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 the Framsticks distribution."""
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6 |
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7 | import sys
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8 | import json
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9 | import frams
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10 |
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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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12 | # frams.init() - should try to figure out everything (and might fail)
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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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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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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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24 |
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25 |
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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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32 | print(extValueDetails(v))
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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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34 | for e in v:
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35 | print(extValueDetails(e))
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36 |
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37 | print("\nNow 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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38 | g = frams.GenePools[0].add('X')
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39 | g.name = "Snakis Py"
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40 | g.data['custom'] = 123.456
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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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47 |
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48 | print("Let's add a few mutants and display their data:")
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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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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 touch and gyroscope 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 | # changing expdef
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83 | testgenotype = "XrrX[G][-1:80][|,-1:0.9]X[|,-2:-21]"
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84 | evaluations = 100
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85 | print("\nLet's change the experiment definition (expdef) and evaluate genotype '%s' %d times." % (testgenotype, evaluations))
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86 | frams.Simulator.expdef = "standard-eval"
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87 | frams.ExpProperties.evalcount = evaluations
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88 | frams.ExpProperties.cr_v = 1
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89 | frams.ExpProperties.evalplan = ":velocity,vertpos,fit_stdev,time"
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90 | frams.GenePools[0].add(testgenotype)
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91 | frams.ExpProperties.evalsavefile = "" # no need to store results in a file - we will get evaluations directly from Genotype's "data" field
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92 | frams.Simulator.init()
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93 | frams.Simulator.start()
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94 | # step = frams.Simulator.step # cache reference to avoid repeated lookup in the loop (just for performance)
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95 | # while frams.Simulator.running._int(): # standard-eval.expdef sets running to 0 when the evaluation is complete
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96 | # step()
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97 | frams.Simulator.eval("while(Simulator.running) Simulator.step();") # loop in FramScript much faster than loop in python
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98 | for g in frams.GenePools[0]: # loop over all genotypes, even though we know we added only one
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99 | serialized_dict = frams.String.serialize(g.data[frams.ExpProperties.evalsavedata._value()])
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100 | print(json.loads(serialized_dict._string()))
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101 |
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102 | # sampling a Model in 3D
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103 | geno = "RXX(X,CXXX)"
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104 | print("\nNow build a Model from the genotype '%s' and sample it in 3D, then print a 2D projection" % geno)
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105 | import numpy as np
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106 |
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107 | matrix = np.zeros((20, 20, 20), dtype=int) # 3D matrix, "voxels"
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108 | m = frams.ModelGeometry.forModel(frams.Model.newFromString(geno));
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109 | m.geom_density = 20;
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110 | for p in m.voxels():
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111 | # print('%f %f %f ' % (p.x._value(), p.y._value(), p.z._value()))
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112 | matrix[int(p.x._value() * 5 + 2), int(p.y._value() * 5 + 5), int(p.z._value() * 5 + 6)] += 1 # scaling and offsets adjusted manually to fit the matrix nicely
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113 | matrix = np.sum(matrix, axis=1) # sum along axis, make 2D from 3D ("projection")
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114 | np.set_printoptions(formatter={'int': lambda x: ('.' if x == 0 else str(x // 18))}) # print zeros as dots, x//18 to fit a larger range into a single digit
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115 | print(matrix)
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116 | np.set_printoptions() # avoids straange python errors: frams.py, line 48, in __del__ AttributeError: 'NoneType' object has no attribute 'extFree'
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117 |
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118 | #
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119 | #
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120 | # Note that implementing a complete expdef, especially a complex one, entirely in python may be inconvenient or impractical
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121 | # because you do not have access to "event handlers" like you have in FramScript - onStep(), onBorn(), onDied(), onCollision() etc.,
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122 | # so you would have to check various conditions in python in each simulation step to achieve the same effect.
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