Aart/heritability cleanup #112

surgura · 2021-08-09T11:06:27Z

No description provided.

… black whole megacommit

portaloffreedom · 2021-08-09T15:18:10Z

cpprevolve/revolve/gazebo/brains/DifferentialCPGClean.cpp

+    // TODO: Add exception handling
+    sdf::ElementPtr controller_sdf = brain_sdf->GetElement("rv:controller");
+    revolve::DifferentialCPG::ControllerParams params;
+    params.reset_neuron_random = (controller_sdf->GetAttribute("reset_neuron_random")->GetAsString() == "true");


I think we should safe check if all of these SDF parameters are present before we present it to the students :)
Now seems the right moment to do it

I started on this, but the default genome for the examples is directedtree with neural network brain. This already has checks in place. I will add cppn body & brain later after this merge and then I will add the checks to the cpg brain classes.

portaloffreedom · 2021-08-09T15:18:38Z

cpprevolve/revolve/gazebo/brains/DifferentialCPPNCPG.h

+            explicit DifferentialCPPNCPG(const sdf::ElementPtr brain_sdf,
+                                          const std::vector< MotorPtr > &_motors);
+
+				protected:


tabs here, replace with spaces

removed tabs from all files

portaloffreedom · 2021-08-09T15:22:07Z

cpprevolve/revolve/gazebo/motors/ActuatorWrapper.h

+namespace gazebo
+{
+
+class ActuatorWrapper: public revolve::Actuator


double check: is this wrapper still needed or can it be removed from the code?

Use nowhere so removed

portaloffreedom · 2021-08-09T15:53:44Z

cpprevolve/revolve/brains/controller/DifferentialCPG.cpp

            else
            {
-                this->output[j] = this->signal_factor_all_*this->abs_output_bound*((2.0)/(1.0 + std::pow(2.718, -2.0*x/this->abs_output_bound)) -1);
+                this->output[j] = this->signal_factor_all_*this->abs_output_bound*((2.0)/(1.0 + std::pow(2.718, -2.0 * x_input / this->abs_output_bound)) - 1);


should we adjust the output to be in between 0 and 1 here? instead of -1;+1

If we do that we need to change in other places as well right? like where it is used and also where input is generated

portaloffreedom · 2021-08-09T15:57:56Z

cpprevolve/revolve/gazebo/motors/MotorFactory.cpp

 /////////////////////////////////////////////////
 MotorPtr MotorFactory::Create(sdf::ElementPtr _motorSdf)
 {
+  auto coordinates = _motorSdf->GetAttribute("coordinates");


Check for errors in parsing the SDF also here.

portaloffreedom · 2021-08-09T16:12:32Z

pyrevolve/evolution/fitness.py

+    return total_angle
+
+
+# This will not be part of future code, solely for experimental practice


# This will not be part of future code, solely for experimental practice
Then let's remove it XD

pyrevolve/evolution/population/population_management.py

portaloffreedom · 2021-08-09T16:23:09Z

pyrevolve/spec/implementation.py

        :return: Mutated parameters
        :rtype: dict|list
        """
+


I don't remember what this file is for

I have no idea but its contents appear to be used in revolve

portaloffreedom · 2021-08-09T16:30:31Z

tools/proto2python.sh


 PROTO_FOLDER='../cpprevolve/revolve/gazebo/msgs'
-GAZEBO_PROTO_FOLDER='/home/matteo/Tools/gazebo/include/gazebo-10/gazebo/msgs/proto/'
+GAZEBO_PROTO_FOLDER=:"${HOME}/installed/include/gazebo-10/gazebo/msgs/proto/"


this line is probably wrong, needs to be adjusted for each computer. We could try using pkg-confing to find the correct folder location, or ask the user...

gazebo as submodule?

portaloffreedom · 2021-08-09T16:31:22Z

worlds/plane.recording.world

+                    </camera>
+                    <always_on>1</always_on>
+                    <update_rate>30</update_rate>
+                    <plugin name='RecordingCameraController' filename='libRecorderCameraPlugin.so'>


should we keep this plugin or not XD

it has been exterminated

…sdf parameters. Not yet fully tested but putting it out there so i can continue later

…al function

Aart Stuurman added 2 commits August 9, 2021 13:05

Squash of complete experiment/heritability branch into one superheavy…

5ddea57

… black whole megacommit

Revert .circleci

f988cb3

surgura force-pushed the aart/heritability_cleanup branch from 6d4bbbf to f988cb3 Compare August 9, 2021 11:13

Aart Stuurman added 2 commits August 9, 2021 13:22

Remove check_running_experiments.sh

3f4f41b

Remove camera plugin

00af7e3

surgura force-pushed the aart/heritability_cleanup branch from 2494782 to 00af7e3 Compare August 9, 2021 11:51

Restore original formatting

71cec18

surgura force-pushed the aart/heritability_cleanup branch from c239da1 to 71cec18 Compare August 9, 2021 12:06

Aart Stuurman added 7 commits August 9, 2021 14:29

removed direct_tree_test.py

83df914

Remove brain-speciation experiments

1cd2601

Removed heritability & lsysytem-cppn-cpg experiments

777e82e

Removed more experiments

efc232b

Remove more

8c0a65a

remove revolve.sh

7b48846

Remove start_experiment.sh

f949242

portaloffreedom suggested changes Aug 9, 2021

View reviewed changes

Format

3fce2b0

surgura force-pushed the aart/heritability_cleanup branch from ca12125 to 3fce2b0 Compare August 10, 2021 12:29

Aart Stuurman added 7 commits August 10, 2021 15:07

Repair examples/manager_pop.py

68f6cf7

Always add robot_ in sdf builder

e4fabd7

multi_development is now the default everywhere

9183814

Remove limbo and nlopt dependencies. Disabled BO.

3bf6c5f

Fix some wrong function names in examples/manager_pop

0a947e9

Up Cpp version to 17

80f2044

WIP direct tree in manager_pop. Also check previous commit

fb6853e

surgura force-pushed the aart/heritability_cleanup branch from 00ccf6c to fb6853e Compare August 16, 2021 08:02

Aart Stuurman added 2 commits August 16, 2021 10:27

Fix crash in manager_pop

b1e9c00

Add getSdfAttrSafe function util that performs checks before reading …

adf9179

…sdf parameters. Not yet fully tested but putting it out there so i can continue later

surgura force-pushed the aart/heritability_cleanup branch from 90e9c15 to adf9179 Compare August 16, 2021 14:52

Begone, tabs

fb50706

Aart Stuurman added 9 commits August 16, 2021 17:18

Removed ActuatorWrapper

35ed754

Removed dead code

89d0249

fixed typo

b3bcc00

Removed old world

6575593

Added generic body/brain composition. Added CPPN body & brain.

da2a2eb

Rewrote differnetial cpg controller

1662218

Remove unused brain

0470004

I think cppn with targeted brain works?

629b081

fixed cppnneat genotype deserialization function typing to match actu…

9eadb62

…al function

		return total_angle


		# This will not be part of future code, solely for experimental practice

Aart/heritability cleanup #112

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Aart/heritability cleanup #112

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surgura commented Aug 9, 2021

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