Tutorial 5: Set up experiments
Here we will learn the process of setting up experiments.
- Within the project root create an empty file
tutorial5.py. - Make sure it is executable:
sudo chmod +x tutorial5.py
- Open the file with a text editor, add this piece of a code to the script and save it
"""
Online evolution experiment. This experiment is just a test script:
- Using default settings
- Evolving 10 generations
- With a population size of 20 robots
- Constructing 10 new robots after every gen.
"""
#!/usr/bin/env python3
import asyncio
from pyrevolve import parser
from pyrevolve.custom_logging.logger import logger
from pyrevolve.evolution import fitness
from pyrevolve.evolution.selection import multiple_selection, tournament_selection
from pyrevolve.evolution.population import Population, PopulationConfig
from pyrevolve.evolution.pop_management.steady_state import steady_state_population_management
from pyrevolve.experiment_management import ExperimentManagement
from pyrevolve.genotype.plasticoding.crossover.crossover import CrossoverConfig
from pyrevolve.genotype.plasticoding.crossover.standard_crossover import standard_crossover
from pyrevolve.genotype.plasticoding.initialization import random_initialization
from pyrevolve.genotype.plasticoding.mutation.mutation import MutationConfig
from pyrevolve.genotype.plasticoding.mutation.standard_mutation import standard_mutation
from pyrevolve.genotype.plasticoding.plasticoding import PlasticodingConfig
from pyrevolve.util.supervisor.analyzer_queue import AnalyzerQueue
from pyrevolve.util.supervisor.simulator_queue import SimulatorQueue
async def run():
#################################### SETTING UP THE EXPERIMENT #####################################
# Define experiment paramameters
num_generations = 10
population_size = 20
offspring_size = 10
# Define the maximum number of structural modules per robot
genotype_conf = PlasticodingConfig(
max_structural_modules=100,
)
# Define the mutation probability
mutation_conf = MutationConfig(
mutation_prob=0.8,
genotype_conf=genotype_conf,
)
# Define the Crossover probability
crossover_conf = CrossoverConfig(
crossover_prob=0.8,
)
# Parse command line / file input arguments
settings = parser.parse_args()
experiment_management = ExperimentManagement(settings)
do_recovery = settings.recovery_enabled and not experiment_management.experiment_is_new()
# Print experiment information
logger.info('Activated run '+settings.run+' of experiment '+settings.experiment_name)
# Loading the generation count of a previous experiment (after a crash),
# or initialize the generation count for a new experiment
if do_recovery:
gen_num, has_offspring, next_robot_id = experiment_management.read_recovery_state(population_size, offspring_size)
if gen_num == num_generations-1:
logger.info('Experiment is already complete.')
return
else:
gen_num = 0
next_robot_id = 1
# Insert the population parameters PopulationConfig:
population_conf = PopulationConfig(
population_size=population_size,
genotype_constructor=random_initialization,
genotype_conf=genotype_conf,
fitness_function=fitness.displacement_velocity,
mutation_operator=standard_mutation,
mutation_conf=mutation_conf,
crossover_operator=standard_crossover,
crossover_conf=crossover_conf,
selection=lambda individuals: tournament_selection(individuals, 2),
parent_selection=lambda individuals: multiple_selection(individuals, 2, tournament_selection),
population_management=steady_state_population_management,
population_management_selector=tournament_selection,
evaluation_time=settings.evaluation_time,
offspring_size=offspring_size,
experiment_name=settings.experiment_name,
experiment_management=experiment_management,
)
# Define the number of simultaneous simulations [default =1]
n_cores = settings.n_cores
############################### SETTING UP THE FIRST NEW GENERATION ###############################
# Start the connection to the gazebo simulator with the proper DynamicSupervisor() settings in SimulatorQueue
settings = parser.parse_args()
simulator_queue = SimulatorQueue(n_cores, settings, settings.port_start)
await simulator_queue.start()
# Start the connection of the evaluation script RobotAnalyzer() to the simulator in AnalyzerQueue
analyzer_queue = AnalyzerQueue(1, settings, settings.port_start+n_cores)
await analyzer_queue.start()
