Conversation
… black whole megacommit
surgura
force-pushed
the
aart/heritability_cleanup
branch
from
6d4bbbf to
f988cb3
Compare
surgura
force-pushed
the
aart/heritability_cleanup
branch
from
2494782 to
00af7e3
Compare
surgura
force-pushed
the
aart/heritability_cleanup
branch
from
c239da1 to
71cec18
Compare
| // 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"); |
There was a problem hiding this comment.
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
There was a problem hiding this comment.
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.
| explicit DifferentialCPPNCPG(const sdf::ElementPtr brain_sdf, | ||
| const std::vector< MotorPtr > &_motors); | ||
|
|
||
| protected: |
There was a problem hiding this comment.
tabs here, replace with spaces
| namespace gazebo | ||
| { | ||
|
|
||
| class ActuatorWrapper: public revolve::Actuator |
There was a problem hiding this comment.
double check: is this wrapper still needed or can it be removed from the code?
| 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); |
There was a problem hiding this comment.
should we adjust the output to be in between 0 and 1 here? instead of -1;+1
There was a problem hiding this comment.
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
| ///////////////////////////////////////////////// | ||
| MotorPtr MotorFactory::Create(sdf::ElementPtr _motorSdf) | ||
| { | ||
| auto coordinates = _motorSdf->GetAttribute("coordinates"); |
There was a problem hiding this comment.
Check for errors in parsing the SDF also here.
pyrevolve/evolution/fitness.py
Outdated
| return total_angle | ||
|
|
||
|
|
||
| # This will not be part of future code, solely for experimental practice |
There was a problem hiding this comment.
# This will not be part of future code, solely for experimental practice
Then let's remove it XD
| :return: Mutated parameters | ||
| :rtype: dict|list | ||
| """ | ||
|
|
There was a problem hiding this comment.
I don't remember what this file is for
There was a problem hiding this comment.
I have no idea but its contents appear to be used in revolve
|
|
||
| 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/" |
There was a problem hiding this comment.
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...
worlds/plane.recording.world
Outdated
| </camera> | ||
| <always_on>1</always_on> | ||
| <update_rate>30</update_rate> | ||
| <plugin name='RecordingCameraController' filename='libRecorderCameraPlugin.so'> |
There was a problem hiding this comment.
should we keep this plugin or not XD
surgura
force-pushed
the
aart/heritability_cleanup
branch
from
ca12125 to
3fce2b0
Compare
surgura
force-pushed
the
aart/heritability_cleanup
branch
from
00ccf6c to
fb6853e
Compare
…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
2 participants
No description provided.