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environment.py
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environment.py
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import abc
import logging
import math
import os
import shutil
import time
from multiprocessing import Pool
import gym
import numpy as np
from Box2D import b2World
from Box2D.examples.framework import FrameworkBase
from controllers import BaseController
from renderer import BaseRenderer
from soft_body import BaseSoftBody
from tasks import BaseEnv
class Environment(abc.ABC, FrameworkBase, gym.Env):
def __init__(self, config, solution, render, save_video=False):
FrameworkBase.__init__(self)
self.config = config
self.world = b2World(gravity=(0, -9.80665), doSleep=True)
self.env = BaseEnv.create_env(self.config, self.world)
self.morphology = BaseSoftBody.create_soft_body(self.config, self.env.get_initial_pos(), self.world)
self.controller = BaseController.create_controller(self.config, self.morphology.get_input_dim(),
self.morphology.get_output_dim(), self.config["brain"],
solution)
self.action_space = gym.spaces.Box(low=np.array([-1.0 for _ in range(self.morphology.get_output_dim())],
dtype=np.float32),
high=np.array([1.0 for _ in range(self.morphology.get_output_dim())],
dtype=np.float32))
self.observation_space = gym.spaces.Box(low=np.array([0.0 for _ in range(self.morphology.get_input_dim())],
dtype=np.float32),
high=np.array([1.0 for _ in range(self.morphology.get_input_dim())],
dtype=np.float32))
self.renderer = None
self.world.renderer = self.renderer
self._renderer = BaseRenderer.create_renderer(render, save_video)
if save_video:
self.save_dir = os.path.join(os.getcwd(), "frames")
if os.path.isdir(self.save_dir):
shutil.rmtree(self.save_dir)
os.mkdir(self.save_dir)
else:
self.save_dir = None
def step(self, action):
self.morphology.apply_control(action)
self.SimulationLoop()
return self.morphology.get_obs(), self.env.get_reward(self.morphology, self.stepCount), \
not self.should_step(), {}
def SimulationLoop(self):
self.Step(self.settings)
def Step(self, settings):
FrameworkBase.Step(self, settings)
self.morphology.physics_step()
def reset(self):
self.world.contactListener = None
self.world.destructionListener = None
self.world.renderer = None
obs = self.morphology.get_obs()
for body in self.world.bodies:
for fixture in body.fixtures:
body.DestroyFixture(fixture)
self.world.DestroyBody(body)
if self.save_dir is not None:
self._save_video(".".join([self.config["task"].split("-")[0], str(self.config["seed"]), "mp4"]))
shutil.rmtree(self.save_dir)
return obs
def render(self, mode="human"):
if self.save_dir is not None:
self._renderer.draw_image(self, os.path.join(self.save_dir, ".".join([str(self.stepCount), "png"])))
else:
self._renderer.draw_image(self)
self._renderer.render()
@staticmethod
def _save_video(video_name):
os.system("ffmpeg -r 60 -i ./frames/%d.png -vcodec mpeg4 -vf format=yuv420p -y {}".format(video_name))
def should_step(self):
return self.stepCount < self.config["timesteps"] and self.env.should_step(self.morphology)
def act(self, obs):
return self.controller.control(self.stepCount, obs)
def parallel_solve(solver, iterations, config, listener):
num_workers = config["np"]
if solver.popsize % num_workers != 0:
raise RuntimeError("better to have n. workers divisor of pop size")
best_result = None
best_fitness = float("-inf")
start_time = time.time()
for j in range(iterations):
solutions = solver.ask()
with Pool(num_workers) as pool:
results = pool.map(parallel_wrapper, [(config, solutions[i], i) for i in range(solver.popsize)])
fitness_list = [value for _, value in sorted(results, key=lambda x: x[0])]
solver.tell(fitness_list)
result = solver.result() # first element is the best solution, second element is the best fitness
if (j + 1) % 10 == 0:
logging.warning("fitness at iteration {}: {}".format(j + 1, result[1]))
listener.listen(**{"iteration": j, "elapsed.sec": time.time() - start_time,
"evaluations": j * solver.popsize, "best.fitness": result[1]})
if result[1] >= best_fitness or best_result is None:
best_result = result[0]
best_fitness = result[1]
listener.save_best(best_result)
return best_result, best_fitness
def parallel_wrapper(args):
config, solution, i = args
fitness = simulation(config, solution, render=False)
return i, fitness
def simulation(config, solution, render):
env = Environment(config, solution, render, save_video=bool(int(config["save_video"])))
obs = env.morphology.get_obs()
done = False
while not done:
action = env.act(obs)
obs, r, done, info = env.step(action)
env.render()
fitness = env.env.get_fitness(env.morphology, config["timesteps"])
env.reset()
return fitness
def inflate_simulation(config, listener, render):
solution = np.empty(0)
env = Environment(config, solution, render, save_video=bool(int(config["save_video"])))
env.morphology.pressure.min = 0
env.morphology.pressure.current = 0
obs = env.morphology.get_obs()
done = False
while not done:
action = env.act(obs)
obs, r, done, info = env.step(action)
env.render()
area = env.morphology.get_area()
if env.stepCount > 360:
listener.listen(**{"t": env.stepCount, "p": env.morphology.pressure.current,
"a": area, "r": area / (config["r"] ** 2 * math.pi)})
env.reset()