Tags: surgura/revolve2
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58 physical robots (ci-group#62) (ci-group#63) * Add rpi controller script package * Split Core into multiple smaller packages so rpi controller doesn't have to install everything * Add script entrypoint to core for plot_ea_fitness.py * Rename envs to runners * Add py.typed for every package, removed from namespace packages * Bump isaac gym version to rc3 * Add dev_requirements.sh that installs everything in editable mode * Update docs to match changes * Rename Object to DbData
0.0.0 alpha1 (ci-group#43) * Initial commit with basic version of EA loop (ci-group#2) Contains the basic loop, but very rough. Everything needs cleanup and API improvements. Isaac Gym simulation environment. Modular robot framework that can be used to create robots for the simulation environment. An optimization framework for evolutionary processes. A database system to store results and provide recovery in case of failure. * Expose sim params in isaac gym local runner * For isaac runner, add a bunch of todos. Make initial pos and rot configurable. * Review apis (ci-group#10) * For modular robots: remove slot, rotation is now directly part of Module * Remove back from BRICK module, because that's where it's attached so it can't be filled * Add brain 'cpg_random', which randomly initialized cpg weights * Remove old file * Rework an error message in ea selection multiple_unique * Added TODOs to database that transactions still need to be implmeented * Remove some more old BACK from BRICK Co-authored-by: Aart Stuurman <aart@astuurman.com> * Add some missing packages to setup.py * Correct values in to_urdf * Fix bug in ea were population and new individuals were swapped in a function call * Add headless for isaac runner * Store individuals seperate from generation (ci-group#19) * Added individual class to ea * Individuals stored seperately from generations. generations now use references * Individual members now individually serialized * Create Serializable class. Use it to serialize Genotype and Evaluation nicer * Add isaac as a prereq for isaac env * Individuals now also list parents Co-authored-by: Aart Stuurman <aart@astuurman.com> * Improve cpg performance (ci-group#20) Co-authored-by: Aart Stuurman <aart@astuurman.com> * In EA, rename evaluation to fitness. (ci-group#24) Co-authored-by: Aart Stuurman <aart@astuurman.com> * 22 simulation history (ci-group#25) * Can set update frequency. * Implement sampling frequency * Add getting path from AnyView * Fixed bug in DictView where dict 'contains' was not properly programmed. * EA optimizer now makes space in the database were the evaluator can do its work. * Save individual rng objects for each generation * Make physics State serializable Co-authored-by: Aart Stuurman <aart@astuurman.com> * Emergency fix: fix incorrect assertion in EA * 21 analysis - intermediate merge (ci-group#29) * Add analyzer to ea optimization * Fix bug in ea analyzer where Generations did not always create Generation correctly. * Improve serialization of cppnneat genotypes * Add plot script for ea fitness * Add modular robot rerunner. Update ea plotter with max min avg * add prepare_sim to isaac runner so gpu can be used Co-authored-by: Aart Stuurman <aart@astuurman.com> * Fix py.typed. Fix many mypy errors - intermediate merge for ci-group#3 (ci-group#30) Co-authored-by: Aart Stuurman <aart@astuurman.com> * 28 improve database performance (ci-group#32) * Completely reworked db interface and inner workings. Db implementations can now be significantly faster. * Removed all existing db implementations * Added SQLite implementation * Updated all existing code to use the new db interface Co-authored-by: Aart Stuurman <aart@astuurman.com> * 15 isaac leak (ci-group#34) * Isaac now runs in a subprocess every batch Co-authored-by: Aart Stuurman <aart@astuurman.com> * Removed asyncinit dependency (ci-group#35) Co-authored-by: Aart Stuurman <aart@astuurman.com> * Add aabb calculation for actor. Can be used to know how far to put robots above ground. (ci-group#37) Co-authored-by: Aart Stuurman <aart@astuurman.com> * 27 robot friction (ci-group#39) * Add static friction to robot rigid bodies * Set friction paremeters to be arbitrarily chosen values that look good * Remove some old imports Co-authored-by: Aart Stuurman <aart@astuurman.com> * for cppnneat brain genotype set output func to signed sign (ci-group#41) Co-authored-by: Aart Stuurman <aart@astuurman.com> * Add modular robot size measurement and number of bricks to modular robot (ci-group#42) Co-authored-by: Aart Stuurman <aart@astuurman.com> * Add support for multiple runs to plt_ea_fitness script. Co-authored-by: Aart Stuurman <aart@astuurman.com>