[1089] | 1 | """Simple examples of using the "frams" module to communicate directly with the Framsticks library (dll/so).
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| 2 |
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| 3 | For an introduction to Framsticks, its usage and scripting, see https://www.youtube.com/playlist?list=PLkPlXm7pOPatTl3_Gecx8ZaCVGeH4UV1L
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| 4 | For a list of available classes, objects, methods and fields, see http://www.framsticks.com/files/classdoc/
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| 5 | For a number of examples of scripting, see the "scripts" directory in Framsticks distribution.
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| 6 | """
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| 7 |
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[1081] | 8 | import sys
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[1078] | 9 | import frams
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| 10 |
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[1087] | 11 | frams.init(*(sys.argv[1:])) # pass whatever args we have, init() is the right place to deal with different scenarios:
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[1085] | 12 | # frams.init() - should try to figure out everything (and might fail)
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[1087] | 13 | # frams.init('path/to/lib') - load the library from the specified directory and configure Framsticks path as "data" inside this directory
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| 14 | # frams.init('path/to/lib','-d/tmp/workdir/data') - as above, but set the working (writable) directory somewhere else (see also -D)
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| 15 | # frams.init('path/to/lib','-Lframs-objects-alt.dll') - use specified library location and non-default file name
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[1078] | 16 |
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| 17 | print('Available objects:', dir(frams))
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| 18 | print()
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| 19 |
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| 20 |
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| 21 | def extValueDetails(v):
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[1089] | 22 | """A helper function to display basic information about a variable of type ExtValue."""
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| 23 | return '\t"' + str(v) + '" frams type=' + str(v._type()) + ' frams class=' + str(v._class()) + ' python type=' + str(type(v._value()))
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[1078] | 24 |
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| 25 |
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[1089] | 26 | dic_as_string = '[100,2.2,"abc",[null,[],{}],XYZ[9,8,7]]'
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| 27 | print("We have the following string:\n\t'%s'" % dic_as_string)
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| 28 | print("Looks like a serialized dictionary, let's ask Framsticks String.deserialize() to do its job.")
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| 29 | v = frams.String.deserialize(dic_as_string)
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| 30 | print("Framsticks String.deserialize() returned\n\t", type(v))
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| 31 | print("More specifically, it is:")
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[1078] | 32 | print(extValueDetails(v))
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[1089] | 33 | print("Even though it is ExtValue (Framsticks' Vector), it supports iteration like a python vector, so let's inspect its elements:")
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[1078] | 34 | for e in v:
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| 35 | print(extValueDetails(e))
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| 36 |
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[1089] | 37 | print("Now let's play with the Framsticks simulator. Let's create a Genotype object and set fields in its custom 'data' dictionary.")
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[1078] | 38 | g = frams.GenePools[0].add('X')
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[1089] | 39 | g.name = "Snakis Py"
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[1078] | 40 | g.data['custom'] = 123.456
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[1089] | 41 | g.data['a'] = 'b' # implicit conversion, looks like python dictionary but still converts '3' and '4' to ExtValue
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| 42 | dic = frams.Dictionary.new() # let's create a Dictionary object from Framsticks
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| 43 | dic.set('1', '2') # calling set() from Framsticks Dictionary
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| 44 | dic['3'] = '4' # implicit conversion, looks like python dictionary but still converts '3' and '4' to ExtValue
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| 45 | g.data['d'] = dic
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| 46 | print(extValueDetails(g))
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[1078] | 47 |
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[1089] | 48 | print("Let's add a few mutants and display their data:")
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[1078] | 49 | for more in range(5):
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| 50 | frams.GenePools[0].add(frams.GenMan.mutate(g.geno))
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| 51 |
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| 52 | for g in frams.GenePools[0]:
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[1089] | 53 | print("\t%d. name='%s'\tgenotype='%s'\tdata=%s" % (g.index._value(), str(g.name), str(g.genotype), str(g.data)))
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| 54 |
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| 55 | print("Let's now change some property of the simulation. Current water level is", frams.World.wrldwat)
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| 56 | frams.World.wrldwat = 0.5
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| 57 | print("Now water level is", frams.World.wrldwat)
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| 58 | frams.World.wrldwat = frams.World.wrldwat._value() + 0.7
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| 59 | print("Now water level is", frams.World.wrldwat)
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| 60 |
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| 61 | initial_genotype = 'X(X,RX(X[T],X[G]))' # simple body with gyroscope and touch sensors
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| 62 | print("Let's perform a few simulation steps of the initial genotype:", initial_genotype)
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| 63 | frams.ExpProperties.initialgen = initial_genotype
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| 64 | frams.ExpProperties.p_mut = 0 # no mutation (the selection procedure will clone our initial genotype)
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| 65 | frams.ExpProperties.p_xov = 0 # no crossover (the selection procedure will clone our initial genotype)
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| 66 | frams.Populations[0].initial_nn_active = 1 # immediate simulation of neural network - no "waiting for stabilization" period
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| 67 | frams.World.wrldg = 5 # gravity=5x default, let it fall quickly
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| 68 |
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| 69 | frams.Simulator.init() # adds initial_genotype to gene pool (calls onInit() from standard.expdef)
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| 70 | frams.Simulator.start() # this does not actually start the simulation, just sets the "Simulator.running" status variable
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| 71 | step = frams.Simulator.step # cache reference to avoid repeated lookup in the loop (just for performance)
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| 72 | for s in range(15):
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| 73 | step() # first step performs selection and revives one genotype according to standard.expdef rules
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| 74 | creature = frams.Populations[0][0] # FramScript Creature object
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| 75 | mechpart0 = creature.getMechPart(0)
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| 76 | print('Step# = %d' % frams.Simulator.stepNumber._value(),
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| 77 | '\tSimulated_creatures =', frams.Populations[0].size._value(),
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| 78 | "\tpart0_xyz = (% .2f,% .2f,% .2f)" % (mechpart0.x._value(), mechpart0.y._value(), mechpart0.z._value()),
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| 79 | "\ttouch = % .3f\tgyro = % .3f" % (creature.getNeuro(0).state._value(), creature.getNeuro(1).state._value()))
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| 80 | frams.Simulator.stop()
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| 81 |
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| 82 | # Note that implementing a complete expdef, especially a complex one, entirely in python may be inconvenient or impractical
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| 83 | # because you do not have access to "event handlers" like you have in FramScript - onStep(), onBorn(), onDied(), onCollision() etc.,
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| 84 | # so you would have to check various conditions in python in each simulation step to achieve the same effect.
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