensor( sensorID = 1 , objectID = 1 ) sim.Start() sim.Wait_To_Finish() sensorData = sim.Get_Sensor_Data(sensorID = 1) print sensorData #f = plt.figure() #pn = f.add_subplot(111) #plt.plot(sensorData) #plt.show()
from geodude import GEODUDE from pyrosim import PYROSIM import constants as c sim = PYROSIM( playPaused=True, playBlind=False, evalTime=10000) geodude1 = GEODUDE(sim) sim.Start() sim.Wait_To_Finish() # touch = sim.Get_Sensor_Data(sensorID=0) # print(touch)