# Create a Population object that initialises:
# individuals in the population with an empty list,
# and stores the configuration of the system to the conf variable.
population = Population(population_conf, simulator_queue, analyzer_queue, next_robot_id)
# Create the next generation based on a current population by:
# Loading the last generation/offspring of a previous experiment (after a crash),
# or initializing a first generation for a new experiment
if do_recovery:
# loading a previous state of the experiment
await population.load_snapshot(gen_num)
if gen_num >= 0:
logger.info('Recovered snapshot '+str(gen_num)+', pop with ' + str(len(population.individuals))+' individuals')
if has_offspring:
individuals = await population.load_offspring(gen_num, population_size, offspring_size, next_robot_id)
gen_num += 1
logger.info('Recovered unfinished offspring '+str(gen_num))
if gen_num == 0:
await population.init_pop(individuals)
else:
population = await population.next_gen(gen_num, individuals)
experiment_management.export_snapshots(population.individuals, gen_num)
else:
# starting a new experiment
experiment_management.create_exp_folders()
await population.init_pop()
experiment_management.export_snapshots(population.individuals, gen_num)
################################## RUN THE REST OF THE EXPERIMENT ##################################
# Start the while loop that produces new generations based on previous one
while gen_num < num_generations-1:
gen_num += 1
population = await population.next_gen(gen_num)
experiment_management.export_snapshots(population.individuals, gen_num)
# output result after completing all generations...
# experiment_folder = .../revolve/data/<experiment_name>/<run>- Run the script:
(.venv) ./revolve.py --simulator-cmd=gazebo --manager ./tutorial5.py
You should get an output like this (the robot in the picture might be different):
STARTING
[2021-01-23 18:40:38,295 revolve] INFO Activated run 1 of experiment default_experiment
[2021-01-23 18:40:38,296 gazebo_0] INFO Created Supervisor with:
- simulator command: gazebo ['--verbose']
- world file: worlds/plane.world
- GAZEBO_PLUGIN_PATH: /Users/jieluo/revolve/build/lib
- GAZEBO_MODEL_PATH: /Users/jieluo/revolve/models
[2021-01-23 18:40:43,300 gazebo_0] INFO Launching the simulator...
[2021-01-23 18:40:44,257 gazebo_0] INFO [starting] [Msg] Waiting for master.
[2021-01-23 18:40:44,258 gazebo_0] INFO [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[2021-01-23 18:40:44,258 gazebo_0] INFO [Msg] Publicized address: 130.37.156.43
[2021-01-23 18:40:44,258 gazebo_0] INFO [Msg] Loading world file [/Users/jieluo/revolve/worlds/plane.world]
[2021-01-23 18:40:44,258 gazebo_0] INFO World plugin loaded.
[2021-01-23 18:40:44,260 gazebo_0] INFO Gazebo multi-robot simulator, version 11.3.0
[2021-01-23 18:40:44,260 gazebo_0] INFO Copyright (C) 2012 Open Source Robotics Foundation.
[2021-01-23 18:40:44,260 gazebo_0] INFO Released under the Apache 2 License.
[2021-01-23 18:40:44,260 gazebo_0] INFO http://gazebosim.org
[2021-01-23 18:40:44,260 gazebo_0] INFO
[2021-01-23 18:40:44,260 gazebo_0] INFO Gazebo multi-robot simulator, version 11.3.0
[2021-01-23 18:40:44,260 gazebo_0] INFO Copyright (C) 2012 Open Source Robotics Foundation.
[2021-01-23 18:40:44,260 gazebo_0] INFO Released under the Apache 2 License.
[2021-01-23 18:40:44,260 gazebo_0] INFO http://gazebosim.org
[2021-01-23 18:40:44,260 gazebo_0] INFO
[2021-01-23 18:40:44,287 gazebo_0] INFO Setting robot state update frequency to 5.
[2021-01-23 18:40:44,287 revolve] INFO simulator 0 waiting for robot
[2021-01-23 18:40:45,288 analyzer_0] INFO Created Supervisor with:
- simulator command: gzserver ['--verbose']
- world file: tools/analyzer/analyzer-world.world
- GAZEBO_PLUGIN_PATH: /Users/jieluo/revolve/build/lib
- GAZEBO_MODEL_PATH: /Users/jieluo/revolve/models
[2021-01-23 18:40:45,721 gazebo_0] INFO [Msg] Waiting for master.
[2021-01-23 18:40:45,721 gazebo_0] INFO [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[2021-01-23 18:40:45,721 gazebo_0] INFO [Msg] Publicized address: 130.37.156.43
[2021-01-23 18:40:45,721 gazebo_0] ERROR [Wrn] [GuiIface.cc:120] Populating font family aliases took 881 ms. Replace uses of missing font family "Sans" with one that exists to avoid this cost.
[2021-01-23 18:40:50,288 analyzer_0] INFO Launching the simulator...
[2021-01-23 18:40:50,912 analyzer_0] INFO [starting] [Msg] Waiting for master.
[2021-01-23 18:40:50,913 analyzer_0] INFO [Msg] Connected to gazebo master @ http://127.0.0.1:11346
[2021-01-23 18:40:50,913 analyzer_0] INFO [Msg] Publicized address: 130.37.156.43
[2021-01-23 18:40:50,913 analyzer_0] INFO [Msg] Loading world file [/Users/jieluo/revolve/tools/analyzer/analyzer-world.world]
[2021-01-23 18:40:50,913 analyzer_0] INFO Gazebo multi-robot simulator, version 11.3.0
[2021-01-23 18:40:50,913 analyzer_0] INFO Copyright (C) 2012 Open Source Robotics Foundation.
[2021-01-23 18:40:50,913 analyzer_0] INFO Released under the Apache 2 License.
[2021-01-23 18:40:50,914 analyzer_0] INFO http://gazebosim.org
[2021-01-23 18:40:50,914 analyzer_0] INFO
[2021-01-23 18:40:50,914 analyzer_0] INFO [Wrn] [ODEPhysics.cc:215] Gravity vector is (0, 0, 0). Objects will float.
unhandled message type: topic_namespace_add
unhandled message type: topic_namespace_add
[2021-01-23 18:40:50,941 revolve] INFO simulator 0 waiting for robot
[2021-01-23 18:40:51,243 analyzer_0] INFO Body analyzer ready
[2021-01-23 18:40:51,955 revolve] INFO Robot 1 was late-developed.
[2021-01-23 18:40:52,555 revolve] INFO Robot robot_1 was measured.
[2021-01-23 18:40:52,556 revolve] INFO Robot 2 was late-developed.
[2021-01-23 18:40:53,094 revolve] INFO Robot robot_2 was measured.
[2021-01-23 18:40:53,097 revolve] INFO Robot 3 was late-developed.
[2021-01-23 18:40:53,754 revolve] INFO Robot robot_3 was measured.
[2021-01-23 18:40:53,756 revolve] INFO Robot 4 was late-developed.
[2021-01-23 18:40:54,396 revolve] INFO Robot robot_4 was measured.
[2021-01-23 18:40:54,400 revolve] INFO Robot 5 was late-developed.
[2021-01-23 18:40:54,982 revolve] INFO Robot robot_5 was measured.
[2021-01-23 18:40:54,986 revolve] INFO Robot 6 was late-developed.
[2021-01-23 18:40:55,533 revolve] INFO Robot robot_6 was measured.
[2021-01-23 18:40:55,537 revolve] INFO Robot 7 was late-developed.
[2021-01-23 18:40:56,255 revolve] INFO Robot robot_7 was measured.
[2021-01-23 18:40:56,261 revolve] INFO Robot 8 was late-developed.
[2021-01-23 18:40:56,868 revolve] INFO Robot robot_8 was measured.
[2021-01-23 18:40:56,876 revolve] INFO Robot 9 was late-developed.
[2021-01-23 18:40:57,600 revolve] INFO Robot robot_9 was measured.
[2021-01-23 18:40:57,602 revolve] INFO Robot 10 was late-developed.
[2021-01-23 18:40:58,217 revolve] INFO Robot robot_10 was measured.
[2021-01-23 18:40:58,222 revolve] INFO Robot 11 was late-developed.
[2021-01-23 18:40:58,878 revolve] INFO Robot robot_11 was measured.
[2021-01-23 18:40:58,880 revolve] INFO Robot 12 was late-developed.
See next: Tutorial 6: Debug the Code